2025-06-17T20:34:24.362Z,1750192464.362 [lineCaptureHoming:InitialDive] Running Loop=1
2025-06-17T20:34:24.362Z,1750192464.362 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-06-17T20:34:24.362Z,1750192464.362 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-17T20:34:24.362Z,1750192464.362 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-06-17T20:34:24.363Z,1750192464.363 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-17T20:34:24.363Z,1750192464.363 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-06-17T20:34:24.363Z,1750192464.363 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-06-17T20:34:24.363Z,1750192464.363 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-06-17T20:34:24.417Z,1750192464.417 [CommandExec](IMPORTANT): got command restart logs
2025-06-17T20:34:24.469Z,1750192464.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314803
2025-06-17T20:34:24.721Z,1750192464.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566865
2025-06-17T20:34:24.801Z,1750192464.801 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-17T20:34:24.801Z,1750192464.801 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-17T20:34:24.973Z,1750192464.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818875
2025-06-17T20:34:25.225Z,1750192465.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070909
2025-06-17T20:34:25.478Z,1750192465.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323977
2025-06-17T20:34:25.729Z,1750192465.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574968
2025-06-17T20:34:25.984Z,1750192465.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830019
2025-06-17T20:34:26.233Z,1750192466.233 [DAT](INFO): Reached modem response timeout
2025-06-17T20:34:26.989Z,1750192466.989 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:34:26.989Z,1750192466.989 [DAT](INFO): response not received
2025-06-17T20:34:26.989Z,1750192466.989 [DAT](ERROR): No response from remote modem.
2025-06-17T20:34:47.614Z,1750192487.614 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:35:16.219Z,1750192516.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:35:16.425Z,1750192516.425 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:35:16.425Z,1750192516.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:35:16.677Z,1750192516.677 [DAT](INFO): DAT read: user:636>

2025-06-17T20:35:16.678Z,1750192516.678 [DAT](INFO): DAT read: Tx time:20:35:16.7785

2025-06-17T20:35:16.678Z,1750192516.678 [DAT](INFO): Ping request sent.
2025-06-17T20:35:16.678Z,1750192516.678 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:35:16.679Z,1750192516.679 [DAT](INFO): DAT read: TxSync time:20:35:16.7777

2025-06-17T20:35:16.679Z,1750192516.679 [DAT](INFO): publishing transmit ping time
2025-06-17T20:35:16.680Z,1750192516.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001559
2025-06-17T20:35:16.931Z,1750192516.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253347
2025-06-17T20:35:17.186Z,1750192517.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507533
2025-06-17T20:35:17.437Z,1750192517.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758746
2025-06-17T20:35:17.693Z,1750192517.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014872
2025-06-17T20:35:17.941Z,1750192517.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262757
2025-06-17T20:35:18.193Z,1750192518.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514771
2025-06-17T20:35:18.445Z,1750192518.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766763
2025-06-17T20:35:18.697Z,1750192518.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018861
2025-06-17T20:35:18.949Z,1750192518.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270686
2025-06-17T20:35:19.024Z,1750192519.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:35:19.201Z,1750192519.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523302
2025-06-17T20:35:19.453Z,1750192519.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774832
2025-06-17T20:35:19.705Z,1750192519.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026650
2025-06-17T20:35:19.957Z,1750192519.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278705
2025-06-17T20:35:20.209Z,1750192520.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530741
2025-06-17T20:35:20.461Z,1750192520.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782705
2025-06-17T20:35:20.713Z,1750192520.713 [DAT](INFO): DAT read: Rx Time:20:35:20.3495

2025-06-17T20:35:20.713Z,1750192520.713 [DAT](INFO): Rx dataTimestamp_ set to:1750192520.713003
2025-06-17T20:35:20.714Z,1750192520.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035780
2025-06-17T20:35:20.965Z,1750192520.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286752
2025-06-17T20:35:21.226Z,1750192521.226 [DAT](INFO): DAT read: 20:35:20.3495 LVL= 17104, 17713, 14978, 19475, AGC= 74, IDX= 185, 0.20,-2.387, 2.299,-2.915, 3.067, PHS= 0.917,-0.721, 0.298, RAW= 128.0,  -6.9, CAL= 132.3, -19.6, ROT=  17.7,  19.6

2025-06-17T20:35:21.227Z,1750192521.227 [DAT](INFO): got valid direction response:
 20:35:20.3495 LVL= 17104, 17713, 14978, 19475, AGC= 74, IDX= 185, 0.20,-2.387, 2.299,-2.915, 3.067, PHS= 0.917,-0.721, 0.298, RAW= 128.0,  -6.9, CAL= 132.3, -19.6, ROT=  17.7,  19.6

2025-06-17T20:35:21.233Z,1750192521.233 [DAT](INFO): DAT read: $Error in header

2025-06-17T20:35:21.233Z,1750192521.233 [DAT](INFO): Received a bad header
2025-06-17T20:35:21.245Z,1750192521.245 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-17T20:35:21.246Z,1750192521.246 [DAT](INFO): direction in FSK: [0.897462,0.286417,-0.335452]
2025-06-17T20:35:26.771Z,1750192526.771 [DAT](INFO): Reached modem response timeout
2025-06-17T20:35:27.526Z,1750192527.526 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:35:27.526Z,1750192527.526 [DAT](INFO): response not received
2025-06-17T20:35:27.526Z,1750192527.526 [DAT](ERROR): No response from remote modem.
2025-06-17T20:35:47.137Z,1750192547.137 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.531963
2025-06-17T20:35:47.360Z,1750192547.360 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-17T20:35:47.360Z,1750192547.360 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-17T20:35:47.361Z,1750192547.361 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-17T20:35:47.361Z,1750192547.361 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-17T20:35:47.361Z,1750192547.361 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-17T20:35:48.140Z,1750192548.140 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:35:49.327Z,1750192549.327 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-17T20:36:01.448Z,1750192561.448 [Radio_Surface](INFO): Powering down
2025-06-17T20:36:16.492Z,1750192576.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:36:16.716Z,1750192576.716 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:36:16.717Z,1750192576.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:36:16.969Z,1750192576.969 [DAT](INFO): DAT read: 

2025-06-17T20:36:16.969Z,1750192576.969 [DAT](INFO): DAT read: Tx time:20:36:17.0789

2025-06-17T20:36:16.970Z,1750192576.970 [DAT](INFO): Ping request sent.
2025-06-17T20:36:16.970Z,1750192576.970 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:36:16.970Z,1750192576.970 [DAT](INFO): DAT read: TxSync time:20:36:17.0781

2025-06-17T20:36:16.971Z,1750192576.971 [DAT](INFO): publishing transmit ping time
2025-06-17T20:36:16.971Z,1750192576.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001573
2025-06-17T20:36:17.221Z,1750192577.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251010
2025-06-17T20:36:17.473Z,1750192577.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502976
2025-06-17T20:36:17.725Z,1750192577.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755036
2025-06-17T20:36:17.977Z,1750192577.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007048
2025-06-17T20:36:18.229Z,1750192578.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258929
2025-06-17T20:36:18.260Z,1750192578.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:36:18.481Z,1750192578.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511572
2025-06-17T20:36:18.733Z,1750192578.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763047
2025-06-17T20:36:18.985Z,1750192578.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015137
2025-06-17T20:36:19.237Z,1750192579.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267097
2025-06-17T20:36:19.266Z,1750192579.266 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-17T20:36:19.267Z,1750192579.267 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:36:19.489Z,1750192579.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519011
2025-06-17T20:36:19.741Z,1750192579.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771551
2025-06-17T20:36:19.993Z,1750192579.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023221
2025-06-17T20:36:20.246Z,1750192580.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275467
2025-06-17T20:36:20.497Z,1750192580.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527054
2025-06-17T20:36:20.750Z,1750192580.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779862
2025-06-17T20:36:21.001Z,1750192581.001 [DAT](INFO): DAT read: Rx Time:20:36:20.6063

2025-06-17T20:36:21.001Z,1750192581.001 [DAT](INFO): Rx dataTimestamp_ set to:1750192581.001031
2025-06-17T20:36:21.002Z,1750192581.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032104
2025-06-17T20:36:21.253Z,1750192581.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282979
2025-06-17T20:36:21.510Z,1750192581.510 [DAT](INFO): DAT read: 20:36:20.6063 LVL= 18512, 23505, 16802, 24867, AGC= 84, IDX=  11,-0.22,-1.798,-3.035,-2.076,-2.751, PHS= 1.040,-0.237, 0.671, RAW= 133.7, -24.6, CAL= 138.9, -31.0, ROT=  11.1,  31.0

2025-06-17T20:36:21.511Z,1750192581.511 [DAT](INFO): got valid direction response:
 20:36:20.6063 LVL= 18512, 23505, 16802, 24867, AGC= 84, IDX=  11,-0.22,-1.798,-3.035,-2.076,-2.751, PHS= 1.040,-0.237, 0.671, RAW= 133.7, -24.6, CAL= 138.9, -31.0, ROT=  11.1,  31.0

2025-06-17T20:36:21.512Z,1750192581.512 [DAT](INFO): DAT read: Bearing  11.1,  31.0 (Local)

2025-06-17T20:36:21.513Z,1750192581.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.1,  31.0 (Local)

2025-06-17T20:36:21.514Z,1750192581.514 [DAT](INFO): DAT read: Range 10 to 50 : 842.4 m  (Round-trip  1123.3 ms) speed  0.5 m/s

2025-06-17T20:36:21.515Z,1750192581.515 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:36:21.516Z,1750192581.516 [DAT](INFO): direction in FSK: [0.841132,0.165024,-0.515038]
2025-06-17T20:36:21.516Z,1750192581.516 [DAT](INFO): publishing direction and range info
2025-06-17T20:36:49.388Z,1750192609.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:36:50.392Z,1750192610.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:37:16.612Z,1750192636.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:37:16.785Z,1750192636.785 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:37:16.785Z,1750192636.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:37:17.039Z,1750192637.039 [DAT](INFO): DAT read: user:638>

2025-06-17T20:37:17.042Z,1750192637.042 [DAT](INFO): DAT read: Tx time:20:37:17.1792

2025-06-17T20:37:17.043Z,1750192637.043 [DAT](INFO): Ping request sent.
2025-06-17T20:37:17.043Z,1750192637.043 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:37:17.044Z,1750192637.044 [DAT](INFO): publishing transmit ping time
2025-06-17T20:37:17.046Z,1750192637.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002968
2025-06-17T20:37:17.293Z,1750192637.293 [DAT](INFO): DAT read: TxSync time:20:37:17.1785

2025-06-17T20:37:17.294Z,1750192637.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251725
2025-06-17T20:37:17.541Z,1750192637.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498030
2025-06-17T20:37:17.804Z,1750192637.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761539
2025-06-17T20:37:18.060Z,1750192638.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016135
2025-06-17T20:37:18.314Z,1750192638.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270460
2025-06-17T20:37:18.561Z,1750192638.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518012
2025-06-17T20:37:18.814Z,1750192638.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771274
2025-06-17T20:37:19.067Z,1750192639.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024007
2025-06-17T20:37:19.317Z,1750192639.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274067
2025-06-17T20:37:19.569Z,1750192639.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525994
2025-06-17T20:37:19.821Z,1750192639.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778444
2025-06-17T20:37:20.073Z,1750192640.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030078
2025-06-17T20:37:20.325Z,1750192640.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282121
2025-06-17T20:37:20.528Z,1750192640.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:37:20.577Z,1750192640.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534323
2025-06-17T20:37:20.829Z,1750192640.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786157
2025-06-17T20:37:21.084Z,1750192641.084 [DAT](INFO): DAT read: Rx Time:20:37:20.6500

2025-06-17T20:37:21.085Z,1750192641.085 [DAT](INFO): Rx dataTimestamp_ set to:1750192641.084549
2025-06-17T20:37:21.088Z,1750192641.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.044385
2025-06-17T20:37:21.333Z,1750192641.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290056
2025-06-17T20:37:21.532Z,1750192641.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:37:21.591Z,1750192641.591 [DAT](INFO): DAT read: 20:37:20.6500 LVL= 32752, 32753, 25394, 32755, AGC= 84, IDX= 374, 0.38,-0.113,-1.391,-0.181,-0.921, PHS= 0.896,-0.423, 0.737, RAW= 143.6, -18.9, CAL= 149.3, -26.5, ROT=   0.7,  26.5

2025-06-17T20:37:21.592Z,1750192641.592 [DAT](INFO): got valid direction response:
 20:37:20.6500 LVL= 32752, 32753, 25394, 32755, AGC= 84, IDX= 374, 0.38,-0.113,-1.391,-0.181,-0.921, PHS= 0.896,-0.423, 0.737, RAW= 143.6, -18.9, CAL= 149.3, -26.5, ROT=   0.7,  26.5

2025-06-17T20:37:21.593Z,1750192641.593 [DAT](INFO): DAT read: $Error in header

2025-06-17T20:37:21.593Z,1750192641.593 [DAT](INFO): Received a bad header
2025-06-17T20:37:21.604Z,1750192641.604 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-17T20:37:21.605Z,1750192641.605 [DAT](INFO): direction in FSK: [0.894868,0.010933,-0.446198]
2025-06-17T20:37:27.129Z,1750192647.129 [DAT](INFO): Reached modem response timeout
2025-06-17T20:37:27.885Z,1750192647.885 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:37:27.885Z,1750192647.885 [DAT](INFO): response not received
2025-06-17T20:37:27.885Z,1750192647.885 [DAT](ERROR): No response from remote modem.
2025-06-17T20:37:43.526Z,1750192663.526 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-06-17T20:37:43.526Z,1750192663.526 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-06-17T20:37:43.526Z,1750192663.526 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-17T20:37:43.634Z,1750192663.634 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-17T20:37:43.858Z,1750192663.858 [RDI_Pathfinder](INFO): Powering down
2025-06-17T20:37:45.020Z,1750192665.020 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-17T20:37:45.020Z,1750192665.020 [RDI_Pathfinder] No Fault, FailCount= 1
2025-06-17T20:37:45.085Z,1750192665.085 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-17T20:37:48.306Z,1750192668.306 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-06-17T20:37:48.307Z,1750192668.307 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-06-17T20:37:48.307Z,1750192668.307 [lineCaptureHoming:InitialDive] Stopped
2025-06-17T20:37:48.307Z,1750192668.307 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-06-17T20:37:48.307Z,1750192668.307 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-06-17T20:37:48.307Z,1750192668.307 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-06-17T20:37:48.307Z,1750192668.307 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-06-17T20:37:48.307Z,1750192668.307 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-06-17T20:37:48.307Z,1750192668.307 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-06-17T20:37:48.307Z,1750192668.307 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-06-17T20:37:48.324Z,1750192668.324 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-06-17T20:37:48.710Z,1750192668.710 [lineCaptureHoming:RepeatHack] Stopped
2025-06-17T20:37:48.710Z,1750192668.710 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-06-17T20:37:48.710Z,1750192668.710 [lineCaptureHoming:RepeatHack:A] Stopped
2025-06-17T20:37:48.710Z,1750192668.710 [lineCaptureHoming:Lap] Running Loop=1
2025-06-17T20:37:48.710Z,1750192668.710 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-06-17T20:37:48.710Z,1750192668.710 [lineCaptureHoming:Lap:A] Running Loop=1
2025-06-17T20:37:49.116Z,1750192669.116 [lineCaptureHoming:Lap:A] Stopped
2025-06-17T20:37:49.116Z,1750192669.116 [lineCaptureHoming:Lap:B] Running Loop=1
2025-06-17T20:37:49.116Z,1750192669.116 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-06-17T20:37:49.529Z,1750192669.529 [lineCaptureHoming:LineCapture] Running Loop=1
2025-06-17T20:37:49.529Z,1750192669.529 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-06-17T20:37:49.529Z,1750192669.529 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-17T20:37:49.529Z,1750192669.529 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-17T20:37:49.529Z,1750192669.529 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-17T20:37:49.529Z,1750192669.529 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-17T20:37:49.529Z,1750192669.529 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-17T20:37:49.529Z,1750192669.529 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-17T20:37:49.529Z,1750192669.529 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-17T20:37:49.530Z,1750192669.530 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-17T20:37:49.530Z,1750192669.530 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-17T20:37:49.530Z,1750192669.530 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-17T20:37:49.530Z,1750192669.530 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-17T20:37:49.530Z,1750192669.530 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-06-17T20:37:49.530Z,1750192669.530 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-17T20:37:49.530Z,1750192669.530 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-17T20:37:49.530Z,1750192669.530 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-06-17T20:37:49.530Z,1750192669.530 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-17T20:37:49.530Z,1750192669.530 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-17T20:37:49.530Z,1750192669.530 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-17T20:37:49.531Z,1750192669.531 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-17T20:37:49.531Z,1750192669.531 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-06-17T20:37:49.531Z,1750192669.531 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-17T20:37:49.531Z,1750192669.531 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-17T20:37:49.531Z,1750192669.531 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-17T20:37:49.531Z,1750192669.531 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-17T20:37:49.532Z,1750192669.532 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-17T20:37:49.532Z,1750192669.532 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-17T20:37:49.533Z,1750192669.533 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-17T20:37:49.533Z,1750192669.533 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-17T20:37:49.533Z,1750192669.533 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-17T20:37:49.533Z,1750192669.533 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-17T20:37:49.534Z,1750192669.534 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-17T20:37:49.534Z,1750192669.534 [lineCaptureHoming:LineCapture:A] Stopped
2025-06-17T20:37:49.534Z,1750192669.534 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-06-17T20:37:50.043Z,1750192670.043 [lineCaptureHoming:LineCapture:B] Stopped
2025-06-17T20:37:50.043Z,1750192670.043 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-06-17T20:37:50.426Z,1750192670.426 [lineCaptureHoming:LineCapture:D] Stopped
2025-06-17T20:37:50.426Z,1750192670.426 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-06-17T20:37:50.788Z,1750192670.788 [lineCaptureHoming:LineCapture:E] Stopped
2025-06-17T20:37:50.788Z,1750192670.788 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-06-17T20:37:51.162Z,1750192671.162 [lineCaptureHoming:LineCapture:F] Stopped
2025-06-17T20:37:51.162Z,1750192671.162 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-06-17T20:37:51.162Z,1750192671.162 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-17T20:37:51.162Z,1750192671.162 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-17T20:37:51.162Z,1750192671.162 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-17T20:37:51.162Z,1750192671.162 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-06-17T20:37:51.162Z,1750192671.162 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-17T20:37:51.162Z,1750192671.162 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-06-17T20:37:51.163Z,1750192671.163 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-17T20:37:51.163Z,1750192671.163 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-17T20:37:51.163Z,1750192671.163 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-17T20:37:51.163Z,1750192671.163 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-17T20:37:51.163Z,1750192671.163 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-17T20:37:51.163Z,1750192671.163 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-17T20:37:51.163Z,1750192671.163 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-17T20:37:51.163Z,1750192671.163 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-17T20:37:51.164Z,1750192671.164 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-17T20:37:51.164Z,1750192671.164 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-17T20:37:51.164Z,1750192671.164 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-17T20:37:51.164Z,1750192671.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-17T20:37:51.164Z,1750192671.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-17T20:37:51.165Z,1750192671.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-17T20:37:51.165Z,1750192671.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-17T20:37:51.165Z,1750192671.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-17T20:37:51.165Z,1750192671.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-17T20:37:51.165Z,1750192671.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-17T20:37:51.165Z,1750192671.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-17T20:37:51.165Z,1750192671.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-17T20:37:51.165Z,1750192671.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-17T20:37:51.165Z,1750192671.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-17T20:37:51.165Z,1750192671.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-17T20:37:51.166Z,1750192671.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-17T20:37:51.166Z,1750192671.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-17T20:37:51.166Z,1750192671.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-17T20:37:51.576Z,1750192671.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-17T20:37:51.576Z,1750192671.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-17T20:37:51.576Z,1750192671.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-17T20:37:51.576Z,1750192671.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-17T20:37:51.577Z,1750192671.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-17T20:37:51.577Z,1750192671.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-17T20:37:51.577Z,1750192671.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-17T20:37:51.577Z,1750192671.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-17T20:37:51.577Z,1750192671.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-17T20:37:51.577Z,1750192671.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-17T20:37:51.577Z,1750192671.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-17T20:37:51.577Z,1750192671.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-17T20:37:51.577Z,1750192671.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-17T20:37:51.577Z,1750192671.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-17T20:37:51.577Z,1750192671.577 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-17T20:37:51.577Z,1750192671.577 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-17T20:37:51.577Z,1750192671.577 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-17T20:37:51.578Z,1750192671.578 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-17T20:37:51.578Z,1750192671.578 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-17T20:37:51.578Z,1750192671.578 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-17T20:37:51.578Z,1750192671.578 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-17T20:37:51.578Z,1750192671.578 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-17T20:37:51.578Z,1750192671.578 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-17T20:37:51.578Z,1750192671.578 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-17T20:37:51.578Z,1750192671.578 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-17T20:37:51.579Z,1750192671.579 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock at depth 50.533760 m.
2025-06-17T20:37:51.625Z,1750192671.625 [DockingStepper](INFO): Resume
2025-06-17T20:37:51.652Z,1750192671.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:37:52.000Z,1750192672.000 [DockingStepper](INFO): Resuming
2025-06-17T20:37:52.425Z,1750192672.425 [DockingStepper](INFO): Start
2025-06-17T20:37:52.425Z,1750192672.425 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-17T20:37:52.545Z,1750192672.545 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-17T20:37:52.657Z,1750192672.657 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:37:52.961Z,1750192672.961 [DockingStepper](INFO): Starting
2025-06-17T20:37:53.241Z,1750192673.241 [DockingStepper](INFO): Starting
2025-06-17T20:37:53.641Z,1750192673.641 [DockingStepper](INFO): Starting
2025-06-17T20:37:53.692Z,1750192673.692 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-17T20:37:54.045Z,1750192674.045 [DockingStepper](INFO): Starting
2025-06-17T20:37:54.572Z,1750192674.572 [DockingStepper](INFO): Starting
2025-06-17T20:37:54.873Z,1750192674.873 [DockingStepper](INFO): Starting
2025-06-17T20:37:55.237Z,1750192675.237 [DockingStepper](INFO): Starting
2025-06-17T20:37:55.260Z,1750192675.260 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-17T20:37:55.661Z,1750192675.661 [DockingStepper](INFO): Starting
2025-06-17T20:37:56.062Z,1750192676.062 [DockingStepper](INFO): Changing to mode: 3
2025-06-17T20:37:56.062Z,1750192676.062 [DockingStepper](INFO): Detach mode.
2025-06-17T20:37:56.120Z,1750192676.120 [DockingStepper](INFO): Commanding negative:54599
2025-06-17T20:37:58.828Z,1750192678.828 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-06-17T20:37:58.829Z,1750192678.829 [RDI_Pathfinder] Communications Fault, FailCount= 2
2025-06-17T20:37:58.829Z,1750192678.829 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-17T20:37:58.993Z,1750192678.993 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-17T20:37:59.202Z,1750192679.202 [RDI_Pathfinder](INFO): Powering down
2025-06-17T20:38:00.157Z,1750192680.157 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-17T20:38:00.157Z,1750192680.157 [RDI_Pathfinder] No Fault, FailCount= 2
2025-06-17T20:38:00.432Z,1750192680.432 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-17T20:38:02.045Z,1750192682.045 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-06-17T20:38:12.178Z,1750192692.178 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2025-06-17T20:38:12.581Z,1750192692.581 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-06-17T20:38:12.581Z,1750192692.581 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-17T20:38:12.581Z,1750192692.581 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-06-17T20:38:12.581Z,1750192692.581 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-17T20:38:12.581Z,1750192692.581 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-06-17T20:38:12.581Z,1750192692.581 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-06-17T20:38:12.582Z,1750192692.582 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-06-17T20:38:12.582Z,1750192692.582 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-06-17T20:38:12.582Z,1750192692.582 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-06-17T20:38:17.022Z,1750192697.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:38:17.069Z,1750192697.069 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:38:17.069Z,1750192697.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:38:17.321Z,1750192697.321 [DAT](INFO): DAT read: 

2025-06-17T20:38:17.321Z,1750192697.321 [DAT](INFO): DAT read: Tx time:20:38:17.4296

2025-06-17T20:38:17.322Z,1750192697.322 [DAT](INFO): Ping request sent.
2025-06-17T20:38:17.322Z,1750192697.322 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:38:17.322Z,1750192697.322 [DAT](INFO): DAT read: TxSync time:20:38:17.4289

2025-06-17T20:38:17.323Z,1750192697.323 [DAT](INFO): publishing transmit ping time
2025-06-17T20:38:17.323Z,1750192697.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001562
2025-06-17T20:38:17.577Z,1750192697.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254920
2025-06-17T20:38:17.829Z,1750192697.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507149
2025-06-17T20:38:18.083Z,1750192698.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760814
2025-06-17T20:38:18.333Z,1750192698.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011091
2025-06-17T20:38:18.589Z,1750192698.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266896
2025-06-17T20:38:18.841Z,1750192698.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518991
2025-06-17T20:38:19.095Z,1750192699.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772820
2025-06-17T20:38:19.345Z,1750192699.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023500
2025-06-17T20:38:19.598Z,1750192699.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275635
2025-06-17T20:38:19.849Z,1750192699.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527160
2025-06-17T20:38:20.101Z,1750192700.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778974
2025-06-17T20:38:20.354Z,1750192700.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032260
2025-06-17T20:38:20.605Z,1750192700.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283143
2025-06-17T20:38:20.857Z,1750192700.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535265
2025-06-17T20:38:21.109Z,1750192701.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787096
2025-06-17T20:38:21.361Z,1750192701.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039228
2025-06-17T20:38:21.613Z,1750192701.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290984
2025-06-17T20:38:21.865Z,1750192701.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543066
2025-06-17T20:38:22.117Z,1750192702.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795068
2025-06-17T20:38:22.369Z,1750192702.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047459
2025-06-17T20:38:22.621Z,1750192702.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298973
2025-06-17T20:38:22.780Z,1750192702.780 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:38:22.873Z,1750192702.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551071
2025-06-17T20:38:23.126Z,1750192703.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803997
2025-06-17T20:38:23.377Z,1750192703.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055014
2025-06-17T20:38:23.629Z,1750192703.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307056
2025-06-17T20:38:23.784Z,1750192703.784 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:38:23.881Z,1750192703.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559104
2025-06-17T20:38:24.133Z,1750192704.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811310
2025-06-17T20:38:24.385Z,1750192704.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063036
2025-06-17T20:38:24.637Z,1750192704.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314983
2025-06-17T20:38:24.889Z,1750192704.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567275
2025-06-17T20:38:25.141Z,1750192705.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819122
2025-06-17T20:38:25.393Z,1750192705.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071474
2025-06-17T20:38:25.645Z,1750192705.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322995
2025-06-17T20:38:25.897Z,1750192705.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575131
2025-06-17T20:38:26.149Z,1750192706.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826942
2025-06-17T20:38:26.401Z,1750192706.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079359
2025-06-17T20:38:26.653Z,1750192706.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331039
2025-06-17T20:38:26.905Z,1750192706.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583063
2025-06-17T20:38:27.160Z,1750192707.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838461
2025-06-17T20:38:27.408Z,1750192707.408 [DAT](INFO): Reached modem response timeout
2025-06-17T20:38:28.165Z,1750192708.165 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:38:28.165Z,1750192708.165 [DAT](INFO): response not received
2025-06-17T20:38:28.165Z,1750192708.165 [DAT](ERROR): No response from remote modem.
2025-06-17T20:38:44.089Z,1750192724.089 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-06-17T20:38:53.916Z,1750192733.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:38:54.920Z,1750192734.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:39:01.859Z,1750192741.859 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-17T20:39:13.572Z,1750192753.572 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       -1.48,     ,       -2.49,  20.47,  0.00
2025-06-17T20:39:17.210Z,1750192757.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:39:17.333Z,1750192757.333 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:39:17.333Z,1750192757.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:39:17.585Z,1750192757.585 [DAT](INFO): DAT read: user:640>

2025-06-17T20:39:17.585Z,1750192757.585 [DAT](INFO): DAT read: Tx time:20:39:17.7300

2025-06-17T20:39:17.586Z,1750192757.586 [DAT](INFO): Ping request sent.
2025-06-17T20:39:17.586Z,1750192757.586 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:39:17.586Z,1750192757.586 [DAT](INFO): publishing transmit ping time
2025-06-17T20:39:17.587Z,1750192757.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-06-17T20:39:17.837Z,1750192757.837 [DAT](INFO): DAT read: TxSync time:20:39:17.7292

2025-06-17T20:39:17.838Z,1750192757.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251901
2025-06-17T20:39:18.089Z,1750192758.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502977
2025-06-17T20:39:18.341Z,1750192758.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755296
2025-06-17T20:39:18.593Z,1750192758.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006925
2025-06-17T20:39:18.845Z,1750192758.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259051
2025-06-17T20:39:18.897Z,1750192758.897 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.15, 201.66, 204.72
2025-06-17T20:39:19.097Z,1750192759.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510932
2025-06-17T20:39:19.349Z,1750192759.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763139
2025-06-17T20:39:19.601Z,1750192759.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015044
2025-06-17T20:39:19.853Z,1750192759.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266911
2025-06-17T20:39:20.106Z,1750192760.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519670
2025-06-17T20:39:20.357Z,1750192760.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770981
2025-06-17T20:39:20.609Z,1750192760.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023310
2025-06-17T20:39:20.861Z,1750192760.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275269
2025-06-17T20:39:21.113Z,1750192761.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526911
2025-06-17T20:39:21.365Z,1750192761.365 [DAT](INFO): DAT read: Rx Time:20:39:21.1599

2025-06-17T20:39:21.365Z,1750192761.365 [DAT](INFO): Rx dataTimestamp_ set to:1750192761.365162
2025-06-17T20:39:21.366Z,1750192761.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780154
2025-06-17T20:39:21.617Z,1750192761.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031017
2025-06-17T20:39:21.869Z,1750192761.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282982
2025-06-17T20:39:22.052Z,1750192762.052 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 842.40 m. Transitioning docking module to standby.
2025-06-17T20:39:22.126Z,1750192762.126 [DAT](INFO): DAT read: 20:39:21.1599 LVL= 20320, 19905, 18402, 19715, AGC= 73, IDX=   4,-0.22,-1.198,-1.280, 0.740,-0.533, PHS=-0.577,-0.700, 1.270, RAW= 206.8,   0.1, CAL= 206.4,  -6.9, ROT= 303.6,   6.9

2025-06-17T20:39:22.127Z,1750192762.127 [DAT](INFO): got valid direction response:
 20:39:21.1599 LVL= 20320, 19905, 18402, 19715, AGC= 73, IDX=   4,-0.22,-1.198,-1.280, 0.740,-0.533, PHS=-0.577,-0.700, 1.270, RAW= 206.8,   0.1, CAL= 206.4,  -6.9, ROT= 303.6,   6.9

2025-06-17T20:39:22.133Z,1750192762.133 [DAT](INFO): DAT read: Bearing 303.6,   6.9 (Local)

2025-06-17T20:39:22.133Z,1750192762.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.6,   6.9 (Local)

2025-06-17T20:39:22.135Z,1750192762.135 [DAT](INFO): DAT read: Range 10 to 50 : 769.2 m  (Round-trip  1025.7 ms) speed  0.0 m/s

2025-06-17T20:39:22.136Z,1750192762.136 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:39:22.137Z,1750192762.137 [DAT](INFO): direction in FSK: [0.549383,-0.826889,-0.120137]
2025-06-17T20:39:22.137Z,1750192762.137 [DAT](INFO): publishing direction and range info
2025-06-17T20:39:22.477Z,1750192762.477 [DockingStepper](INFO): Changing to mode: 1
2025-06-17T20:39:22.477Z,1750192762.477 [DockingStepper](INFO): Standby mode.
2025-06-17T20:39:22.540Z,1750192762.540 [DockingStepper](INFO): Commanding positive:54494
2025-06-17T20:39:25.040Z,1750192765.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:39:25.258Z,1750192765.258 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-06-17T20:39:26.044Z,1750192766.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:39:28.567Z,1750192768.567 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-06-17T20:39:28.939Z,1750192768.939 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-06-17T20:39:28.940Z,1750192768.940 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-06-17T20:39:28.940Z,1750192768.940 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-06-17T20:39:29.320Z,1750192769.320 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-06-17T20:39:29.320Z,1750192769.320 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-06-17T20:39:29.320Z,1750192769.320 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-06-17T20:39:29.346Z,1750192769.346 [DockingStepper](INFO): Pause
2025-06-17T20:39:29.787Z,1750192769.787 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-06-17T20:39:29.787Z,1750192769.787 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-17T20:39:29.788Z,1750192769.788 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-06-17T20:39:29.788Z,1750192769.788 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-17T20:39:29.788Z,1750192769.788 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-17T20:39:30.127Z,1750192770.127 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-17T20:39:30.127Z,1750192770.127 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-17T20:39:30.127Z,1750192770.127 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-17T20:39:30.128Z,1750192770.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-17T20:39:30.128Z,1750192770.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-17T20:39:30.128Z,1750192770.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-17T20:39:30.128Z,1750192770.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-17T20:39:30.128Z,1750192770.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-17T20:39:30.128Z,1750192770.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-17T20:39:30.128Z,1750192770.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-17T20:39:30.129Z,1750192770.129 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-17T20:39:30.129Z,1750192770.129 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-17T20:39:30.130Z,1750192770.130 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )
2025-06-17T20:39:30.130Z,1750192770.130 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-17T20:39:30.130Z,1750192770.130 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-06-17T20:39:30.130Z,1750192770.130 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-17T20:39:30.131Z,1750192770.131 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.905698,-122.116120
2025-06-17T20:39:30.545Z,1750192770.545 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.905698,-122.116120
2025-06-17T20:39:30.546Z,1750192770.546 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-17T20:39:30.546Z,1750192770.546 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-17T20:39:30.546Z,1750192770.546 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-17T20:39:30.546Z,1750192770.546 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-17T20:39:30.547Z,1750192770.547 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-17T20:39:30.547Z,1750192770.547 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-06-17T20:39:30.547Z,1750192770.547 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-17T20:39:30.547Z,1750192770.547 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-17T20:39:30.547Z,1750192770.547 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-06-17T20:39:56.125Z,1750192796.125 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-17T20:39:56.164Z,1750192796.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:39:57.168Z,1750192797.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:40:17.527Z,1750192817.527 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:40:17.589Z,1750192817.589 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:40:17.590Z,1750192817.590 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:40:17.841Z,1750192817.841 [DAT](INFO): DAT read: user:641>

2025-06-17T20:40:17.842Z,1750192817.842 [DAT](INFO): DAT read: Tx time:20:40:17.9804

2025-06-17T20:40:17.842Z,1750192817.842 [DAT](INFO): Ping request sent.
2025-06-17T20:40:17.842Z,1750192817.842 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:40:17.842Z,1750192817.842 [DAT](INFO): publishing transmit ping time
2025-06-17T20:40:17.843Z,1750192817.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-06-17T20:40:18.093Z,1750192818.093 [DAT](INFO): DAT read: TxSync time:20:40:17.9796

2025-06-17T20:40:18.094Z,1750192818.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251850
2025-06-17T20:40:18.346Z,1750192818.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503725
2025-06-17T20:40:18.597Z,1750192818.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754881
2025-06-17T20:40:18.849Z,1750192818.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006844
2025-06-17T20:40:19.101Z,1750192819.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258972
2025-06-17T20:40:19.353Z,1750192819.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510969
2025-06-17T20:40:19.605Z,1750192819.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763252
2025-06-17T20:40:19.857Z,1750192819.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014838
2025-06-17T20:40:20.109Z,1750192820.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267032
2025-06-17T20:40:20.361Z,1750192820.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518898
2025-06-17T20:40:20.613Z,1750192820.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770808
2025-06-17T20:40:20.866Z,1750192820.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023779
2025-06-17T20:40:21.117Z,1750192821.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274802
2025-06-17T20:40:21.369Z,1750192821.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527051
2025-06-17T20:40:21.621Z,1750192821.621 [DAT](INFO): DAT read: Rx Time:20:40:21.3849

2025-06-17T20:40:21.621Z,1750192821.621 [DAT](INFO): Rx dataTimestamp_ set to:1750192821.621180
2025-06-17T20:40:21.622Z,1750192821.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780095
2025-06-17T20:40:21.873Z,1750192821.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030824
2025-06-17T20:40:22.127Z,1750192822.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284991
2025-06-17T20:40:22.385Z,1750192822.385 [DAT](INFO): DAT read: 20:40:21.3849 LVL= 30304, 32753, 32754, 32755, AGC= 88, IDX= 115,-0.35,-2.367, 2.416, 3.002,-2.932, PHS= 0.653,-0.889,-0.353, RAW= 110.0,   8.7, CAL= 119.8,   6.2, ROT=  30.2,  -6.2

2025-06-17T20:40:22.386Z,1750192822.386 [DAT](INFO): got valid direction response:
 20:40:21.3849 LVL= 30304, 32753, 32754, 32755, AGC= 88, IDX= 115,-0.35,-2.367, 2.416, 3.002,-2.932, PHS= 0.653,-0.889,-0.353, RAW= 110.0,   8.7, CAL= 119.8,   6.2, ROT=  30.2,  -6.2

2025-06-17T20:40:22.387Z,1750192822.387 [DAT](INFO): DAT read: $Error in header

2025-06-17T20:40:22.420Z,1750192822.420 [DAT](INFO): Received a bad header
2025-06-17T20:40:22.432Z,1750192822.432 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-17T20:40:22.433Z,1750192822.433 [DAT](INFO): direction in FSK: [0.859220,0.500078,0.107999]
2025-06-17T20:40:27.297Z,1750192827.297 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:40:27.928Z,1750192827.928 [DAT](INFO): Reached modem response timeout
2025-06-17T20:40:28.300Z,1750192828.300 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:40:28.685Z,1750192828.685 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:40:28.685Z,1750192828.685 [DAT](INFO): response not received
2025-06-17T20:40:28.685Z,1750192828.685 [DAT](ERROR): No response from remote modem.
2025-06-17T20:40:58.420Z,1750192858.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:40:59.424Z,1750192859.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:41:17.778Z,1750192877.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:41:17.877Z,1750192877.877 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:41:17.877Z,1750192877.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:41:18.136Z,1750192878.136 [DAT](INFO): DAT read: 

2025-06-17T20:41:18.137Z,1750192878.137 [DAT](INFO): DAT read: Tx time:20:41:18.2808

2025-06-17T20:41:18.137Z,1750192878.137 [DAT](INFO): Ping request sent.
2025-06-17T20:41:18.137Z,1750192878.137 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:41:18.138Z,1750192878.138 [DAT](INFO): publishing transmit ping time
2025-06-17T20:41:18.138Z,1750192878.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-06-17T20:41:18.381Z,1750192878.381 [DAT](INFO): DAT read: TxSync time:20:41:18.2800

2025-06-17T20:41:18.382Z,1750192878.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244324
2025-06-17T20:41:18.633Z,1750192878.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495336
2025-06-17T20:41:18.885Z,1750192878.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747388
2025-06-17T20:41:19.137Z,1750192879.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999298
2025-06-17T20:41:19.389Z,1750192879.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251294
2025-06-17T20:41:19.641Z,1750192879.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503237
2025-06-17T20:41:19.893Z,1750192879.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755305
2025-06-17T20:41:20.145Z,1750192880.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007202
2025-06-17T20:41:20.397Z,1750192880.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259218
2025-06-17T20:41:20.649Z,1750192880.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511410
2025-06-17T20:41:20.901Z,1750192880.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763188
2025-06-17T20:41:21.153Z,1750192881.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015517
2025-06-17T20:41:21.405Z,1750192881.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267359
2025-06-17T20:41:21.657Z,1750192881.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519262
2025-06-17T20:41:21.909Z,1750192881.909 [DAT](INFO): DAT read: Rx Time:20:41:21.6288

2025-06-17T20:41:21.909Z,1750192881.909 [DAT](INFO): Rx dataTimestamp_ set to:1750192881.909125
2025-06-17T20:41:21.910Z,1750192881.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772425
2025-06-17T20:41:22.161Z,1750192882.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023291
2025-06-17T20:41:22.418Z,1750192882.418 [DAT](INFO): DAT read: $Error in header

2025-06-17T20:41:22.418Z,1750192882.418 [DAT](INFO): Received a bad header
2025-06-17T20:41:22.432Z,1750192882.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294762
2025-06-17T20:41:22.665Z,1750192882.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.527310
2025-06-17T20:41:22.917Z,1750192882.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779267
2025-06-17T20:41:23.169Z,1750192883.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031194
2025-06-17T20:41:23.421Z,1750192883.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.283595
2025-06-17T20:41:23.677Z,1750192883.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539342
2025-06-17T20:41:23.929Z,1750192883.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791231
2025-06-17T20:41:24.181Z,1750192884.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043485
2025-06-17T20:41:24.433Z,1750192884.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295298
2025-06-17T20:41:24.689Z,1750192884.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551375
2025-06-17T20:41:24.937Z,1750192884.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799231
2025-06-17T20:41:25.189Z,1750192885.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051290
2025-06-17T20:41:25.443Z,1750192885.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305227
2025-06-17T20:41:25.693Z,1750192885.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555587
2025-06-17T20:41:25.945Z,1750192885.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807293
2025-06-17T20:41:26.197Z,1750192886.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059202
2025-06-17T20:41:26.449Z,1750192886.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311639
2025-06-17T20:41:26.701Z,1750192886.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563360
2025-06-17T20:41:26.953Z,1750192886.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815200
2025-06-17T20:41:27.205Z,1750192887.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067471
2025-06-17T20:41:27.460Z,1750192887.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321738
2025-06-17T20:41:27.709Z,1750192887.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571240
2025-06-17T20:41:27.961Z,1750192887.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823287
2025-06-17T20:41:28.213Z,1750192888.213 [DAT](INFO): Reached modem response timeout
2025-06-17T20:41:28.969Z,1750192888.969 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:41:28.969Z,1750192888.969 [DAT](INFO): response not received
2025-06-17T20:41:28.969Z,1750192888.969 [DAT](ERROR): No response from remote modem.
2025-06-17T20:41:29.544Z,1750192889.544 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:41:30.548Z,1750192890.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:41:46.737Z,1750192906.737 [CTD_Seabird](ERROR): Failed to parse device response: 53.17,9.12809,8078.81
2025-06-17T20:42:00.672Z,1750192920.672 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:42:01.676Z,1750192921.676 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:42:17.994Z,1750192937.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:42:18.129Z,1750192938.129 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:42:18.129Z,1750192938.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:42:18.381Z,1750192938.381 [DAT](INFO): DAT read: 

2025-06-17T20:42:18.381Z,1750192938.381 [DAT](INFO): DAT read: Tx time:20:42:18.5313

2025-06-17T20:42:18.382Z,1750192938.382 [DAT](INFO): Ping request sent.
2025-06-17T20:42:18.382Z,1750192938.382 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:42:18.382Z,1750192938.382 [DAT](INFO): publishing transmit ping time
2025-06-17T20:42:18.382Z,1750192938.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-06-17T20:42:18.633Z,1750192938.633 [DAT](INFO): DAT read: TxSync time:20:42:18.5305

2025-06-17T20:42:18.634Z,1750192938.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251900
2025-06-17T20:42:18.886Z,1750192938.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504733
2025-06-17T20:42:19.139Z,1750192939.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757170
2025-06-17T20:42:19.389Z,1750192939.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007262
2025-06-17T20:42:19.641Z,1750192939.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259200
2025-06-17T20:42:19.893Z,1750192939.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511045
2025-06-17T20:42:20.145Z,1750192940.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763281
2025-06-17T20:42:20.397Z,1750192940.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015085
2025-06-17T20:42:20.649Z,1750192940.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267000
2025-06-17T20:42:20.901Z,1750192940.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519588
2025-06-17T20:42:21.153Z,1750192941.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771068
2025-06-17T20:42:21.405Z,1750192941.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023026
2025-06-17T20:42:21.657Z,1750192941.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275149
2025-06-17T20:42:21.909Z,1750192941.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527065
2025-06-17T20:42:22.163Z,1750192942.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781346
2025-06-17T20:42:22.417Z,1750192942.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035120
2025-06-17T20:42:22.669Z,1750192942.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287116
2025-06-17T20:42:22.921Z,1750192942.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539141
2025-06-17T20:42:23.173Z,1750192943.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791081
2025-06-17T20:42:23.425Z,1750192943.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043104
2025-06-17T20:42:23.679Z,1750192943.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.297681
2025-06-17T20:42:23.929Z,1750192943.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547060
2025-06-17T20:42:24.181Z,1750192944.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799082
2025-06-17T20:42:24.433Z,1750192944.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050983
2025-06-17T20:42:24.685Z,1750192944.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302974
2025-06-17T20:42:24.937Z,1750192944.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555657
2025-06-17T20:42:25.189Z,1750192945.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806934
2025-06-17T20:42:25.441Z,1750192945.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059118
2025-06-17T20:42:25.693Z,1750192945.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311234
2025-06-17T20:42:25.945Z,1750192945.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563039
2025-06-17T20:42:26.197Z,1750192946.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815121
2025-06-17T20:42:26.449Z,1750192946.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067131
2025-06-17T20:42:26.701Z,1750192946.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319024
2025-06-17T20:42:26.953Z,1750192946.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571111
2025-06-17T20:42:27.205Z,1750192947.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823074
2025-06-17T20:42:27.457Z,1750192947.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074929
2025-06-17T20:42:27.709Z,1750192947.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327100
2025-06-17T20:42:27.961Z,1750192947.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579130
2025-06-17T20:42:28.213Z,1750192948.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830983
2025-06-17T20:42:28.464Z,1750192948.464 [DAT](INFO): Reached modem response timeout
2025-06-17T20:42:29.221Z,1750192949.221 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:42:29.221Z,1750192949.221 [DAT](INFO): response not received
2025-06-17T20:42:29.221Z,1750192949.221 [DAT](ERROR): No response from remote modem.
2025-06-17T20:42:31.804Z,1750192951.804 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:42:32.808Z,1750192952.808 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:43:02.932Z,1750192982.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:43:03.936Z,1750192983.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:43:18.240Z,1750192998.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:43:18.413Z,1750192998.413 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:43:18.413Z,1750192998.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:43:18.665Z,1750192998.665 [DAT](INFO): DAT read: user:644>

2025-06-17T20:43:18.667Z,1750192998.667 [DAT](INFO): DAT read: Tx time:20:43:18.7817

2025-06-17T20:43:18.668Z,1750192998.668 [DAT](INFO): Ping request sent.
2025-06-17T20:43:18.668Z,1750192998.668 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:43:18.669Z,1750192998.669 [DAT](INFO): DAT read: TxSync time:20:43:18.7809

2025-06-17T20:43:18.669Z,1750192998.669 [DAT](INFO): publishing transmit ping time
2025-06-17T20:43:18.671Z,1750192998.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002937
2025-06-17T20:43:18.917Z,1750192998.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249171
2025-06-17T20:43:19.169Z,1750192999.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501526
2025-06-17T20:43:19.421Z,1750192999.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753293
2025-06-17T20:43:19.673Z,1750192999.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005144
2025-06-17T20:43:19.925Z,1750192999.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257195
2025-06-17T20:43:20.177Z,1750193000.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509211
2025-06-17T20:43:20.429Z,1750193000.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761122
2025-06-17T20:43:20.681Z,1750193000.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013218
2025-06-17T20:43:20.933Z,1750193000.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265296
2025-06-17T20:43:21.185Z,1750193001.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517250
2025-06-17T20:43:21.437Z,1750193001.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769252
2025-06-17T20:43:21.689Z,1750193001.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021250
2025-06-17T20:43:21.941Z,1750193001.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273135
2025-06-17T20:43:22.193Z,1750193002.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525421
2025-06-17T20:43:22.445Z,1750193002.445 [DAT](INFO): DAT read: Rx Time:20:43:21.9943

2025-06-17T20:43:22.445Z,1750193002.445 [DAT](INFO): Rx dataTimestamp_ set to:1750193002.445091
2025-06-17T20:43:22.446Z,1750193002.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778318
2025-06-17T20:43:22.697Z,1750193002.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029259
2025-06-17T20:43:22.955Z,1750193002.955 [DAT](INFO): DAT read: 20:43:21.9943 LVL= 22160, 23457, 19282, 31827, AGC= 86, IDX=  67, 0.23, 0.964,-0.359, 1.075, 0.342, PHS= 0.710,-0.654, 0.730, RAW= 150.7, -11.4, CAL= 157.5, -19.1, ROT= 352.5,  19.1

2025-06-17T20:43:22.956Z,1750193002.956 [DAT](INFO): got valid direction response:
 20:43:21.9943 LVL= 22160, 23457, 19282, 31827, AGC= 86, IDX=  67, 0.23, 0.964,-0.359, 1.075, 0.342, PHS= 0.710,-0.654, 0.730, RAW= 150.7, -11.4, CAL= 157.5, -19.1, ROT= 352.5,  19.1

2025-06-17T20:43:22.957Z,1750193002.957 [DAT](INFO): DAT read: $Error in header

2025-06-17T20:43:22.957Z,1750193002.957 [DAT](INFO): Received a bad header
2025-06-17T20:43:22.968Z,1750193002.968 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-17T20:43:22.969Z,1750193002.969 [DAT](INFO): direction in FSK: [0.936865,-0.123341,-0.327218]
2025-06-17T20:43:28.745Z,1750193008.745 [DAT](INFO): Reached modem response timeout
2025-06-17T20:43:29.504Z,1750193009.504 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:43:29.504Z,1750193009.504 [DAT](INFO): response not received
2025-06-17T20:43:29.505Z,1750193009.505 [DAT](ERROR): No response from remote modem.
2025-06-17T20:43:34.060Z,1750193014.060 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:43:35.064Z,1750193015.064 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:43:49.706Z,1750193029.706 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-06-17T20:44:05.185Z,1750193045.185 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:44:06.188Z,1750193046.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:44:18.426Z,1750193058.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:44:18.434Z,1750193058.434 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:44:18.434Z,1750193058.434 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:44:18.685Z,1750193058.685 [DAT](INFO): DAT read: 

2025-06-17T20:44:18.685Z,1750193058.685 [DAT](INFO): DAT read: Tx time:20:44:18.8321

2025-06-17T20:44:18.686Z,1750193058.686 [DAT](INFO): Ping request sent.
2025-06-17T20:44:18.686Z,1750193058.686 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:44:18.686Z,1750193058.686 [DAT](INFO): publishing transmit ping time
2025-06-17T20:44:18.686Z,1750193058.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-06-17T20:44:18.945Z,1750193058.945 [DAT](INFO): DAT read: TxSync time:20:44:18.8313

2025-06-17T20:44:18.947Z,1750193058.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.261094
2025-06-17T20:44:19.189Z,1750193059.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503037
2025-06-17T20:44:19.441Z,1750193059.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755317
2025-06-17T20:44:19.693Z,1750193059.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007241
2025-06-17T20:44:19.945Z,1750193059.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259118
2025-06-17T20:44:20.197Z,1750193060.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511103
2025-06-17T20:44:20.449Z,1750193060.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763251
2025-06-17T20:44:20.701Z,1750193060.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015288
2025-06-17T20:44:20.954Z,1750193060.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267915
2025-06-17T20:44:21.205Z,1750193061.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519149
2025-06-17T20:44:21.457Z,1750193061.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771074
2025-06-17T20:44:21.710Z,1750193061.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023984
2025-06-17T20:44:21.961Z,1750193061.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275159
2025-06-17T20:44:22.213Z,1750193062.213 [DAT](INFO): DAT read: Rx Time:20:44:21.9993

2025-06-17T20:44:22.213Z,1750193062.213 [DAT](INFO): Rx dataTimestamp_ set to:1750193062.213148
2025-06-17T20:44:22.214Z,1750193062.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528289
2025-06-17T20:44:22.465Z,1750193062.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779439
2025-06-17T20:44:22.717Z,1750193062.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031125
2025-06-17T20:44:22.977Z,1750193062.977 [DAT](INFO): DAT read: 20:44:21.9993 LVL= 29824, 32753, 27106, 32755, AGC= 83, IDX= 415, 0.05, 2.633, 1.386, 2.640, 2.315, PHS= 0.405,-0.882, 0.322, RAW= 146.7,   2.5, CAL= 149.7,  -6.3, ROT=   0.3,   6.3

2025-06-17T20:44:22.978Z,1750193062.978 [DAT](INFO): got valid direction response:
 20:44:21.9993 LVL= 29824, 32753, 27106, 32755, AGC= 83, IDX= 415, 0.05, 2.633, 1.386, 2.640, 2.315, PHS= 0.405,-0.882, 0.322, RAW= 146.7,   2.5, CAL= 149.7,  -6.3, ROT=   0.3,   6.3

2025-06-17T20:44:22.979Z,1750193062.979 [DAT](INFO): DAT read: $Error in header

2025-06-17T20:44:22.979Z,1750193062.979 [DAT](INFO): Received a bad header
2025-06-17T20:44:22.993Z,1750193062.993 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-17T20:44:22.996Z,1750193062.996 [DAT](INFO): direction in FSK: [0.993947,0.005204,-0.109734]
2025-06-17T20:44:28.773Z,1750193068.773 [DAT](INFO): Reached modem response timeout
2025-06-17T20:44:29.532Z,1750193069.532 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:44:29.532Z,1750193069.532 [DAT](INFO): response not received
2025-06-17T20:44:29.532Z,1750193069.532 [DAT](ERROR): No response from remote modem.
2025-06-17T20:44:36.336Z,1750193076.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:44:37.341Z,1750193077.341 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:45:07.460Z,1750193107.460 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:45:08.464Z,1750193108.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:45:18.611Z,1750193118.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:18.713Z,1750193118.713 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:45:18.713Z,1750193118.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:45:18.965Z,1750193118.965 [DAT](INFO): DAT read: 

2025-06-17T20:45:18.965Z,1750193118.965 [DAT](INFO): DAT read: Tx time:20:45:19.0825

2025-06-17T20:45:18.966Z,1750193118.966 [DAT](INFO): Ping request sent.
2025-06-17T20:45:18.966Z,1750193118.966 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:45:18.966Z,1750193118.966 [DAT](INFO): DAT read: TxSync time:20:45:19.0817

2025-06-17T20:45:18.967Z,1750193118.967 [DAT](INFO): publishing transmit ping time
2025-06-17T20:45:18.967Z,1750193118.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001570
2025-06-17T20:45:19.217Z,1750193119.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251107
2025-06-17T20:45:19.469Z,1750193119.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503117
2025-06-17T20:45:19.721Z,1750193119.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754953
2025-06-17T20:45:19.973Z,1750193119.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007271
2025-06-17T20:45:20.225Z,1750193120.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259100
2025-06-17T20:45:20.478Z,1750193120.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511881
2025-06-17T20:45:20.729Z,1750193120.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762976
2025-06-17T20:45:20.981Z,1750193120.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014993
2025-06-17T20:45:21.233Z,1750193121.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266973
2025-06-17T20:45:21.485Z,1750193121.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518980
2025-06-17T20:45:21.737Z,1750193121.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771523
2025-06-17T20:45:21.989Z,1750193121.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023043
2025-06-17T20:45:22.241Z,1750193122.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274920
2025-06-17T20:45:22.493Z,1750193122.493 [DAT](INFO): DAT read: Rx Time:20:45:22.1820

2025-06-17T20:45:22.493Z,1750193122.493 [DAT](INFO): Rx dataTimestamp_ set to:1750193122.493019
2025-06-17T20:45:22.494Z,1750193122.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528040
2025-06-17T20:45:22.746Z,1750193122.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779797
2025-06-17T20:45:23.002Z,1750193123.002 [DAT](INFO): DAT read: 20:45:22.1820 LVL= 27040, 30337, 25490, 32755, AGC= 78, IDX= 317,-0.39,-1.180,-2.636,-1.335,-1.819, PHS= 0.726,-0.770, 0.481, RAW= 141.2,  -6.3, CAL= 147.1, -15.8, ROT=   2.9,  15.8

2025-06-17T20:45:23.004Z,1750193123.004 [DAT](INFO): got valid direction response:
 20:45:22.1820 LVL= 27040, 30337, 25490, 32755, AGC= 78, IDX= 317,-0.39,-1.180,-2.636,-1.335,-1.819, PHS= 0.726,-0.770, 0.481, RAW= 141.2,  -6.3, CAL= 147.1, -15.8, ROT=   2.9,  15.8

2025-06-17T20:45:23.005Z,1750193123.005 [DAT](INFO): DAT read: Bearing   2.9,  15.8 (Local)

2025-06-17T20:45:23.005Z,1750193123.005 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  15.8 (Local)

2025-06-17T20:45:23.006Z,1750193123.006 [DAT](INFO): DAT read: Range 10 to 50 : 521.5 m  (Round-trip  695.4 ms) speed  0.5 m/s

2025-06-17T20:45:23.007Z,1750193123.007 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:45:23.008Z,1750193123.008 [DAT](INFO): direction in FSK: [0.960986,0.048681,-0.272280]
2025-06-17T20:45:23.008Z,1750193123.008 [DAT](INFO): publishing direction and range info
2025-06-17T20:45:23.462Z,1750193123.462 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-17T20:45:23.462Z,1750193123.462 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-17T20:45:23.462Z,1750193123.462 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-17T20:45:23.463Z,1750193123.463 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 521.500000 m (mode  0.000000 count ).
2025-06-17T20:45:23.463Z,1750193123.463 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-17T20:45:23.464Z,1750193123.464 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-17T20:45:23.467Z,1750193123.467 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-06-17T20:45:23.467Z,1750193123.467 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-17T20:45:23.467Z,1750193123.467 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-06-17T20:45:23.467Z,1750193123.467 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 521.500000 m 
2025-06-17T20:45:23.467Z,1750193123.467 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-06-17T20:45:23.468Z,1750193123.468 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-06-17T20:45:23.953Z,1750193123.953 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-17T20:45:23.953Z,1750193123.953 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-17T20:45:23.953Z,1750193123.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:23.960Z,1750193123.960 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-06-17T20:45:23.960Z,1750193123.960 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-17T20:45:23.961Z,1750193123.961 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-06-17T20:45:23.961Z,1750193123.961 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-17T20:45:24.005Z,1750193124.005 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:24.005Z,1750193124.005 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:24.006Z,1750193124.006 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:45:24.258Z,1750193124.258 [DAT](INFO): DAT read: user:647>

2025-06-17T20:45:24.261Z,1750193124.261 [DAT](INFO): DAT read: Tx time:20:45:24.3825

2025-06-17T20:45:24.261Z,1750193124.261 [DAT](INFO): Ping request sent.
2025-06-17T20:45:24.261Z,1750193124.261 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:45:24.262Z,1750193124.262 [DAT](INFO): DAT read: TxSync time:20:45:24.3817

2025-06-17T20:45:24.262Z,1750193124.262 [DAT](INFO): publishing transmit ping time
2025-06-17T20:45:24.263Z,1750193124.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001580
2025-06-17T20:45:24.352Z,1750193124.352 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-17T20:45:24.352Z,1750193124.352 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-17T20:45:24.352Z,1750193124.352 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-17T20:45:24.352Z,1750193124.352 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-17T20:45:24.352Z,1750193124.352 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-17T20:45:24.354Z,1750193124.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-17T20:45:24.354Z,1750193124.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-17T20:45:24.354Z,1750193124.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-17T20:45:24.354Z,1750193124.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-17T20:45:24.354Z,1750193124.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-17T20:45:24.355Z,1750193124.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-17T20:45:24.355Z,1750193124.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-17T20:45:24.355Z,1750193124.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-17T20:45:24.355Z,1750193124.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-17T20:45:24.355Z,1750193124.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-17T20:45:24.355Z,1750193124.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-17T20:45:24.355Z,1750193124.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-17T20:45:24.355Z,1750193124.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-17T20:45:24.355Z,1750193124.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-17T20:45:24.355Z,1750193124.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-17T20:45:24.355Z,1750193124.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-17T20:45:24.360Z,1750193124.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-17T20:45:24.361Z,1750193124.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-17T20:45:24.361Z,1750193124.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-17T20:45:24.361Z,1750193124.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-17T20:45:24.361Z,1750193124.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-17T20:45:24.361Z,1750193124.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-17T20:45:24.361Z,1750193124.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-17T20:45:24.362Z,1750193124.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-06-17T20:45:24.362Z,1750193124.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-17T20:45:24.362Z,1750193124.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-06-17T20:45:24.362Z,1750193124.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-06-17T20:45:24.362Z,1750193124.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-06-17T20:45:24.363Z,1750193124.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-17T20:45:24.363Z,1750193124.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-06-17T20:45:24.368Z,1750193124.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-06-17T20:45:24.368Z,1750193124.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-17T20:45:24.369Z,1750193124.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-17T20:45:24.369Z,1750193124.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-17T20:45:24.369Z,1750193124.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-17T20:45:24.369Z,1750193124.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-17T20:45:24.369Z,1750193124.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-17T20:45:24.369Z,1750193124.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-17T20:45:24.369Z,1750193124.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-17T20:45:24.369Z,1750193124.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-06-17T20:45:24.369Z,1750193124.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-17T20:45:24.509Z,1750193124.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247967
2025-06-17T20:45:24.684Z,1750193124.684 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-17T20:45:24.684Z,1750193124.684 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-17T20:45:24.684Z,1750193124.684 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-17T20:45:24.684Z,1750193124.684 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-17T20:45:24.688Z,1750193124.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 521.500000 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-06-17T20:45:24.690Z,1750193124.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 516.664307 m,
      bearing: 334.769066 deg,
      lat: 36.906008 deg,
      lon: -122.115562 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-06-17T20:45:24.691Z,1750193124.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:24.694Z,1750193124.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 501.075012 m,
      bearing: 334.788862 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 330.602247 deg,
      new cmd heading: 334.788862 deg.

2025-06-17T20:45:24.695Z,1750193124.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843168 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:24.706Z,1750193124.706 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-06-17T20:45:24.706Z,1750193124.706 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-06-17T20:45:24.709Z,1750193124.709 [DockingStepper](INFO): Resume
2025-06-17T20:45:24.762Z,1750193124.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500453
2025-06-17T20:45:25.014Z,1750193125.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752803
2025-06-17T20:45:25.115Z,1750193125.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:25.118Z,1750193125.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 500.758026 m,
      bearing: 334.793823 deg,
      approach rate: -0.740904 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.788853 deg,
      new cmd heading: 334.793823 deg.

2025-06-17T20:45:25.118Z,1750193125.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843255 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:25.132Z,1750193125.132 [DockingStepper](INFO): Resuming
2025-06-17T20:45:25.265Z,1750193125.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003587
2025-06-17T20:45:25.482Z,1750193125.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:25.484Z,1750193125.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 500.486053 m,
      bearing: 334.798131 deg,
      approach rate: -0.741260 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.793825 deg,
      new cmd heading: 334.798131 deg.

2025-06-17T20:45:25.485Z,1750193125.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843330 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:25.518Z,1750193125.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256481
2025-06-17T20:45:25.624Z,1750193125.624 [DockingStepper](INFO): Start
2025-06-17T20:45:25.625Z,1750193125.625 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-17T20:45:25.745Z,1750193125.745 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-17T20:45:25.769Z,1750193125.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508028
2025-06-17T20:45:25.992Z,1750193125.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:25.994Z,1750193125.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:26.001Z,1750193126.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 500.129425 m,
      bearing: 334.803740 deg,
      approach rate: -0.695403 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.798142 deg,
      new cmd heading: 334.803740 deg.

2025-06-17T20:45:26.002Z,1750193126.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843428 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:26.021Z,1750193126.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759691
2025-06-17T20:45:26.177Z,1750193126.177 [DockingStepper](INFO): Starting
2025-06-17T20:45:26.273Z,1750193126.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011810
2025-06-17T20:45:26.373Z,1750193126.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:26.375Z,1750193126.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 499.824188 m,
      bearing: 334.808283 deg,
      approach rate: -0.807131 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.803743 deg,
      new cmd heading: 334.808283 deg.

2025-06-17T20:45:26.376Z,1750193126.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843507 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:26.509Z,1750193126.509 [DockingStepper](INFO): Starting
2025-06-17T20:45:26.525Z,1750193126.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263894
2025-06-17T20:45:26.741Z,1750193126.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:26.751Z,1750193126.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 499.552094 m,
      bearing: 334.812189 deg,
      approach rate: -0.739046 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.808278 deg,
      new cmd heading: 334.812189 deg.

2025-06-17T20:45:26.753Z,1750193126.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843575 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:26.777Z,1750193126.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515623
2025-06-17T20:45:26.788Z,1750193126.788 [DockingStepper](INFO): Starting
2025-06-17T20:45:26.838Z,1750193126.838 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-17T20:45:27.029Z,1750193127.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767705
2025-06-17T20:45:27.168Z,1750193127.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:27.171Z,1750193127.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 499.238647 m,
      bearing: 334.816677 deg,
      approach rate: -0.733660 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.812185 deg,
      new cmd heading: 334.816677 deg.

2025-06-17T20:45:27.173Z,1750193127.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843653 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:27.185Z,1750193127.185 [DockingStepper](INFO): Starting
2025-06-17T20:45:27.281Z,1750193127.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019722
2025-06-17T20:45:27.537Z,1750193127.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275524
2025-06-17T20:45:27.563Z,1750193127.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:27.565Z,1750193127.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 498.968536 m,
      bearing: 334.820426 deg,
      approach rate: -0.684659 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.816665 deg,
      new cmd heading: 334.820426 deg.

2025-06-17T20:45:27.566Z,1750193127.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843719 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:27.579Z,1750193127.579 [DockingStepper](INFO): Starting
2025-06-17T20:45:27.785Z,1750193127.785 [DAT](INFO): DAT read: Rx Time:20:45:27.4789

2025-06-17T20:45:27.785Z,1750193127.785 [DAT](INFO): Rx dataTimestamp_ set to:1750193127.785072
2025-06-17T20:45:27.786Z,1750193127.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524748
2025-06-17T20:45:27.986Z,1750193127.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:28.012Z,1750193128.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 498.671356 m,
      bearing: 334.824396 deg,
      approach rate: -0.706297 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.820436 deg,
      new cmd heading: 334.824396 deg.

2025-06-17T20:45:28.013Z,1750193128.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843788 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:28.037Z,1750193128.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775669
2025-06-17T20:45:28.044Z,1750193128.044 [DockingStepper](INFO): Starting
2025-06-17T20:45:28.295Z,1750193128.295 [DAT](INFO): DAT read: 20:45:27.4789 LVL= 32752, 32753, 32194, 32755, AGC= 81, IDX= 411, 0.25,-2.981, 1.909,-3.130, 2.473, PHS= 0.917,-0.517, 0.677, RAW= 141.0, -16.0, CAL= 147.0, -24.5, ROT=   3.0,  24.5

2025-06-17T20:45:28.296Z,1750193128.296 [DAT](INFO): got valid direction response:
 20:45:27.4789 LVL= 32752, 32753, 32194, 32755, AGC= 81, IDX= 411, 0.25,-2.981, 1.909,-3.130, 2.473, PHS= 0.917,-0.517, 0.677, RAW= 141.0, -16.0, CAL= 147.0, -24.5, ROT=   3.0,  24.5

2025-06-17T20:45:28.297Z,1750193128.297 [DAT](INFO): DAT read: $Error in header

2025-06-17T20:45:28.297Z,1750193128.297 [DAT](INFO): Received a bad header
2025-06-17T20:45:28.308Z,1750193128.308 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-17T20:45:28.309Z,1750193128.309 [DAT](INFO): direction in FSK: [0.908714,0.047624,-0.414693]
2025-06-17T20:45:28.325Z,1750193128.325 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:28.326Z,1750193128.326 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:28.326Z,1750193128.326 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:28.437Z,1750193128.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:28.439Z,1750193128.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:28.458Z,1750193128.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 498.335022 m,
      bearing: 334.829373 deg,
      approach rate: -0.738294 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.824397 deg,
      new cmd heading: 334.829373 deg.

2025-06-17T20:45:28.459Z,1750193128.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843875 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:28.484Z,1750193128.484 [DockingStepper](INFO): Starting
2025-06-17T20:45:28.512Z,1750193128.512 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-17T20:45:28.541Z,1750193128.541 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:28.541Z,1750193128.541 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:28.541Z,1750193128.541 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:28.782Z,1750193128.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:28.788Z,1750193128.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 498.104584 m,
      bearing: 334.832621 deg,
      approach rate: -0.672482 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.829370 deg,
      new cmd heading: 334.832621 deg.

2025-06-17T20:45:28.789Z,1750193128.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843932 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:28.793Z,1750193128.793 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:28.793Z,1750193128.793 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:28.793Z,1750193128.793 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:28.835Z,1750193128.835 [DockingStepper](INFO): Starting
2025-06-17T20:45:29.044Z,1750193129.044 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:29.045Z,1750193129.045 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:29.045Z,1750193129.045 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:29.181Z,1750193129.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:29.184Z,1750193129.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 497.821777 m,
      bearing: 334.836183 deg,
      approach rate: -0.707966 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.832621 deg,
      new cmd heading: 334.836183 deg.

2025-06-17T20:45:29.185Z,1750193129.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843994 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:29.218Z,1750193129.218 [DockingStepper](INFO): Changing to mode: 1
2025-06-17T20:45:29.218Z,1750193129.218 [DockingStepper](INFO): Standby mode.
2025-06-17T20:45:29.297Z,1750193129.297 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:29.297Z,1750193129.297 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:29.297Z,1750193129.297 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:29.549Z,1750193129.549 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:29.549Z,1750193129.549 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:29.549Z,1750193129.549 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:29.560Z,1750193129.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:29.562Z,1750193129.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 497.566437 m,
      bearing: 334.839270 deg,
      approach rate: -0.674393 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.836172 deg,
      new cmd heading: 334.839270 deg.

2025-06-17T20:45:29.563Z,1750193129.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844048 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:29.801Z,1750193129.801 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:29.801Z,1750193129.801 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:29.801Z,1750193129.801 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:30.044Z,1750193130.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:30.046Z,1750193130.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 497.285950 m,
      bearing: 334.842576 deg,
      approach rate: -0.585292 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.839260 deg,
      new cmd heading: 334.842576 deg.

2025-06-17T20:45:30.047Z,1750193130.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844105 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:30.053Z,1750193130.053 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:30.053Z,1750193130.053 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:30.053Z,1750193130.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:30.305Z,1750193130.305 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:30.305Z,1750193130.305 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:30.305Z,1750193130.305 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:30.389Z,1750193130.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:30.392Z,1750193130.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 497.006958 m,
      bearing: 334.846535 deg,
      approach rate: -0.796876 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.842565 deg,
      new cmd heading: 334.846535 deg.

2025-06-17T20:45:30.393Z,1750193130.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844174 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:30.557Z,1750193130.557 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:30.557Z,1750193130.557 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:30.557Z,1750193130.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:30.779Z,1750193130.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:30.781Z,1750193130.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:30.784Z,1750193130.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 496.742462 m,
      bearing: 334.850241 deg,
      approach rate: -0.674648 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.846527 deg,
      new cmd heading: 334.850241 deg.

2025-06-17T20:45:30.785Z,1750193130.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844239 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:30.809Z,1750193130.809 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:30.809Z,1750193130.809 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:30.809Z,1750193130.809 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:31.062Z,1750193131.062 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:31.062Z,1750193131.062 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:31.063Z,1750193131.063 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:31.210Z,1750193131.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:31.217Z,1750193131.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 496.459900 m,
      bearing: 334.853321 deg,
      approach rate: -0.658718 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.850243 deg,
      new cmd heading: 334.853321 deg.

2025-06-17T20:45:31.221Z,1750193131.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844293 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:31.313Z,1750193131.313 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:31.313Z,1750193131.313 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:31.313Z,1750193131.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:31.565Z,1750193131.565 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:31.565Z,1750193131.565 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:31.565Z,1750193131.565 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:31.581Z,1750193131.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:31.583Z,1750193131.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 496.195587 m,
      bearing: 334.856165 deg,
      approach rate: -0.713358 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.853330 deg,
      new cmd heading: 334.856165 deg.

2025-06-17T20:45:31.584Z,1750193131.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844343 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:31.816Z,1750193131.816 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:31.817Z,1750193131.817 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:31.817Z,1750193131.817 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:31.998Z,1750193131.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:32.001Z,1750193132.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 495.911499 m,
      bearing: 334.859192 deg,
      approach rate: -0.680884 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.856171 deg,
      new cmd heading: 334.859192 deg.

2025-06-17T20:45:32.001Z,1750193132.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844396 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:32.071Z,1750193132.071 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:32.071Z,1750193132.071 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:32.072Z,1750193132.072 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:32.321Z,1750193132.321 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:32.321Z,1750193132.321 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:32.321Z,1750193132.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:32.423Z,1750193132.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:32.426Z,1750193132.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 495.622498 m,
      bearing: 334.862254 deg,
      approach rate: -0.679155 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.859204 deg,
      new cmd heading: 334.862254 deg.

2025-06-17T20:45:32.427Z,1750193132.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844449 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:32.573Z,1750193132.573 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:32.573Z,1750193132.573 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:32.573Z,1750193132.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:32.791Z,1750193132.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:32.805Z,1750193132.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:32.812Z,1750193132.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 495.372833 m,
      bearing: 334.864885 deg,
      approach rate: -0.653406 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.862264 deg,
      new cmd heading: 334.864885 deg.

2025-06-17T20:45:32.813Z,1750193132.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844495 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:32.825Z,1750193132.825 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:32.825Z,1750193132.825 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:32.825Z,1750193132.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:33.079Z,1750193133.079 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:33.079Z,1750193133.079 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:33.079Z,1750193133.079 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:33.228Z,1750193133.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:33.231Z,1750193133.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 495.077576 m,
      bearing: 334.867779 deg,
      approach rate: -0.698932 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.864887 deg,
      new cmd heading: 334.867779 deg.

2025-06-17T20:45:33.231Z,1750193133.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844545 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:33.329Z,1750193133.329 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:33.329Z,1750193133.329 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:33.329Z,1750193133.329 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:33.581Z,1750193133.581 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:33.581Z,1750193133.581 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:33.581Z,1750193133.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:33.612Z,1750193133.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:33.615Z,1750193133.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 494.817139 m,
      bearing: 334.870334 deg,
      approach rate: -0.678054 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.867783 deg,
      new cmd heading: 334.870334 deg.

2025-06-17T20:45:33.615Z,1750193133.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844590 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:33.833Z,1750193133.833 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:33.833Z,1750193133.833 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:33.833Z,1750193133.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:34.014Z,1750193134.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:34.049Z,1750193134.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 494.548920 m,
      bearing: 334.872886 deg,
      approach rate: -0.668409 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.870323 deg,
      new cmd heading: 334.872886 deg.

2025-06-17T20:45:34.051Z,1750193134.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844635 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:34.087Z,1750193134.087 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:34.087Z,1750193134.087 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:34.087Z,1750193134.087 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:45:34.337Z,1750193134.337 [DAT](INFO): Reached modem response timeout
2025-06-17T20:45:34.338Z,1750193134.338 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:45:34.338Z,1750193134.338 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:45:34.470Z,1750193134.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:34.477Z,1750193134.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 494.235718 m,
      bearing: 334.875374 deg,
      approach rate: -0.685041 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.872892 deg,
      new cmd heading: 334.875374 deg.

2025-06-17T20:45:34.478Z,1750193134.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844678 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:34.589Z,1750193134.589 [DAT](INFO): DAT read: 

2025-06-17T20:45:34.589Z,1750193134.589 [DAT](INFO): Reached modem response timeout
2025-06-17T20:45:34.589Z,1750193134.589 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:45:34.589Z,1750193134.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:45:34.840Z,1750193134.840 [DAT](INFO): Reached modem response timeout
2025-06-17T20:45:34.841Z,1750193134.841 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:45:34.841Z,1750193134.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:45:34.885Z,1750193134.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:34.887Z,1750193134.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:34.890Z,1750193134.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 493.943298 m,
      bearing: 334.877682 deg,
      approach rate: -0.702205 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.875378 deg,
      new cmd heading: 334.877682 deg.

2025-06-17T20:45:34.890Z,1750193134.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844718 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:35.096Z,1750193135.096 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:45:35.097Z,1750193135.097 [DAT](INFO): response not received
2025-06-17T20:45:35.098Z,1750193135.098 [DAT](INFO): DAT read: user:649>

2025-06-17T20:45:35.101Z,1750193135.101 [DAT](INFO): DAT read: Tx time:20:45:35.3326

2025-06-17T20:45:35.101Z,1750193135.101 [DAT](INFO): Ping request sent.
2025-06-17T20:45:35.102Z,1750193135.102 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:45:35.102Z,1750193135.102 [DAT](INFO): publishing transmit ping time
2025-06-17T20:45:35.105Z,1750193135.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002506
2025-06-17T20:45:35.309Z,1750193135.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:35.317Z,1750193135.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 493.653320 m,
      bearing: 334.879782 deg,
      approach rate: -0.686300 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.877673 deg,
      new cmd heading: 334.879782 deg.

2025-06-17T20:45:35.318Z,1750193135.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844755 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:35.348Z,1750193135.348 [DAT](INFO): DAT read: TxSync time:20:45:35.3318

2025-06-17T20:45:35.349Z,1750193135.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247561
2025-06-17T20:45:35.597Z,1750193135.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495063
2025-06-17T20:45:35.655Z,1750193135.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:35.662Z,1750193135.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 493.419525 m,
      bearing: 334.881467 deg,
      approach rate: -0.675494 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.879776 deg,
      new cmd heading: 334.881467 deg.

2025-06-17T20:45:35.663Z,1750193135.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844784 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:35.849Z,1750193135.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747440
2025-06-17T20:45:36.041Z,1750193136.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:36.045Z,1750193136.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 493.135956 m,
      bearing: 334.883532 deg,
      approach rate: -0.735211 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.881470 deg,
      new cmd heading: 334.883532 deg.

2025-06-17T20:45:36.048Z,1750193136.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844820 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:36.104Z,1750193136.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002271
2025-06-17T20:45:36.353Z,1750193136.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251310
2025-06-17T20:45:36.464Z,1750193136.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:36.467Z,1750193136.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 492.851471 m,
      bearing: 334.885935 deg,
      approach rate: -0.674398 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.883519 deg,
      new cmd heading: 334.885935 deg.

2025-06-17T20:45:36.467Z,1750193136.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844862 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:36.605Z,1750193136.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503499
2025-06-17T20:45:36.847Z,1750193136.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:36.850Z,1750193136.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 492.578522 m,
      bearing: 334.888208 deg,
      approach rate: -0.710874 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.885924 deg,
      new cmd heading: 334.888208 deg.

2025-06-17T20:45:36.851Z,1750193136.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844902 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:36.857Z,1750193136.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755367
2025-06-17T20:45:37.111Z,1750193137.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009175
2025-06-17T20:45:37.262Z,1750193137.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:37.265Z,1750193137.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:37.267Z,1750193137.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 492.267639 m,
      bearing: 334.890729 deg,
      approach rate: -0.745391 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.888218 deg,
      new cmd heading: 334.890729 deg.

2025-06-17T20:45:37.268Z,1750193137.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844946 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:37.361Z,1750193137.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259818
2025-06-17T20:45:37.613Z,1750193137.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511333
2025-06-17T20:45:37.651Z,1750193137.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:37.658Z,1750193137.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 491.990479 m,
      bearing: 334.892941 deg,
      approach rate: -0.715486 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.890732 deg,
      new cmd heading: 334.892941 deg.

2025-06-17T20:45:37.659Z,1750193137.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844985 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:37.867Z,1750193137.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765873
2025-06-17T20:45:38.040Z,1750193138.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:38.043Z,1750193138.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 491.712524 m,
      bearing: 334.895136 deg,
      approach rate: -0.714423 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.892945 deg,
      new cmd heading: 334.895136 deg.

2025-06-17T20:45:38.044Z,1750193138.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845023 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:38.122Z,1750193138.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020544
2025-06-17T20:45:38.369Z,1750193138.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267302
2025-06-17T20:45:38.465Z,1750193138.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:38.467Z,1750193138.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 491.407715 m,
      bearing: 334.897432 deg,
      approach rate: -0.718616 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.895131 deg,
      new cmd heading: 334.897432 deg.

2025-06-17T20:45:38.468Z,1750193138.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845063 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:38.590Z,1750193138.590 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:45:38.621Z,1750193138.621 [DAT](INFO): DAT read: Rx Time:20:45:38.4072

2025-06-17T20:45:38.621Z,1750193138.621 [DAT](INFO): Rx dataTimestamp_ set to:1750193138.620984
2025-06-17T20:45:38.622Z,1750193138.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520217
2025-06-17T20:45:38.865Z,1750193138.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:38.867Z,1750193138.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 491.118866 m,
      bearing: 334.899600 deg,
      approach rate: -0.721842 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.897426 deg,
      new cmd heading: 334.899600 deg.

2025-06-17T20:45:38.868Z,1750193138.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845101 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:38.873Z,1750193138.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771668
2025-06-17T20:45:39.127Z,1750193139.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025247
2025-06-17T20:45:39.288Z,1750193139.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:39.290Z,1750193139.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:39.293Z,1750193139.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 490.810974 m,
      bearing: 334.902053 deg,
      approach rate: -0.723830 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.899611 deg,
      new cmd heading: 334.902053 deg.

2025-06-17T20:45:39.294Z,1750193139.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845143 target range: 516.664307 and range: 521.50 m.
2025-06-17T20:45:39.388Z,1750193139.388 [DAT](INFO): DAT read: 20:45:38.4072 LVL= 30912, 31345, 27634, 31283, AGC= 73, IDX= 238,-0.18,-2.459, 2.555,-2.376,-2.834, PHS= 0.462,-0.848, 0.455, RAW= 149.7,  -1.1, CAL= 153.3, -10.0, ROT= 356.7,  10.0

2025-06-17T20:45:39.389Z,1750193139.389 [DAT](INFO): got valid direction response:
 20:45:38.4072 LVL= 30912, 31345, 27634, 31283, AGC= 73, IDX= 238,-0.18,-2.459, 2.555,-2.376,-2.834, PHS= 0.462,-0.848, 0.455, RAW= 149.7,  -1.1, CAL= 153.3, -10.0, ROT= 356.7,  10.0

2025-06-17T20:45:39.391Z,1750193139.391 [DAT](INFO): DAT read: Bearing 356.7,  10.0 (Local)

2025-06-17T20:45:39.391Z,1750193139.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.7,  10.0 (Local)

2025-06-17T20:45:39.393Z,1750193139.393 [DAT](INFO): DAT read: Range 10 to 50 : 502.8 m  (Round-trip  670.5 ms) speed  0.7 m/s

2025-06-17T20:45:39.394Z,1750193139.394 [DAT](INFO): DAT read: user:650>

2025-06-17T20:45:39.394Z,1750193139.394 [DAT](INFO): DAT read: Tx time:20:45:39.4826

2025-06-17T20:45:39.395Z,1750193139.395 [DAT](INFO): Ping request sent.
2025-06-17T20:45:39.395Z,1750193139.395 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:45:39.395Z,1750193139.395 [DAT](INFO): DAT read: TxSync time:20:45:39.4818

2025-06-17T20:45:39.396Z,1750193139.396 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:45:39.397Z,1750193139.397 [DAT](INFO): direction in FSK: [0.983175,-0.056689,-0.173648]
2025-06-17T20:45:39.397Z,1750193139.397 [DAT](INFO): publishing transmit ping time
2025-06-17T20:45:39.398Z,1750193139.398 [DAT](INFO): publishing direction and range info
2025-06-17T20:45:39.401Z,1750193139.401 [DAT](INFO): publishing transmit ping time
2025-06-17T20:45:39.401Z,1750193139.401 [DAT](INFO): publishing direction and range info
2025-06-17T20:45:39.592Z,1750193139.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:45:39.713Z,1750193139.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 502.799988 m,
      deltaT: 16.382458 s,
      deltaX: -18.700012 m,
      approachRate: -1.141466 m/s,
      rangeRepo size: 2

2025-06-17T20:45:39.714Z,1750193139.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:39.720Z,1750193139.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 490.515686 m,
      bearing: 334.904404 deg,
      approach rate: -0.706624 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.902043 deg,
      new cmd heading: 334.904404 deg.

2025-06-17T20:45:39.721Z,1750193139.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845184 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:40.065Z,1750193140.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:40.068Z,1750193140.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 490.249420 m,
      bearing: 334.906577 deg,
      approach rate: -0.745394 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.904392 deg,
      new cmd heading: 334.906577 deg.

2025-06-17T20:45:40.069Z,1750193140.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845222 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:40.484Z,1750193140.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:40.487Z,1750193140.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 489.943634 m,
      bearing: 334.909600 deg,
      approach rate: -0.729664 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.906578 deg,
      new cmd heading: 334.909600 deg.

2025-06-17T20:45:40.489Z,1750193140.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845275 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:40.867Z,1750193140.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:40.870Z,1750193140.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 489.663269 m,
      bearing: 334.912401 deg,
      approach rate: -0.731993 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.909611 deg,
      new cmd heading: 334.912401 deg.

2025-06-17T20:45:40.871Z,1750193140.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845324 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:41.295Z,1750193141.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:41.297Z,1750193141.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:41.300Z,1750193141.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 489.350616 m,
      bearing: 334.915688 deg,
      approach rate: -0.727485 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.912397 deg,
      new cmd heading: 334.915688 deg.

2025-06-17T20:45:41.301Z,1750193141.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845381 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:41.393Z,1750193141.393 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:45:41.393Z,1750193141.393 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:45:41.393Z,1750193141.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:45:41.645Z,1750193141.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249943
2025-06-17T20:45:41.704Z,1750193141.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:41.707Z,1750193141.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 489.053284 m,
      bearing: 334.918820 deg,
      approach rate: -0.730951 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.915676 deg,
      new cmd heading: 334.918820 deg.

2025-06-17T20:45:41.707Z,1750193141.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845436 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:41.897Z,1750193141.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502026
2025-06-17T20:45:42.082Z,1750193142.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:42.085Z,1750193142.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 488.777008 m,
      bearing: 334.921742 deg,
      approach rate: -0.730349 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.918818 deg,
      new cmd heading: 334.921742 deg.

2025-06-17T20:45:42.086Z,1750193142.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845487 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:42.149Z,1750193142.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754325
2025-06-17T20:45:42.401Z,1750193142.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005994
2025-06-17T20:45:42.528Z,1750193142.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:42.530Z,1750193142.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 488.473297 m,
      bearing: 334.925198 deg,
      approach rate: -0.688114 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.921741 deg,
      new cmd heading: 334.925198 deg.

2025-06-17T20:45:42.537Z,1750193142.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845548 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:42.653Z,1750193142.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258358
2025-06-17T20:45:42.905Z,1750193142.905 [DAT](INFO): DAT read: Rx Time:20:45:42.5629

2025-06-17T20:45:42.906Z,1750193142.906 [DAT](INFO): Rx dataTimestamp_ set to:1750193142.905368
2025-06-17T20:45:42.906Z,1750193142.906 [DAT](INFO): DAT read: $Low SNR acquisition

2025-06-17T20:45:42.907Z,1750193142.907 [DAT](INFO): Received low SNR in chirp
2025-06-17T20:45:42.921Z,1750193142.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525991
2025-06-17T20:45:42.965Z,1750193142.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:42.976Z,1750193142.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 488.145630 m,
      bearing: 334.928909 deg,
      approach rate: -0.741992 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.925211 deg,
      new cmd heading: 334.928909 deg.

2025-06-17T20:45:42.977Z,1750193142.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845612 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:43.157Z,1750193143.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761989
2025-06-17T20:45:43.337Z,1750193143.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:43.339Z,1750193143.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:43.346Z,1750193143.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 487.885956 m,
      bearing: 334.932268 deg,
      approach rate: -0.694925 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.928899 deg,
      new cmd heading: 334.932268 deg.

2025-06-17T20:45:43.347Z,1750193143.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845671 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:43.412Z,1750193143.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016878
2025-06-17T20:45:43.661Z,1750193143.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.266075
2025-06-17T20:45:43.722Z,1750193143.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:43.734Z,1750193143.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 487.587646 m,
      bearing: 334.936115 deg,
      approach rate: -0.778045 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.932260 deg,
      new cmd heading: 334.936115 deg.

2025-06-17T20:45:43.735Z,1750193143.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845738 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:43.913Z,1750193143.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.517990
2025-06-17T20:45:44.116Z,1750193144.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:44.119Z,1750193144.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 487.306061 m,
      bearing: 334.939743 deg,
      approach rate: -0.745535 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.936112 deg,
      new cmd heading: 334.939743 deg.

2025-06-17T20:45:44.119Z,1750193144.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845801 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:44.170Z,1750193144.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775571
2025-06-17T20:45:44.421Z,1750193144.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026058
2025-06-17T20:45:44.539Z,1750193144.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:44.542Z,1750193144.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 486.982605 m,
      bearing: 334.943469 deg,
      approach rate: -0.736292 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.939745 deg,
      new cmd heading: 334.943469 deg.

2025-06-17T20:45:44.543Z,1750193144.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845866 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:44.673Z,1750193144.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.277992
2025-06-17T20:45:44.925Z,1750193144.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530120
2025-06-17T20:45:44.926Z,1750193144.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:44.929Z,1750193144.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 486.698914 m,
      bearing: 334.946749 deg,
      approach rate: -0.733942 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.943461 deg,
      new cmd heading: 334.946749 deg.

2025-06-17T20:45:44.929Z,1750193144.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845923 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:45.177Z,1750193145.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782098
2025-06-17T20:45:45.357Z,1750193145.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:45.359Z,1750193145.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:45.361Z,1750193145.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 486.380768 m,
      bearing: 334.950328 deg,
      approach rate: -0.734844 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.946740 deg,
      new cmd heading: 334.950328 deg.

2025-06-17T20:45:45.362Z,1750193145.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845986 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:45.430Z,1750193145.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034832
2025-06-17T20:45:45.681Z,1750193145.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.286037
2025-06-17T20:45:45.749Z,1750193145.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:45.753Z,1750193145.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 486.098236 m,
      bearing: 334.953508 deg,
      approach rate: -0.724006 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.950319 deg,
      new cmd heading: 334.953508 deg.

2025-06-17T20:45:45.755Z,1750193145.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846042 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:45.933Z,1750193145.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538097
2025-06-17T20:45:46.122Z,1750193146.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:46.125Z,1750193146.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 485.820465 m,
      bearing: 334.956629 deg,
      approach rate: -0.744162 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.953515 deg,
      new cmd heading: 334.956629 deg.

2025-06-17T20:45:46.126Z,1750193146.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846096 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:46.186Z,1750193146.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791375
2025-06-17T20:45:46.438Z,1750193146.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.042992
2025-06-17T20:45:46.570Z,1750193146.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:46.577Z,1750193146.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 485.496460 m,
      bearing: 334.959584 deg,
      approach rate: -0.723090 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.956630 deg,
      new cmd heading: 334.959584 deg.

2025-06-17T20:45:46.578Z,1750193146.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846148 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:46.689Z,1750193146.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.294641
2025-06-17T20:45:46.929Z,1750193146.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:46.932Z,1750193146.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 485.226196 m,
      bearing: 334.962031 deg,
      approach rate: -0.753025 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.959580 deg,
      new cmd heading: 334.962031 deg.

2025-06-17T20:45:46.933Z,1750193146.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846190 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:46.941Z,1750193146.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.546111
2025-06-17T20:45:47.193Z,1750193147.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.798035
2025-06-17T20:45:47.365Z,1750193147.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:47.367Z,1750193147.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:47.370Z,1750193147.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 484.903015 m,
      bearing: 334.965137 deg,
      approach rate: -0.737493 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.962039 deg,
      new cmd heading: 334.965137 deg.

2025-06-17T20:45:47.371Z,1750193147.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846244 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:47.376Z,1750193147.376 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-06-17T20:35:47.4Z
2025-06-17T20:45:47.376Z,1750193147.376 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-17T20:45:47.376Z,1750193147.376 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-06-17T20:45:47.376Z,1750193147.376 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-17T20:45:47.376Z,1750193147.376 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-17T20:45:47.376Z,1750193147.376 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-06-17T20:45:47.447Z,1750193147.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052086
2025-06-17T20:45:47.697Z,1750193147.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.301946
2025-06-17T20:45:47.820Z,1750193147.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:47.823Z,1750193147.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 484.567291 m,
      bearing: 334.968346 deg,
      approach rate: -0.741152 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.965126 deg,
      new cmd heading: 334.968346 deg.

2025-06-17T20:45:47.824Z,1750193147.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846301 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:47.828Z,1750193147.828 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-17T20:45:47.828Z,1750193147.828 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-17T20:45:47.829Z,1750193147.829 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-17T20:45:47.829Z,1750193147.829 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-17T20:45:47.829Z,1750193147.829 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-17T20:45:47.949Z,1750193147.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.554008
2025-06-17T20:45:48.201Z,1750193148.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.806120
2025-06-17T20:45:48.444Z,1750193148.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:48.447Z,1750193148.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 484.111908 m,
      bearing: 334.972122 deg,
      approach rate: -0.734992 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.968350 deg,
      new cmd heading: 334.972122 deg.

2025-06-17T20:45:48.457Z,1750193148.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.061708
2025-06-17T20:45:48.447Z,1750193148.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846366 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:48.706Z,1750193148.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.310902
2025-06-17T20:45:48.866Z,1750193148.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:48.874Z,1750193148.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 483.799652 m,
      bearing: 334.974712 deg,
      approach rate: -0.732266 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.972121 deg,
      new cmd heading: 334.974712 deg.

2025-06-17T20:45:48.874Z,1750193148.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846412 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:48.958Z,1750193148.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.563087
2025-06-17T20:45:49.207Z,1750193149.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:49.209Z,1750193149.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.814116
2025-06-17T20:45:49.212Z,1750193149.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 483.534637 m,
      bearing: 334.976931 deg,
      approach rate: -0.777206 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.974716 deg,
      new cmd heading: 334.976931 deg.

2025-06-17T20:45:49.213Z,1750193149.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846450 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:49.460Z,1750193149.460 [DAT](INFO): Reached modem response timeout
2025-06-17T20:45:49.461Z,1750193149.461 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:45:49.461Z,1750193149.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:45:49.605Z,1750193149.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:49.607Z,1750193149.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:49.626Z,1750193149.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 483.234070 m,
      bearing: 334.979037 deg,
      approach rate: -0.751618 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.976929 deg,
      new cmd heading: 334.979037 deg.

2025-06-17T20:45:49.627Z,1750193149.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846487 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:49.713Z,1750193149.713 [DAT](INFO): Reached modem response timeout
2025-06-17T20:45:49.713Z,1750193149.713 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:45:49.713Z,1750193149.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:45:49.964Z,1750193149.964 [DAT](INFO): Reached modem response timeout
2025-06-17T20:45:49.965Z,1750193149.965 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:45:49.965Z,1750193149.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:45:50.020Z,1750193150.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:50.023Z,1750193150.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 482.941162 m,
      bearing: 334.981084 deg,
      approach rate: -0.716690 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.979033 deg,
      new cmd heading: 334.981084 deg.

2025-06-17T20:45:50.023Z,1750193150.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846523 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:50.217Z,1750193150.217 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:45:50.217Z,1750193150.217 [DAT](INFO): response not received
2025-06-17T20:45:50.218Z,1750193150.218 [DAT](INFO): DAT read: user:652>

2025-06-17T20:45:50.218Z,1750193150.218 [DAT](INFO): DAT read: Tx time:20:45:50.4327

2025-06-17T20:45:50.219Z,1750193150.219 [DAT](INFO): Ping request sent.
2025-06-17T20:45:50.219Z,1750193150.219 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:45:50.219Z,1750193150.219 [DAT](INFO): publishing transmit ping time
2025-06-17T20:45:50.219Z,1750193150.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-06-17T20:45:50.432Z,1750193150.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:50.435Z,1750193150.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 482.616547 m,
      bearing: 334.983026 deg,
      approach rate: -0.780450 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.981082 deg,
      new cmd heading: 334.983026 deg.

2025-06-17T20:45:50.435Z,1750193150.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846557 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:50.470Z,1750193150.470 [DAT](INFO): DAT read: TxSync time:20:45:50.4319

2025-06-17T20:45:50.471Z,1750193150.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252342
2025-06-17T20:45:50.721Z,1750193150.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502093
2025-06-17T20:45:50.802Z,1750193150.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:50.805Z,1750193150.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 482.333679 m,
      bearing: 334.984722 deg,
      approach rate: -0.763842 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.983022 deg,
      new cmd heading: 334.984722 deg.

2025-06-17T20:45:50.806Z,1750193150.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846586 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:50.973Z,1750193150.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754089
2025-06-17T20:45:51.225Z,1750193151.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006259
2025-06-17T20:45:51.225Z,1750193151.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:51.233Z,1750193151.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 482.028198 m,
      bearing: 334.986636 deg,
      approach rate: -0.753377 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.984715 deg,
      new cmd heading: 334.986636 deg.

2025-06-17T20:45:51.234Z,1750193151.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846620 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:51.477Z,1750193151.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258373
2025-06-17T20:45:51.630Z,1750193151.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:51.633Z,1750193151.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:51.635Z,1750193151.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 481.706543 m,
      bearing: 334.989399 deg,
      approach rate: -0.756836 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.986628 deg,
      new cmd heading: 334.989399 deg.

2025-06-17T20:45:51.656Z,1750193151.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846668 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:51.729Z,1750193151.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510448
2025-06-17T20:45:51.981Z,1750193151.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762118
2025-06-17T20:45:52.037Z,1750193152.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:52.039Z,1750193152.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 481.402588 m,
      bearing: 334.992039 deg,
      approach rate: -0.751940 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.989387 deg,
      new cmd heading: 334.992039 deg.

2025-06-17T20:45:52.044Z,1750193152.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846714 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:52.233Z,1750193152.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013987
2025-06-17T20:45:52.459Z,1750193152.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:52.466Z,1750193152.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 481.092529 m,
      bearing: 334.993981 deg,
      approach rate: -0.734174 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.992037 deg,
      new cmd heading: 334.993981 deg.

2025-06-17T20:45:52.467Z,1750193152.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846748 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:52.485Z,1750193152.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266462
2025-06-17T20:45:52.738Z,1750193152.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518643
2025-06-17T20:45:52.850Z,1750193152.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:52.853Z,1750193152.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 480.778534 m,
      bearing: 334.995950 deg,
      approach rate: -0.802675 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.993977 deg,
      new cmd heading: 334.995950 deg.

2025-06-17T20:45:52.854Z,1750193152.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846782 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:52.989Z,1750193152.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770067
2025-06-17T20:45:53.237Z,1750193153.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:53.239Z,1750193153.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 480.483521 m,
      bearing: 334.997713 deg,
      approach rate: -0.763230 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.995944 deg,
      new cmd heading: 334.997713 deg.

2025-06-17T20:45:53.241Z,1750193153.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022494
2025-06-17T20:45:53.242Z,1750193153.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846813 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:53.493Z,1750193153.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274119
2025-06-17T20:45:53.661Z,1750193153.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:53.663Z,1750193153.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:53.670Z,1750193153.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 480.170135 m,
      bearing: 334.999441 deg,
      approach rate: -0.734812 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.997720 deg,
      new cmd heading: 334.999441 deg.

2025-06-17T20:45:53.671Z,1750193153.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846843 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:53.746Z,1750193153.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527423
2025-06-17T20:45:53.997Z,1750193153.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778100
2025-06-17T20:45:54.042Z,1750193154.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:54.045Z,1750193154.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 479.868591 m,
      bearing: 335.001090 deg,
      approach rate: -0.796672 m/s,
      LOS rate: nan deg/s,
      cmd heading: 334.999441 deg,
      new cmd heading: 335.001090 deg.

2025-06-17T20:45:54.046Z,1750193154.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846872 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:54.250Z,1750193154.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031768
2025-06-17T20:45:54.474Z,1750193154.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:54.481Z,1750193154.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 479.552826 m,
      bearing: 335.003410 deg,
      approach rate: -0.730277 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.001081 deg,
      new cmd heading: 335.003410 deg.

2025-06-17T20:45:54.482Z,1750193154.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846912 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:54.501Z,1750193154.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282190
2025-06-17T20:45:54.753Z,1750193154.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534744
2025-06-17T20:45:54.848Z,1750193154.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:54.850Z,1750193154.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 479.251953 m,
      bearing: 335.005606 deg,
      approach rate: -0.806035 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.003403 deg,
      new cmd heading: 335.005606 deg.

2025-06-17T20:45:54.851Z,1750193154.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846951 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:55.005Z,1750193155.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786133
2025-06-17T20:45:55.257Z,1750193155.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038155
2025-06-17T20:45:55.350Z,1750193155.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:55.378Z,1750193155.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 478.871307 m,
      bearing: 335.008358 deg,
      approach rate: -0.756960 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.005616 deg,
      new cmd heading: 335.008358 deg.

2025-06-17T20:45:55.385Z,1750193155.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846999 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:55.510Z,1750193155.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290868
2025-06-17T20:45:55.747Z,1750193155.747 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:55.762Z,1750193155.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542652
2025-06-17T20:45:55.766Z,1750193155.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:55.773Z,1750193155.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 478.565918 m,
      bearing: 335.010773 deg,
      approach rate: -0.734959 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.008348 deg,
      new cmd heading: 335.010773 deg.

2025-06-17T20:45:55.774Z,1750193155.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847041 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:56.013Z,1750193156.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794220
2025-06-17T20:45:56.129Z,1750193156.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:56.131Z,1750193156.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 478.273041 m,
      bearing: 335.013100 deg,
      approach rate: -0.807614 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.010779 deg,
      new cmd heading: 335.013100 deg.

2025-06-17T20:45:56.148Z,1750193156.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847082 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:56.265Z,1750193156.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046071
2025-06-17T20:45:56.517Z,1750193156.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298202
2025-06-17T20:45:56.560Z,1750193156.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:56.562Z,1750193156.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 477.940308 m,
      bearing: 335.015846 deg,
      approach rate: -0.771761 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.013102 deg,
      new cmd heading: 335.015846 deg.

2025-06-17T20:45:56.563Z,1750193156.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847129 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:56.772Z,1750193156.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553319
2025-06-17T20:45:56.928Z,1750193156.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:56.931Z,1750193156.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 477.656860 m,
      bearing: 335.018200 deg,
      approach rate: -0.769762 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.015834 deg,
      new cmd heading: 335.018200 deg.

2025-06-17T20:45:56.932Z,1750193156.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847171 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:57.021Z,1750193157.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802672
2025-06-17T20:45:57.273Z,1750193157.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054177
2025-06-17T20:45:57.342Z,1750193157.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:57.345Z,1750193157.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 477.338165 m,
      bearing: 335.020861 deg,
      approach rate: -0.770176 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.018211 deg,
      new cmd heading: 335.020861 deg.

2025-06-17T20:45:57.346Z,1750193157.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847217 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:57.525Z,1750193157.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306150
2025-06-17T20:45:57.779Z,1750193157.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560826
2025-06-17T20:45:57.787Z,1750193157.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:57.790Z,1750193157.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:57.809Z,1750193157.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 477.000732 m,
      bearing: 335.023941 deg,
      approach rate: -0.753071 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.020861 deg,
      new cmd heading: 335.023941 deg.

2025-06-17T20:45:57.809Z,1750193157.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847271 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:58.033Z,1750193158.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814483
2025-06-17T20:45:58.162Z,1750193158.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:58.165Z,1750193158.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 476.719513 m,
      bearing: 335.026526 deg,
      approach rate: -0.756519 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.023948 deg,
      new cmd heading: 335.026526 deg.

2025-06-17T20:45:58.165Z,1750193158.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847316 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:58.285Z,1750193158.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066660
2025-06-17T20:45:58.537Z,1750193158.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318450
2025-06-17T20:45:58.577Z,1750193158.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:58.579Z,1750193158.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 476.408020 m,
      bearing: 335.029915 deg,
      approach rate: -0.750526 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.026516 deg,
      new cmd heading: 335.029915 deg.

2025-06-17T20:45:58.580Z,1750193158.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847375 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:58.790Z,1750193158.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571308
2025-06-17T20:45:58.957Z,1750193158.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:58.960Z,1750193158.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 476.122650 m,
      bearing: 335.033021 deg,
      approach rate: -0.749904 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.029904 deg,
      new cmd heading: 335.033021 deg.

2025-06-17T20:45:58.961Z,1750193158.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847429 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:59.042Z,1750193159.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822707
2025-06-17T20:45:59.293Z,1750193159.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074343
2025-06-17T20:45:59.354Z,1750193159.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:59.357Z,1750193159.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 475.825714 m,
      bearing: 335.036251 deg,
      approach rate: -0.748563 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.033018 deg,
      new cmd heading: 335.036251 deg.

2025-06-17T20:45:59.357Z,1750193159.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847486 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:45:59.545Z,1750193159.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326155
2025-06-17T20:45:59.797Z,1750193159.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578143
2025-06-17T20:45:59.816Z,1750193159.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:45:59.818Z,1750193159.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:45:59.825Z,1750193159.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 475.481934 m,
      bearing: 335.040123 deg,
      approach rate: -0.740576 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.036242 deg,
      new cmd heading: 335.040123 deg.

2025-06-17T20:45:59.826Z,1750193159.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847553 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:00.049Z,1750193160.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830402
2025-06-17T20:46:00.185Z,1750193160.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:00.189Z,1750193160.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 475.217590 m,
      bearing: 335.043096 deg,
      approach rate: -0.756427 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.040122 deg,
      new cmd heading: 335.043096 deg.

2025-06-17T20:46:00.190Z,1750193160.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847605 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:00.301Z,1750193160.301 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:00.301Z,1750193160.301 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:00.302Z,1750193160.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:00.552Z,1750193160.552 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:00.552Z,1750193160.552 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:00.553Z,1750193160.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:00.606Z,1750193160.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:00.608Z,1750193160.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 474.898834 m,
      bearing: 335.047028 deg,
      approach rate: -0.727458 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.043100 deg,
      new cmd heading: 335.047028 deg.

2025-06-17T20:46:00.609Z,1750193160.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847674 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:00.805Z,1750193160.805 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:00.805Z,1750193160.805 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:00.805Z,1750193160.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:00.972Z,1750193160.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:00.974Z,1750193160.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 474.631592 m,
      bearing: 335.050317 deg,
      approach rate: -0.730161 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.047034 deg,
      new cmd heading: 335.050317 deg.

2025-06-17T20:46:00.975Z,1750193160.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847731 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:01.061Z,1750193161.061 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:46:01.061Z,1750193161.061 [DAT](INFO): response not received
2025-06-17T20:46:01.061Z,1750193161.061 [DAT](INFO): DAT read: user:653>

2025-06-17T20:46:01.063Z,1750193161.063 [DAT](INFO): DAT read: Tx time:20:46:01.3828

2025-06-17T20:46:01.063Z,1750193161.063 [DAT](INFO): Ping request sent.
2025-06-17T20:46:01.063Z,1750193161.063 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:46:01.063Z,1750193161.063 [DAT](INFO): publishing transmit ping time
2025-06-17T20:46:01.065Z,1750193161.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001215
2025-06-17T20:46:01.309Z,1750193161.309 [DAT](INFO): DAT read: TxSync time:20:46:01.3820

2025-06-17T20:46:01.310Z,1750193161.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246584
2025-06-17T20:46:01.506Z,1750193161.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:01.517Z,1750193161.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 474.283417 m,
      bearing: 335.054578 deg,
      approach rate: -0.654078 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.050313 deg,
      new cmd heading: 335.054578 deg.

2025-06-17T20:46:01.521Z,1750193161.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847806 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:01.561Z,1750193161.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497859
2025-06-17T20:46:01.813Z,1750193161.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749709
2025-06-17T20:46:02.002Z,1750193162.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:02.006Z,1750193162.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:02.017Z,1750193162.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 473.875763 m,
      bearing: 335.059220 deg,
      approach rate: -0.815567 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.054575 deg,
      new cmd heading: 335.059220 deg.

2025-06-17T20:46:02.018Z,1750193162.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847887 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:02.065Z,1750193162.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002020
2025-06-17T20:46:02.317Z,1750193162.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254039
2025-06-17T20:46:02.366Z,1750193162.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:02.369Z,1750193162.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 473.597778 m,
      bearing: 335.062426 deg,
      approach rate: -0.767860 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.059219 deg,
      new cmd heading: 335.062426 deg.

2025-06-17T20:46:02.370Z,1750193162.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847942 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:02.569Z,1750193162.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505789
2025-06-17T20:46:02.821Z,1750193162.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757774
2025-06-17T20:46:02.830Z,1750193162.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:02.837Z,1750193162.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 473.277374 m,
      bearing: 335.066359 deg,
      approach rate: -0.690449 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.062416 deg,
      new cmd heading: 335.066359 deg.

2025-06-17T20:46:02.838Z,1750193162.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848011 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:03.073Z,1750193163.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009702
2025-06-17T20:46:03.165Z,1750193163.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:03.168Z,1750193163.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 473.020355 m,
      bearing: 335.069464 deg,
      approach rate: -0.766949 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.066350 deg,
      new cmd heading: 335.069464 deg.

2025-06-17T20:46:03.169Z,1750193163.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848065 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:03.325Z,1750193163.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261863
2025-06-17T20:46:03.577Z,1750193163.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513774
2025-06-17T20:46:03.615Z,1750193163.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:03.634Z,1750193163.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 472.693359 m,
      bearing: 335.072543 deg,
      approach rate: -0.726277 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.069464 deg,
      new cmd heading: 335.072543 deg.

2025-06-17T20:46:03.635Z,1750193163.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848119 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:03.830Z,1750193163.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766575
2025-06-17T20:46:04.004Z,1750193164.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:04.007Z,1750193164.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 472.413391 m,
      bearing: 335.075182 deg,
      approach rate: -0.719539 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.072552 deg,
      new cmd heading: 335.075182 deg.

2025-06-17T20:46:04.013Z,1750193164.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848165 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:04.081Z,1750193164.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017871
2025-06-17T20:46:04.333Z,1750193164.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269692
2025-06-17T20:46:04.382Z,1750193164.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:04.384Z,1750193164.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:04.387Z,1750193164.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 472.122620 m,
      bearing: 335.077851 deg,
      approach rate: -0.765194 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.075174 deg,
      new cmd heading: 335.077851 deg.

2025-06-17T20:46:04.388Z,1750193164.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848212 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:04.587Z,1750193164.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523659
2025-06-17T20:46:04.837Z,1750193164.837 [DAT](INFO): DAT read: Rx Time:20:46:04.4403

2025-06-17T20:46:04.837Z,1750193164.837 [DAT](INFO): Rx dataTimestamp_ set to:1750193164.836993
2025-06-17T20:46:04.838Z,1750193164.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774793
2025-06-17T20:46:04.844Z,1750193164.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:04.847Z,1750193164.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 471.799591 m,
      bearing: 335.080811 deg,
      approach rate: -0.702141 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.077852 deg,
      new cmd heading: 335.080811 deg.

2025-06-17T20:46:04.852Z,1750193164.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848263 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:05.089Z,1750193165.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025740
2025-06-17T20:46:05.252Z,1750193165.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:05.254Z,1750193165.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 471.479919 m,
      bearing: 335.083743 deg,
      approach rate: -0.784936 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.080802 deg,
      new cmd heading: 335.083743 deg.

2025-06-17T20:46:05.255Z,1750193165.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848315 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:05.351Z,1750193165.351 [DAT](INFO): DAT read: 20:46:04.4403 LVL= 28960, 28593, 24914, 29907, AGC= 70, IDX= 175,-0.43,-0.122,-1.696,-0.200,-0.830, PHS= 0.796,-0.819, 0.628, RAW= 144.6,  -7.9, CAL= 150.8, -16.9, ROT= 359.2,  16.9

2025-06-17T20:46:05.353Z,1750193165.353 [DAT](INFO): got valid direction response:
 20:46:04.4403 LVL= 28960, 28593, 24914, 29907, AGC= 70, IDX= 175,-0.43,-0.122,-1.696,-0.200,-0.830, PHS= 0.796,-0.819, 0.628, RAW= 144.6,  -7.9, CAL= 150.8, -16.9, ROT= 359.2,  16.9

2025-06-17T20:46:05.354Z,1750193165.354 [DAT](INFO): DAT read: $Error in header

2025-06-17T20:46:05.355Z,1750193165.355 [DAT](INFO): Received a bad header
2025-06-17T20:46:05.372Z,1750193165.372 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-17T20:46:05.373Z,1750193165.373 [DAT](INFO): direction in FSK: [0.956720,-0.013359,-0.290702]
2025-06-17T20:46:05.376Z,1750193165.376 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:05.376Z,1750193165.376 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:05.377Z,1750193165.377 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:05.594Z,1750193165.594 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:05.594Z,1750193165.594 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:05.594Z,1750193165.594 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:05.672Z,1750193165.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:05.675Z,1750193165.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 471.164429 m,
      bearing: 335.086370 deg,
      approach rate: -0.750559 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.083753 deg,
      new cmd heading: 335.086370 deg.

2025-06-17T20:46:05.686Z,1750193165.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848361 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:05.845Z,1750193165.845 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:05.845Z,1750193165.845 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:05.845Z,1750193165.845 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:05.996Z,1750193165.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:05.999Z,1750193165.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 470.921326 m,
      bearing: 335.088389 deg,
      approach rate: -0.750540 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.086376 deg,
      new cmd heading: 335.088389 deg.

2025-06-17T20:46:05.999Z,1750193165.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848396 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:06.097Z,1750193166.097 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:06.097Z,1750193166.097 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:06.097Z,1750193166.097 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:06.349Z,1750193166.349 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:06.349Z,1750193166.349 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:06.349Z,1750193166.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:06.415Z,1750193166.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:06.421Z,1750193166.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:06.428Z,1750193166.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 470.618469 m,
      bearing: 335.090886 deg,
      approach rate: -0.712153 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.088398 deg,
      new cmd heading: 335.090886 deg.

2025-06-17T20:46:06.429Z,1750193166.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848439 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:06.601Z,1750193166.601 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:06.601Z,1750193166.601 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:06.601Z,1750193166.601 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:06.853Z,1750193166.853 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:06.853Z,1750193166.853 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:06.853Z,1750193166.853 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:06.858Z,1750193166.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:06.861Z,1750193166.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 470.271912 m,
      bearing: 335.093322 deg,
      approach rate: -0.793013 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.090884 deg,
      new cmd heading: 335.093322 deg.

2025-06-17T20:46:06.862Z,1750193166.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848482 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:07.105Z,1750193167.105 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:07.105Z,1750193167.105 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:07.105Z,1750193167.105 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:07.214Z,1750193167.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:07.217Z,1750193167.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 470.000092 m,
      bearing: 335.095226 deg,
      approach rate: -0.764319 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.093315 deg,
      new cmd heading: 335.095226 deg.

2025-06-17T20:46:07.217Z,1750193167.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848515 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:07.357Z,1750193167.357 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:07.357Z,1750193167.357 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:07.357Z,1750193167.357 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:07.611Z,1750193167.611 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:07.611Z,1750193167.611 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:07.611Z,1750193167.611 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:07.677Z,1750193167.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:07.679Z,1750193167.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 469.640930 m,
      bearing: 335.097091 deg,
      approach rate: -0.776199 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.095228 deg,
      new cmd heading: 335.097091 deg.

2025-06-17T20:46:07.701Z,1750193167.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848547 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:07.862Z,1750193167.862 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:07.862Z,1750193167.862 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:07.862Z,1750193167.862 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:08.031Z,1750193168.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:08.034Z,1750193168.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 469.365814 m,
      bearing: 335.098477 deg,
      approach rate: -0.776600 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.097086 deg,
      new cmd heading: 335.098477 deg.

2025-06-17T20:46:08.034Z,1750193168.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848572 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:08.114Z,1750193168.114 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:08.114Z,1750193168.114 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:08.114Z,1750193168.114 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:08.365Z,1750193168.365 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:08.365Z,1750193168.365 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:08.365Z,1750193168.365 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:08.445Z,1750193168.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:08.448Z,1750193168.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:08.450Z,1750193168.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 469.042908 m,
      bearing: 335.100105 deg,
      approach rate: -0.774893 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.098479 deg,
      new cmd heading: 335.100105 deg.

2025-06-17T20:46:08.451Z,1750193168.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848600 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:08.617Z,1750193168.617 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:08.617Z,1750193168.617 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:08.618Z,1750193168.618 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:08.869Z,1750193168.869 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:08.869Z,1750193168.869 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:08.869Z,1750193168.869 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:08.910Z,1750193168.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:08.913Z,1750193168.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 468.677277 m,
      bearing: 335.101664 deg,
      approach rate: -0.790714 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.100118 deg,
      new cmd heading: 335.101664 deg.

2025-06-17T20:46:08.914Z,1750193168.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848628 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:09.122Z,1750193169.122 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:09.122Z,1750193169.122 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:09.122Z,1750193169.122 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:09.253Z,1750193169.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:09.260Z,1750193169.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 468.422729 m,
      bearing: 335.102676 deg,
      approach rate: -0.741122 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.101676 deg,
      new cmd heading: 335.102676 deg.

2025-06-17T20:46:09.261Z,1750193169.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848645 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:09.376Z,1750193169.376 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:09.377Z,1750193169.377 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:09.377Z,1750193169.377 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:09.626Z,1750193169.626 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:09.627Z,1750193169.627 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:09.627Z,1750193169.627 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:09.695Z,1750193169.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:09.712Z,1750193169.712 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:46:09.719Z,1750193169.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 468.059235 m,
      bearing: 335.104678 deg,
      approach rate: -0.822770 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.102686 deg,
      new cmd heading: 335.104678 deg.

2025-06-17T20:46:09.719Z,1750193169.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848680 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:09.876Z,1750193169.876 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:09.877Z,1750193169.877 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:09.877Z,1750193169.877 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:10.039Z,1750193170.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:10.042Z,1750193170.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 467.789001 m,
      bearing: 335.106111 deg,
      approach rate: -0.785262 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.104681 deg,
      new cmd heading: 335.106111 deg.

2025-06-17T20:46:10.043Z,1750193170.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848705 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:10.130Z,1750193170.130 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:10.130Z,1750193170.130 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:10.130Z,1750193170.130 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:10.380Z,1750193170.380 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:10.381Z,1750193170.381 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:10.381Z,1750193170.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:10.470Z,1750193170.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:10.472Z,1750193170.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:10.475Z,1750193170.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 467.449829 m,
      bearing: 335.107911 deg,
      approach rate: -0.783196 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.106102 deg,
      new cmd heading: 335.107911 deg.

2025-06-17T20:46:10.478Z,1750193170.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848736 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:10.636Z,1750193170.636 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:10.636Z,1750193170.636 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:10.636Z,1750193170.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:10.716Z,1750193170.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:46:10.882Z,1750193170.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:10.885Z,1750193170.885 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:10.885Z,1750193170.885 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:10.885Z,1750193170.885 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:10.887Z,1750193170.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 467.127625 m,
      bearing: 335.109198 deg,
      approach rate: -0.791181 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.107905 deg,
      new cmd heading: 335.109198 deg.

2025-06-17T20:46:10.887Z,1750193170.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848759 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:11.137Z,1750193171.137 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:11.137Z,1750193171.137 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:11.137Z,1750193171.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:11.283Z,1750193171.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:11.290Z,1750193171.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 466.827332 m,
      bearing: 335.110387 deg,
      approach rate: -0.744977 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.109189 deg,
      new cmd heading: 335.110387 deg.

2025-06-17T20:46:11.291Z,1750193171.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848780 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:11.388Z,1750193171.388 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:11.389Z,1750193171.389 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:11.389Z,1750193171.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:11.643Z,1750193171.643 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:11.643Z,1750193171.643 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:11.645Z,1750193171.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:11.738Z,1750193171.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:11.747Z,1750193171.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 466.458649 m,
      bearing: 335.113078 deg,
      approach rate: -0.810123 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.110391 deg,
      new cmd heading: 335.113078 deg.

2025-06-17T20:46:11.749Z,1750193171.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848826 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:11.892Z,1750193171.892 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:11.893Z,1750193171.893 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:11.893Z,1750193171.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:12.056Z,1750193172.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:12.059Z,1750193172.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 466.205414 m,
      bearing: 335.114939 deg,
      approach rate: -0.795988 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.113068 deg,
      new cmd heading: 335.114939 deg.

2025-06-17T20:46:12.061Z,1750193172.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848859 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:12.145Z,1750193172.145 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:46:12.145Z,1750193172.145 [DAT](INFO): response not received
2025-06-17T20:46:12.146Z,1750193172.146 [DAT](INFO): DAT read: user:655>

2025-06-17T20:46:12.147Z,1750193172.147 [DAT](INFO): DAT read: Tx time:20:46:12.3328

2025-06-17T20:46:12.147Z,1750193172.147 [DAT](INFO): Ping request sent.
2025-06-17T20:46:12.147Z,1750193172.147 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:46:12.147Z,1750193172.147 [DAT](INFO): publishing transmit ping time
2025-06-17T20:46:12.148Z,1750193172.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-06-17T20:46:12.397Z,1750193172.397 [DAT](INFO): DAT read: TxSync time:20:46:12.3320

2025-06-17T20:46:12.398Z,1750193172.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250814
2025-06-17T20:46:12.471Z,1750193172.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:12.473Z,1750193172.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:12.475Z,1750193172.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 465.879974 m,
      bearing: 335.117354 deg,
      approach rate: -0.780455 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.114926 deg,
      new cmd heading: 335.117354 deg.

2025-06-17T20:46:12.477Z,1750193172.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848901 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:12.654Z,1750193172.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506654
2025-06-17T20:46:12.889Z,1750193172.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:12.891Z,1750193172.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 465.563873 m,
      bearing: 335.119365 deg,
      approach rate: -0.761715 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.117358 deg,
      new cmd heading: 335.119365 deg.

2025-06-17T20:46:12.903Z,1750193172.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755908
2025-06-17T20:46:12.912Z,1750193172.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848936 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:13.154Z,1750193173.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006388
2025-06-17T20:46:13.281Z,1750193173.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:13.283Z,1750193173.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 465.264587 m,
      bearing: 335.121315 deg,
      approach rate: -0.761441 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.119352 deg,
      new cmd heading: 335.121315 deg.

2025-06-17T20:46:13.285Z,1750193173.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848970 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:13.405Z,1750193173.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257789
2025-06-17T20:46:13.660Z,1750193173.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512495
2025-06-17T20:46:13.792Z,1750193173.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:13.795Z,1750193173.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 464.886353 m,
      bearing: 335.124025 deg,
      approach rate: -0.744309 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.121319 deg,
      new cmd heading: 335.124025 deg.

2025-06-17T20:46:13.795Z,1750193173.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849018 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:13.909Z,1750193173.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761957
2025-06-17T20:46:14.161Z,1750193174.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014279
2025-06-17T20:46:14.244Z,1750193174.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:14.247Z,1750193174.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 464.547791 m,
      bearing: 335.126454 deg,
      approach rate: -0.744742 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.124024 deg,
      new cmd heading: 335.126454 deg.

2025-06-17T20:46:14.247Z,1750193174.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849060 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:14.414Z,1750193174.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827
2025-06-17T20:46:14.667Z,1750193174.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519634
2025-06-17T20:46:14.917Z,1750193174.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769929
2025-06-17T20:46:14.945Z,1750193174.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:14.947Z,1750193174.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:14.950Z,1750193174.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 464.003510 m,
      bearing: 335.130300 deg,
      approach rate: -0.773705 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.126455 deg,
      new cmd heading: 335.130300 deg.

2025-06-17T20:46:14.951Z,1750193174.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849127 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:15.170Z,1750193175.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022600
2025-06-17T20:46:15.296Z,1750193175.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:15.300Z,1750193175.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 463.742310 m,
      bearing: 335.132147 deg,
      approach rate: -0.758029 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.130308 deg,
      new cmd heading: 335.132147 deg.

2025-06-17T20:46:15.301Z,1750193175.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849159 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:15.421Z,1750193175.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273914
2025-06-17T20:46:15.633Z,1750193175.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:15.635Z,1750193175.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 463.485016 m,
      bearing: 335.133970 deg,
      approach rate: -0.755284 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.132138 deg,
      new cmd heading: 335.133970 deg.

2025-06-17T20:46:15.656Z,1750193175.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849191 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:15.676Z,1750193175.676 [DAT](INFO): DAT read: Rx Time:20:46:15.3804

2025-06-17T20:46:15.677Z,1750193175.677 [DAT](INFO): Rx dataTimestamp_ set to:1750193175.676221
2025-06-17T20:46:15.678Z,1750193175.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531265
2025-06-17T20:46:15.928Z,1750193175.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780932
2025-06-17T20:46:16.048Z,1750193176.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:16.050Z,1750193176.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 463.186279 m,
      bearing: 335.136870 deg,
      approach rate: -0.719747 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.133969 deg,
      new cmd heading: 335.136870 deg.

2025-06-17T20:46:16.051Z,1750193176.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849242 target range: 516.664307 and range: 502.80 m.
2025-06-17T20:46:16.183Z,1750193176.183 [DAT](INFO): DAT read: 20:46:15.3804 LVL= 32752, 25137, 31666, 32755, AGC= 70, IDX= 456, 0.09, 0.182,-1.231, 0.298,-0.461, PHS= 0.731,-0.723, 0.756, RAW= 150.8, -10.4, CAL= 157.3, -18.2, ROT= 352.7,  18.2

2025-06-17T20:46:16.185Z,1750193176.185 [DAT](INFO): got valid direction response:
 20:46:15.3804 LVL= 32752, 25137, 31666, 32755, AGC= 70, IDX= 456, 0.09, 0.182,-1.231, 0.298,-0.461, PHS= 0.731,-0.723, 0.756, RAW= 150.8, -10.4, CAL= 157.3, -18.2, ROT= 352.7,  18.2

2025-06-17T20:46:16.186Z,1750193176.186 [DAT](INFO): DAT read: Range 10 to 50 : 482.5 m  (Round-trip  643.4 ms) speed  0.5 m/s

2025-06-17T20:46:16.187Z,1750193176.187 [DAT](INFO): DAT read: user:656>

2025-06-17T20:46:16.188Z,1750193176.188 [DAT](INFO): DAT read: Tx time:20:46:16.4829

2025-06-17T20:46:16.188Z,1750193176.188 [DAT](INFO): Ping request sent.
2025-06-17T20:46:16.188Z,1750193176.188 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:46:16.189Z,1750193176.189 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:46:16.190Z,1750193176.190 [DAT](INFO): direction in FSK: [0.942272,-0.120708,-0.312335]
2025-06-17T20:46:16.190Z,1750193176.190 [DAT](INFO): publishing transmit ping time
2025-06-17T20:46:16.190Z,1750193176.190 [DAT](INFO): publishing direction and range info
2025-06-17T20:46:16.195Z,1750193176.195 [DAT](INFO): publishing transmit ping time
2025-06-17T20:46:16.195Z,1750193176.195 [DAT](INFO): publishing direction and range info
2025-06-17T20:46:16.423Z,1750193176.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 482.500000 m,
      deltaT: 36.797921 s,
      deltaX: -20.299988 m,
      approachRate: -0.551661 m/s,
      rangeRepo size: 3

2025-06-17T20:46:16.424Z,1750193176.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:16.426Z,1750193176.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 462.918976 m,
      bearing: 335.139470 deg,
      approach rate: -0.713066 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.136865 deg,
      new cmd heading: 335.139470 deg.

2025-06-17T20:46:16.427Z,1750193176.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849287 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:16.429Z,1750193176.429 [DAT](INFO): DAT read: TxSync time:20:46:16.4821

2025-06-17T20:46:16.855Z,1750193176.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:16.857Z,1750193176.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 462.604889 m,
      bearing: 335.142426 deg,
      approach rate: -0.726915 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.139460 deg,
      new cmd heading: 335.142426 deg.

2025-06-17T20:46:16.858Z,1750193176.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849339 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:17.219Z,1750193177.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:17.221Z,1750193177.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:17.224Z,1750193177.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 462.338715 m,
      bearing: 335.144942 deg,
      approach rate: -0.725605 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.142438 deg,
      new cmd heading: 335.144942 deg.

2025-06-17T20:46:17.225Z,1750193177.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849383 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:17.437Z,1750193177.437 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:17.437Z,1750193177.437 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:17.438Z,1750193177.438 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:17.635Z,1750193177.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:17.638Z,1750193177.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 462.038696 m,
      bearing: 335.147816 deg,
      approach rate: -0.724540 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.144952 deg,
      new cmd heading: 335.147816 deg.

2025-06-17T20:46:17.639Z,1750193177.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849433 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:17.690Z,1750193177.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501268
2025-06-17T20:46:17.941Z,1750193177.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752412
2025-06-17T20:46:18.074Z,1750193178.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:18.077Z,1750193178.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 461.727875 m,
      bearing: 335.150879 deg,
      approach rate: -0.708396 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.147820 deg,
      new cmd heading: 335.150879 deg.

2025-06-17T20:46:18.078Z,1750193178.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849486 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:18.193Z,1750193178.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004509
2025-06-17T20:46:18.445Z,1750193178.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256640
2025-06-17T20:46:18.449Z,1750193178.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:18.457Z,1750193178.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 461.463165 m,
      bearing: 335.153501 deg,
      approach rate: -0.706715 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.150880 deg,
      new cmd heading: 335.153501 deg.

2025-06-17T20:46:18.457Z,1750193178.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849532 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:18.699Z,1750193178.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510483
2025-06-17T20:46:18.897Z,1750193178.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:18.900Z,1750193178.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 461.138550 m,
      bearing: 335.156528 deg,
      approach rate: -0.723740 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.153503 deg,
      new cmd heading: 335.156528 deg.

2025-06-17T20:46:18.901Z,1750193178.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849585 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:18.950Z,1750193178.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761298
2025-06-17T20:46:19.201Z,1750193179.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012542
2025-06-17T20:46:19.265Z,1750193179.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:19.267Z,1750193179.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:19.270Z,1750193179.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 460.871826 m,
      bearing: 335.159018 deg,
      approach rate: -0.720491 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.156536 deg,
      new cmd heading: 335.159018 deg.

2025-06-17T20:46:19.271Z,1750193179.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849628 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:19.453Z,1750193179.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264421
2025-06-17T20:46:19.651Z,1750193179.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:19.653Z,1750193179.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 460.595490 m,
      bearing: 335.161689 deg,
      approach rate: -0.721233 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.159022 deg,
      new cmd heading: 335.161689 deg.

2025-06-17T20:46:19.654Z,1750193179.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849675 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:19.708Z,1750193179.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519332
2025-06-17T20:46:19.957Z,1750193179.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768555
2025-06-17T20:46:20.092Z,1750193180.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:20.094Z,1750193180.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 460.273590 m,
      bearing: 335.164354 deg,
      approach rate: -0.729967 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.161699 deg,
      new cmd heading: 335.164354 deg.

2025-06-17T20:46:20.095Z,1750193180.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849721 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:20.209Z,1750193180.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020504
2025-06-17T20:46:20.461Z,1750193180.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272849
2025-06-17T20:46:20.462Z,1750193180.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:20.465Z,1750193180.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 460.004089 m,
      bearing: 335.166694 deg,
      approach rate: -0.726719 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.164349 deg,
      new cmd heading: 335.166694 deg.

2025-06-17T20:46:20.466Z,1750193180.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849762 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:20.713Z,1750193180.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524551
2025-06-17T20:46:20.902Z,1750193180.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:20.910Z,1750193180.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 459.678406 m,
      bearing: 335.169314 deg,
      approach rate: -0.740842 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.166699 deg,
      new cmd heading: 335.169314 deg.

2025-06-17T20:46:20.910Z,1750193180.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849808 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:20.966Z,1750193180.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777516
2025-06-17T20:46:21.219Z,1750193181.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030882
2025-06-17T20:46:21.266Z,1750193181.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:21.269Z,1750193181.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 459.399933 m,
      bearing: 335.171569 deg,
      approach rate: -0.765639 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.169322 deg,
      new cmd heading: 335.171569 deg.

2025-06-17T20:46:21.269Z,1750193181.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849847 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:21.469Z,1750193181.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280557
2025-06-17T20:46:21.670Z,1750193181.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:21.688Z,1750193181.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:21.691Z,1750193181.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 459.095459 m,
      bearing: 335.174055 deg,
      approach rate: -0.749507 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.171562 deg,
      new cmd heading: 335.174055 deg.

2025-06-17T20:46:21.691Z,1750193181.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849891 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:21.721Z,1750193181.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532573
2025-06-17T20:46:21.973Z,1750193181.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784520
2025-06-17T20:46:22.103Z,1750193182.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:22.109Z,1750193182.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 458.777710 m,
      bearing: 335.175754 deg,
      approach rate: -0.737760 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.174048 deg,
      new cmd heading: 335.175754 deg.

2025-06-17T20:46:22.110Z,1750193182.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849920 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:22.226Z,1750193182.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037216
2025-06-17T20:46:22.471Z,1750193182.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:22.475Z,1750193182.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 458.482849 m,
      bearing: 335.177343 deg,
      approach rate: -0.799540 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.175742 deg,
      new cmd heading: 335.177343 deg.

2025-06-17T20:46:22.477Z,1750193182.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288603
2025-06-17T20:46:22.492Z,1750193182.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849948 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:22.730Z,1750193182.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541423
2025-06-17T20:46:22.921Z,1750193182.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:22.924Z,1750193182.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 458.131744 m,
      bearing: 335.179099 deg,
      approach rate: -0.780340 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.177354 deg,
      new cmd heading: 335.179099 deg.

2025-06-17T20:46:22.925Z,1750193182.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849979 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:22.982Z,1750193182.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793362
2025-06-17T20:46:23.233Z,1750193183.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044498
2025-06-17T20:46:23.296Z,1750193183.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:23.299Z,1750193183.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 457.851624 m,
      bearing: 335.180516 deg,
      approach rate: -0.755898 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.179103 deg,
      new cmd heading: 335.180516 deg.

2025-06-17T20:46:23.300Z,1750193183.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850004 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:23.485Z,1750193183.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.296497
2025-06-17T20:46:23.693Z,1750193183.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:23.695Z,1750193183.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:23.697Z,1750193183.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 457.528259 m,
      bearing: 335.182167 deg,
      approach rate: -0.802889 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.180523 deg,
      new cmd heading: 335.182167 deg.

2025-06-17T20:46:23.698Z,1750193183.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850032 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:23.738Z,1750193183.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549346
2025-06-17T20:46:23.989Z,1750193183.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800482
2025-06-17T20:46:24.125Z,1750193184.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:24.128Z,1750193184.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 457.185944 m,
      bearing: 335.183203 deg,
      approach rate: -0.795075 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.182162 deg,
      new cmd heading: 335.183203 deg.

2025-06-17T20:46:24.129Z,1750193184.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850050 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:24.241Z,1750193184.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052832
2025-06-17T20:46:24.493Z,1750193184.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.304636
2025-06-17T20:46:24.501Z,1750193184.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:24.504Z,1750193184.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 456.888947 m,
      bearing: 335.184122 deg,
      approach rate: -0.790224 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.183201 deg,
      new cmd heading: 335.184122 deg.

2025-06-17T20:46:24.505Z,1750193184.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850067 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:24.746Z,1750193184.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556891
2025-06-17T20:46:24.943Z,1750193184.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:24.946Z,1750193184.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 456.543091 m,
      bearing: 335.185571 deg,
      approach rate: -0.782242 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.184130 deg,
      new cmd heading: 335.185571 deg.

2025-06-17T20:46:24.947Z,1750193184.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850092 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:24.998Z,1750193184.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809253
2025-06-17T20:46:25.249Z,1750193185.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060494
2025-06-17T20:46:25.317Z,1750193185.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:25.322Z,1750193185.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 456.263947 m,
      bearing: 335.186714 deg,
      approach rate: -0.746144 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.185578 deg,
      new cmd heading: 335.186714 deg.

2025-06-17T20:46:25.322Z,1750193185.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850112 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:25.501Z,1750193185.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312553
2025-06-17T20:46:25.708Z,1750193185.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:25.710Z,1750193185.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:25.713Z,1750193185.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 455.945709 m,
      bearing: 335.187991 deg,
      approach rate: -0.810284 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.186725 deg,
      new cmd heading: 335.187991 deg.

2025-06-17T20:46:25.714Z,1750193185.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850134 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:25.754Z,1750193185.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.565195
2025-06-17T20:46:26.005Z,1750193186.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816549
2025-06-17T20:46:26.137Z,1750193186.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:26.139Z,1750193186.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 455.611938 m,
      bearing: 335.189134 deg,
      approach rate: -0.782671 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.187982 deg,
      new cmd heading: 335.189134 deg.

2025-06-17T20:46:26.140Z,1750193186.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850154 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:26.256Z,1750193186.256 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:26.257Z,1750193186.257 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:26.257Z,1750193186.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:26.509Z,1750193186.509 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:26.509Z,1750193186.509 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:26.509Z,1750193186.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:26.518Z,1750193186.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:26.520Z,1750193186.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 455.316895 m,
      bearing: 335.190127 deg,
      approach rate: -0.774471 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.189129 deg,
      new cmd heading: 335.190127 deg.

2025-06-17T20:46:26.521Z,1750193186.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850172 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:26.761Z,1750193186.761 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:26.761Z,1750193186.761 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:26.762Z,1750193186.762 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:26.948Z,1750193186.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:26.951Z,1750193186.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 454.994507 m,
      bearing: 335.191147 deg,
      approach rate: -0.748258 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.190140 deg,
      new cmd heading: 335.191147 deg.

2025-06-17T20:46:26.968Z,1750193186.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850189 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:27.013Z,1750193187.013 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:27.014Z,1750193187.014 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:27.014Z,1750193187.014 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:27.265Z,1750193187.265 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:46:27.265Z,1750193187.265 [DAT](INFO): response not received
2025-06-17T20:46:27.266Z,1750193187.266 [DAT](INFO): DAT read: user:657>

2025-06-17T20:46:27.266Z,1750193187.266 [DAT](INFO): DAT read: Tx time:20:46:27.4329

2025-06-17T20:46:27.267Z,1750193187.267 [DAT](INFO): Ping request sent.
2025-06-17T20:46:27.267Z,1750193187.267 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:46:27.267Z,1750193187.267 [DAT](INFO): publishing transmit ping time
2025-06-17T20:46:27.268Z,1750193187.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000774
2025-06-17T20:46:27.378Z,1750193187.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:27.385Z,1750193187.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 454.679932 m,
      bearing: 335.192109 deg,
      approach rate: -0.731487 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.191151 deg,
      new cmd heading: 335.192109 deg.

2025-06-17T20:46:27.386Z,1750193187.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850206 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:27.517Z,1750193187.517 [DAT](INFO): DAT read: TxSync time:20:46:27.4321

2025-06-17T20:46:27.518Z,1750193187.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251030
2025-06-17T20:46:27.723Z,1750193187.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:27.726Z,1750193187.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:27.745Z,1750193187.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 454.416229 m,
      bearing: 335.192903 deg,
      approach rate: -0.759792 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.192107 deg,
      new cmd heading: 335.192903 deg.

2025-06-17T20:46:27.746Z,1750193187.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850220 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:27.769Z,1750193187.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502172
2025-06-17T20:46:28.021Z,1750193188.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754073
2025-06-17T20:46:28.230Z,1750193188.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:28.232Z,1750193188.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 454.042419 m,
      bearing: 335.194839 deg,
      approach rate: -0.741476 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.192900 deg,
      new cmd heading: 335.194839 deg.

2025-06-17T20:46:28.233Z,1750193188.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850254 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:28.274Z,1750193188.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006612
2025-06-17T20:46:28.525Z,1750193188.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258095
2025-06-17T20:46:28.562Z,1750193188.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:28.570Z,1750193188.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 453.799225 m,
      bearing: 335.196141 deg,
      approach rate: -0.732024 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.194839 deg,
      new cmd heading: 335.196141 deg.

2025-06-17T20:46:28.571Z,1750193188.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850276 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:28.777Z,1750193188.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510572
2025-06-17T20:46:28.997Z,1750193188.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:29.000Z,1750193189.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 453.472839 m,
      bearing: 335.198600 deg,
      approach rate: -0.749522 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.196151 deg,
      new cmd heading: 335.198600 deg.

2025-06-17T20:46:29.001Z,1750193189.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850319 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:29.029Z,1750193189.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762068
2025-06-17T20:46:29.283Z,1750193189.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015671
2025-06-17T20:46:29.371Z,1750193189.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:29.373Z,1750193189.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 453.195435 m,
      bearing: 335.200642 deg,
      approach rate: -0.743113 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.198610 deg,
      new cmd heading: 335.200642 deg.

2025-06-17T20:46:29.374Z,1750193189.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850355 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:29.533Z,1750193189.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265978
2025-06-17T20:46:29.759Z,1750193189.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:29.762Z,1750193189.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:29.766Z,1750193189.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 452.909607 m,
      bearing: 335.202733 deg,
      approach rate: -0.730300 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.200631 deg,
      new cmd heading: 335.202733 deg.

2025-06-17T20:46:29.768Z,1750193189.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850391 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:29.785Z,1750193189.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518157
2025-06-17T20:46:30.037Z,1750193190.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769987
2025-06-17T20:46:30.183Z,1750193190.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:30.187Z,1750193190.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 452.608368 m,
      bearing: 335.205788 deg,
      approach rate: -0.716005 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.202735 deg,
      new cmd heading: 335.205788 deg.

2025-06-17T20:46:30.187Z,1750193190.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850445 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:30.290Z,1750193190.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022891
2025-06-17T20:46:30.541Z,1750193190.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274148
2025-06-17T20:46:30.564Z,1750193190.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:30.567Z,1750193190.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 452.317444 m,
      bearing: 335.208723 deg,
      approach rate: -0.763624 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.205795 deg,
      new cmd heading: 335.208723 deg.

2025-06-17T20:46:30.567Z,1750193190.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850496 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:30.793Z,1750193190.793 [DAT](INFO): DAT read: Rx Time:20:46:30.4649

2025-06-17T20:46:30.793Z,1750193190.793 [DAT](INFO): Rx dataTimestamp_ set to:1750193190.793134
2025-06-17T20:46:30.794Z,1750193190.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527214
2025-06-17T20:46:31.040Z,1750193191.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:31.043Z,1750193191.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 451.988159 m,
      bearing: 335.212809 deg,
      approach rate: -0.690747 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.208718 deg,
      new cmd heading: 335.212809 deg.

2025-06-17T20:46:31.045Z,1750193191.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778138
2025-06-17T20:46:31.046Z,1750193191.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850567 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:31.303Z,1750193191.303 [DAT](INFO): DAT read: 20:46:30.4649 LVL= 19568, 19249, 18642, 18019, AGC= 69, IDX= 248,-0.10, 1.034,-0.199, 1.038, 0.503, PHS= 0.620,-0.655, 0.532, RAW= 146.5,  -8.1, CAL= 152.6, -16.8, ROT= 357.4,  16.8

2025-06-17T20:46:31.304Z,1750193191.304 [DAT](INFO): got valid direction response:
 20:46:30.4649 LVL= 19568, 19249, 18642, 18019, AGC= 69, IDX= 248,-0.10, 1.034,-0.199, 1.038, 0.503, PHS= 0.620,-0.655, 0.532, RAW= 146.5,  -8.1, CAL= 152.6, -16.8, ROT= 357.4,  16.8

2025-06-17T20:46:31.305Z,1750193191.305 [DAT](INFO): DAT read: $Error in header

2025-06-17T20:46:31.305Z,1750193191.305 [DAT](INFO): Received a bad header
2025-06-17T20:46:31.316Z,1750193191.316 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-17T20:46:31.317Z,1750193191.317 [DAT](INFO): direction in FSK: [0.956334,-0.043427,-0.289032]
2025-06-17T20:46:31.320Z,1750193191.320 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:31.320Z,1750193191.320 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:31.320Z,1750193191.320 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:31.420Z,1750193191.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:31.423Z,1750193191.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 451.708160 m,
      bearing: 335.216273 deg,
      approach rate: -0.746011 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.212816 deg,
      new cmd heading: 335.216273 deg.

2025-06-17T20:46:31.423Z,1750193191.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850628 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:31.550Z,1750193191.550 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:31.550Z,1750193191.550 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:31.550Z,1750193191.550 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:31.801Z,1750193191.801 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:31.801Z,1750193191.801 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:31.801Z,1750193191.801 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:31.842Z,1750193191.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:31.844Z,1750193191.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:31.847Z,1750193191.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 451.388916 m,
      bearing: 335.220230 deg,
      approach rate: -0.745550 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.216286 deg,
      new cmd heading: 335.220230 deg.

2025-06-17T20:46:31.847Z,1750193191.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850697 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:32.053Z,1750193192.053 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:32.053Z,1750193192.053 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:32.053Z,1750193192.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:32.195Z,1750193192.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:32.197Z,1750193192.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 451.133331 m,
      bearing: 335.223035 deg,
      approach rate: -0.728803 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.220220 deg,
      new cmd heading: 335.223035 deg.

2025-06-17T20:46:32.198Z,1750193192.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850746 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:32.305Z,1750193192.305 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:32.306Z,1750193192.306 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:32.306Z,1750193192.306 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:32.557Z,1750193192.557 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:32.557Z,1750193192.557 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:32.557Z,1750193192.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:32.574Z,1750193192.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:32.577Z,1750193192.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 450.856934 m,
      bearing: 335.226067 deg,
      approach rate: -0.728586 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.223034 deg,
      new cmd heading: 335.226067 deg.

2025-06-17T20:46:32.578Z,1750193192.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850799 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:32.809Z,1750193192.809 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:32.809Z,1750193192.809 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:32.809Z,1750193192.809 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:33.023Z,1750193193.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:33.041Z,1750193193.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 450.536407 m,
      bearing: 335.229671 deg,
      approach rate: -0.714352 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.226067 deg,
      new cmd heading: 335.229671 deg.

2025-06-17T20:46:33.042Z,1750193193.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850862 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:33.061Z,1750193193.061 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:33.061Z,1750193193.061 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:33.061Z,1750193193.061 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:33.312Z,1750193193.312 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:33.313Z,1750193193.313 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:33.313Z,1750193193.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:33.386Z,1750193193.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:33.389Z,1750193193.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 450.276672 m,
      bearing: 335.232594 deg,
      approach rate: -0.714677 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.229673 deg,
      new cmd heading: 335.232594 deg.

2025-06-17T20:46:33.390Z,1750193193.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850913 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:33.566Z,1750193193.566 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:33.566Z,1750193193.566 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:33.566Z,1750193193.566 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:33.800Z,1750193193.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:33.804Z,1750193193.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 449.985504 m,
      bearing: 335.235857 deg,
      approach rate: -0.704496 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.232597 deg,
      new cmd heading: 335.235857 deg.

2025-06-17T20:46:33.806Z,1750193193.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850969 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:33.817Z,1750193193.817 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:33.818Z,1750193193.818 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:33.818Z,1750193193.818 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:34.069Z,1750193194.069 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:34.069Z,1750193194.069 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:34.069Z,1750193194.069 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:34.244Z,1750193194.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:34.246Z,1750193194.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:34.253Z,1750193194.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 449.670471 m,
      bearing: 335.238751 deg,
      approach rate: -0.704827 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.235848 deg,
      new cmd heading: 335.238751 deg.

2025-06-17T20:46:34.254Z,1750193194.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851020 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:34.321Z,1750193194.321 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:34.322Z,1750193194.322 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:34.322Z,1750193194.322 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:34.572Z,1750193194.572 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:34.572Z,1750193194.572 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:34.573Z,1750193194.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:34.606Z,1750193194.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:34.613Z,1750193194.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 449.401733 m,
      bearing: 335.241212 deg,
      approach rate: -0.747547 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.238744 deg,
      new cmd heading: 335.241212 deg.

2025-06-17T20:46:34.614Z,1750193194.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851063 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:34.825Z,1750193194.825 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:34.825Z,1750193194.825 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:34.825Z,1750193194.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:35.067Z,1750193195.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:35.070Z,1750193195.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 449.052429 m,
      bearing: 335.242782 deg,
      approach rate: -0.757053 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.241203 deg,
      new cmd heading: 335.242782 deg.

2025-06-17T20:46:35.071Z,1750193195.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851090 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:35.077Z,1750193195.077 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:35.077Z,1750193195.077 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:35.077Z,1750193195.077 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:35.330Z,1750193195.330 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:35.330Z,1750193195.330 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:35.330Z,1750193195.330 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:35.558Z,1750193195.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:35.561Z,1750193195.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 448.760712 m,
      bearing: 335.244100 deg,
      approach rate: -0.594305 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.242787 deg,
      new cmd heading: 335.244100 deg.

2025-06-17T20:46:35.562Z,1750193195.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851113 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:35.581Z,1750193195.581 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:35.581Z,1750193195.581 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:35.581Z,1750193195.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:35.833Z,1750193195.833 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:35.833Z,1750193195.833 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:35.833Z,1750193195.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:35.998Z,1750193195.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:36.015Z,1750193196.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 448.390259 m,
      bearing: 335.245811 deg,
      approach rate: -0.854373 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.244099 deg,
      new cmd heading: 335.245811 deg.

2025-06-17T20:46:36.022Z,1750193196.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851143 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:36.085Z,1750193196.085 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:36.085Z,1750193196.085 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:36.085Z,1750193196.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:36.337Z,1750193196.337 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:36.337Z,1750193196.337 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:36.337Z,1750193196.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:36.415Z,1750193196.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:36.417Z,1750193196.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:36.420Z,1750193196.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 448.052368 m,
      bearing: 335.247489 deg,
      approach rate: -0.794485 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.245820 deg,
      new cmd heading: 335.247489 deg.

2025-06-17T20:46:36.421Z,1750193196.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851172 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:36.589Z,1750193196.589 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:36.589Z,1750193196.589 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:36.589Z,1750193196.589 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:36.794Z,1750193196.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:36.801Z,1750193196.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 447.782257 m,
      bearing: 335.248850 deg,
      approach rate: -0.717192 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.247486 deg,
      new cmd heading: 335.248850 deg.

2025-06-17T20:46:36.801Z,1750193196.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851196 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:36.841Z,1750193196.841 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:36.841Z,1750193196.841 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:36.841Z,1750193196.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:37.092Z,1750193197.092 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:37.093Z,1750193197.093 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:37.093Z,1750193197.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:37.228Z,1750193197.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:37.230Z,1750193197.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 447.464233 m,
      bearing: 335.249747 deg,
      approach rate: -0.739413 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.248852 deg,
      new cmd heading: 335.249747 deg.

2025-06-17T20:46:37.231Z,1750193197.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851212 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:37.345Z,1750193197.345 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:37.345Z,1750193197.345 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:37.346Z,1750193197.346 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:37.573Z,1750193197.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:37.575Z,1750193197.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 447.188751 m,
      bearing: 335.250554 deg,
      approach rate: -0.789519 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.249754 deg,
      new cmd heading: 335.250554 deg.

2025-06-17T20:46:37.576Z,1750193197.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851226 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:37.596Z,1750193197.596 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:37.597Z,1750193197.597 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:37.597Z,1750193197.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:37.848Z,1750193197.848 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:37.849Z,1750193197.849 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:37.849Z,1750193197.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:37.986Z,1750193197.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:37.994Z,1750193197.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 446.888794 m,
      bearing: 335.251454 deg,
      approach rate: -0.726364 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.250546 deg,
      new cmd heading: 335.251454 deg.

2025-06-17T20:46:37.999Z,1750193197.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851242 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:38.102Z,1750193198.102 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:46:38.103Z,1750193198.103 [DAT](INFO): response not received
2025-06-17T20:46:38.103Z,1750193198.103 [DAT](INFO): DAT read: user:659>

2025-06-17T20:46:38.105Z,1750193198.105 [DAT](INFO): DAT read: Tx time:20:46:38.3830

2025-06-17T20:46:38.105Z,1750193198.105 [DAT](INFO): Ping request sent.
2025-06-17T20:46:38.105Z,1750193198.105 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:46:38.105Z,1750193198.105 [DAT](INFO): publishing transmit ping time
2025-06-17T20:46:38.106Z,1750193198.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001112
2025-06-17T20:46:38.353Z,1750193198.353 [DAT](INFO): DAT read: TxSync time:20:46:38.3822

2025-06-17T20:46:38.354Z,1750193198.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248726
2025-06-17T20:46:38.399Z,1750193198.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:38.422Z,1750193198.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 446.563812 m,
      bearing: 335.251838 deg,
      approach rate: -0.786481 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.251448 deg,
      new cmd heading: 335.251838 deg.

2025-06-17T20:46:38.422Z,1750193198.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851248 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:38.605Z,1750193198.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499973
2025-06-17T20:46:38.793Z,1750193198.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:38.795Z,1750193198.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:38.798Z,1750193198.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 446.262543 m,
      bearing: 335.252243 deg,
      approach rate: -0.760578 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.251830 deg,
      new cmd heading: 335.252243 deg.

2025-06-17T20:46:38.799Z,1750193198.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851255 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:38.858Z,1750193198.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752720
2025-06-17T20:46:39.109Z,1750193199.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003694
2025-06-17T20:46:39.219Z,1750193199.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:39.221Z,1750193199.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 445.937012 m,
      bearing: 335.252872 deg,
      approach rate: -0.768307 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.252240 deg,
      new cmd heading: 335.252872 deg.

2025-06-17T20:46:39.222Z,1750193199.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851266 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:39.361Z,1750193199.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255761
2025-06-17T20:46:39.602Z,1750193199.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:39.605Z,1750193199.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 445.642853 m,
      bearing: 335.253503 deg,
      approach rate: -0.767834 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.252869 deg,
      new cmd heading: 335.253503 deg.

2025-06-17T20:46:39.605Z,1750193199.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851277 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:39.613Z,1750193199.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507877
2025-06-17T20:46:39.865Z,1750193199.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759713
2025-06-17T20:46:39.991Z,1750193199.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:40.016Z,1750193200.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 445.345276 m,
      bearing: 335.254101 deg,
      approach rate: -0.764046 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.253497 deg,
      new cmd heading: 335.254101 deg.

2025-06-17T20:46:40.017Z,1750193200.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851288 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:40.117Z,1750193200.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011969
2025-06-17T20:46:40.369Z,1750193200.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263867
2025-06-17T20:46:40.479Z,1750193200.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:40.502Z,1750193200.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 444.973602 m,
      bearing: 335.255148 deg,
      approach rate: -0.761963 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.254098 deg,
      new cmd heading: 335.255148 deg.

2025-06-17T20:46:40.503Z,1750193200.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851306 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:40.621Z,1750193200.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516177
2025-06-17T20:46:40.822Z,1750193200.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:40.825Z,1750193200.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:40.827Z,1750193200.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 444.701050 m,
      bearing: 335.255918 deg,
      approach rate: -0.788793 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.255136 deg,
      new cmd heading: 335.255918 deg.

2025-06-17T20:46:40.828Z,1750193200.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851320 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:40.856Z,1750193200.856 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:46:40.874Z,1750193200.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768805
2025-06-17T20:46:41.125Z,1750193201.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019788
2025-06-17T20:46:41.227Z,1750193201.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:41.230Z,1750193201.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 444.391663 m,
      bearing: 335.257761 deg,
      approach rate: -0.768269 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.255929 deg,
      new cmd heading: 335.257761 deg.

2025-06-17T20:46:41.231Z,1750193201.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851352 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:41.377Z,1750193201.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271883
2025-06-17T20:46:41.640Z,1750193201.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534513
2025-06-17T20:46:41.769Z,1750193201.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:41.777Z,1750193201.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 443.996857 m,
      bearing: 335.260177 deg,
      approach rate: -0.728216 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.257759 deg,
      new cmd heading: 335.260177 deg.

2025-06-17T20:46:41.778Z,1750193201.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851394 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:41.860Z,1750193201.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:46:41.900Z,1750193201.900 [DAT](INFO): DAT read: 20:46:41.4038 LVL= 14704, 14065, 12770, 18579, AGC= 72, IDX= 433,-0.39, 0.597,-0.750, 0.544,-0.178, PHS= 0.862,-0.525, 0.719, RAW= 144.6, -15.8, CAL= 150.9, -23.9, ROT= 359.1,  23.9

2025-06-17T20:46:41.902Z,1750193201.902 [DAT](INFO): got valid direction response:
 20:46:41.4038 LVL= 14704, 14065, 12770, 18579, AGC= 72, IDX= 433,-0.39, 0.597,-0.750, 0.544,-0.178, PHS= 0.862,-0.525, 0.719, RAW= 144.6, -15.8, CAL= 150.9, -23.9, ROT= 359.1,  23.9

2025-06-17T20:46:41.902Z,1750193201.902 [DAT](INFO): DAT read: Rx Time:20:46:41.4038

2025-06-17T20:46:41.903Z,1750193201.903 [DAT](INFO): Rx dataTimestamp_ set to:1750193201.902502
2025-06-17T20:46:41.903Z,1750193201.903 [DAT](INFO): DAT read: $Low SNR acquisition

2025-06-17T20:46:41.910Z,1750193201.910 [DAT](INFO): Received low SNR in chirp
2025-06-17T20:46:41.924Z,1750193201.924 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-17T20:46:41.925Z,1750193201.925 [DAT](INFO): direction in FSK: [0.914141,-0.014360,-0.405142]
2025-06-17T20:46:41.933Z,1750193201.933 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:41.933Z,1750193201.933 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:41.933Z,1750193201.933 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:42.061Z,1750193202.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:42.078Z,1750193202.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 443.768494 m,
      bearing: 335.261610 deg,
      approach rate: -0.809078 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.260163 deg,
      new cmd heading: 335.261610 deg.

2025-06-17T20:46:42.085Z,1750193202.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851419 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:42.141Z,1750193202.141 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:42.141Z,1750193202.141 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:42.141Z,1750193202.141 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:42.393Z,1750193202.393 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:42.393Z,1750193202.393 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:42.393Z,1750193202.393 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:42.475Z,1750193202.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:42.478Z,1750193202.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 443.440308 m,
      bearing: 335.263766 deg,
      approach rate: -0.774559 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.261611 deg,
      new cmd heading: 335.263766 deg.

2025-06-17T20:46:42.479Z,1750193202.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851457 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:42.645Z,1750193202.645 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:42.645Z,1750193202.645 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:42.645Z,1750193202.645 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:42.858Z,1750193202.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:42.860Z,1750193202.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:42.863Z,1750193202.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 443.150848 m,
      bearing: 335.265695 deg,
      approach rate: -0.751766 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.263770 deg,
      new cmd heading: 335.265695 deg.

2025-06-17T20:46:42.865Z,1750193202.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851490 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:42.897Z,1750193202.897 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:42.897Z,1750193202.897 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:42.897Z,1750193202.897 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:43.149Z,1750193203.149 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:43.149Z,1750193203.149 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:43.149Z,1750193203.149 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:43.252Z,1750193203.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:43.255Z,1750193203.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 442.857025 m,
      bearing: 335.268194 deg,
      approach rate: -0.749608 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.265682 deg,
      new cmd heading: 335.268194 deg.

2025-06-17T20:46:43.256Z,1750193203.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851534 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:43.401Z,1750193203.401 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:43.401Z,1750193203.401 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:43.401Z,1750193203.401 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:43.642Z,1750193203.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:43.644Z,1750193203.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 442.566772 m,
      bearing: 335.270687 deg,
      approach rate: -0.745787 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.268196 deg,
      new cmd heading: 335.270687 deg.

2025-06-17T20:46:43.645Z,1750193203.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851577 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:43.653Z,1750193203.653 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:43.653Z,1750193203.653 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:43.653Z,1750193203.653 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:43.905Z,1750193203.905 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:43.905Z,1750193203.905 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:43.905Z,1750193203.905 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:44.040Z,1750193204.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:44.043Z,1750193204.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 442.271393 m,
      bearing: 335.273255 deg,
      approach rate: -0.741651 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.270682 deg,
      new cmd heading: 335.273255 deg.

2025-06-17T20:46:44.043Z,1750193204.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851622 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:44.157Z,1750193204.157 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:44.158Z,1750193204.158 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:44.158Z,1750193204.158 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:44.409Z,1750193204.409 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:44.409Z,1750193204.409 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:44.409Z,1750193204.409 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:44.490Z,1750193204.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:44.493Z,1750193204.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 441.937439 m,
      bearing: 335.277116 deg,
      approach rate: -0.741334 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.273250 deg,
      new cmd heading: 335.277116 deg.

2025-06-17T20:46:44.494Z,1750193204.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851690 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:44.660Z,1750193204.660 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:44.661Z,1750193204.661 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:44.661Z,1750193204.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:44.857Z,1750193204.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:44.859Z,1750193204.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 441.680847 m,
      bearing: 335.280129 deg,
      approach rate: -0.700011 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.277129 deg,
      new cmd heading: 335.280129 deg.

2025-06-17T20:46:44.865Z,1750193204.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851742 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:44.913Z,1750193204.913 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:44.914Z,1750193204.914 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:44.914Z,1750193204.914 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:45.165Z,1750193205.165 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:45.165Z,1750193205.165 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:45.165Z,1750193205.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:45.274Z,1750193205.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:45.276Z,1750193205.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:45.279Z,1750193205.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 441.364014 m,
      bearing: 335.283930 deg,
      approach rate: -0.755405 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.280135 deg,
      new cmd heading: 335.283930 deg.

2025-06-17T20:46:45.280Z,1750193205.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851809 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:45.417Z,1750193205.417 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:45.417Z,1750193205.417 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:45.417Z,1750193205.417 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:45.666Z,1750193205.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:45.669Z,1750193205.669 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:45.669Z,1750193205.669 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:45.669Z,1750193205.669 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:45.673Z,1750193205.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 441.085449 m,
      bearing: 335.287266 deg,
      approach rate: -0.715078 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.283932 deg,
      new cmd heading: 335.287266 deg.

2025-06-17T20:46:45.674Z,1750193205.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851867 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:45.921Z,1750193205.921 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:45.921Z,1750193205.921 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:45.921Z,1750193205.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:46.077Z,1750193206.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:46.079Z,1750193206.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 440.780853 m,
      bearing: 335.290919 deg,
      approach rate: -0.741611 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.287265 deg,
      new cmd heading: 335.290919 deg.

2025-06-17T20:46:46.083Z,1750193206.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851931 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:46.175Z,1750193206.175 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:46.175Z,1750193206.175 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:46.176Z,1750193206.176 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:46.425Z,1750193206.425 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:46.425Z,1750193206.425 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:46.425Z,1750193206.425 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:46.513Z,1750193206.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:46.516Z,1750193206.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 440.460785 m,
      bearing: 335.295361 deg,
      approach rate: -0.732964 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.290926 deg,
      new cmd heading: 335.295361 deg.

2025-06-17T20:46:46.517Z,1750193206.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852008 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:46.677Z,1750193206.677 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:46.677Z,1750193206.677 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:46.677Z,1750193206.677 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:46.879Z,1750193206.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:46.883Z,1750193206.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 440.198059 m,
      bearing: 335.298983 deg,
      approach rate: -0.717526 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.295352 deg,
      new cmd heading: 335.298983 deg.

2025-06-17T20:46:46.884Z,1750193206.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852071 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:46.930Z,1750193206.930 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:46.930Z,1750193206.930 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:46.930Z,1750193206.930 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:47.181Z,1750193207.181 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:47.181Z,1750193207.181 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:47.182Z,1750193207.182 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:47.304Z,1750193207.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:47.306Z,1750193207.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:47.309Z,1750193207.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 439.879883 m,
      bearing: 335.302689 deg,
      approach rate: -0.745563 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.298986 deg,
      new cmd heading: 335.302689 deg.

2025-06-17T20:46:47.310Z,1750193207.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852136 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:47.433Z,1750193207.433 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:47.433Z,1750193207.433 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:47.433Z,1750193207.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:47.685Z,1750193207.685 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:47.685Z,1750193207.685 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:47.685Z,1750193207.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:47.689Z,1750193207.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:47.692Z,1750193207.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 439.599670 m,
      bearing: 335.305957 deg,
      approach rate: -0.731564 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.302702 deg,
      new cmd heading: 335.305957 deg.

2025-06-17T20:46:47.693Z,1750193207.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852193 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:47.937Z,1750193207.937 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:47.937Z,1750193207.937 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:47.937Z,1750193207.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:46:48.090Z,1750193208.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:48.092Z,1750193208.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 439.304901 m,
      bearing: 335.309350 deg,
      approach rate: -0.736239 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.305953 deg,
      new cmd heading: 335.309350 deg.

2025-06-17T20:46:48.093Z,1750193208.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852252 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:48.191Z,1750193208.191 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:48.193Z,1750193208.193 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:48.193Z,1750193208.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:48.440Z,1750193208.440 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:48.441Z,1750193208.441 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:48.441Z,1750193208.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:48.556Z,1750193208.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:48.558Z,1750193208.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 438.976196 m,
      bearing: 335.312728 deg,
      approach rate: -0.711118 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.309341 deg,
      new cmd heading: 335.312728 deg.

2025-06-17T20:46:48.559Z,1750193208.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852311 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:48.693Z,1750193208.693 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:48.693Z,1750193208.693 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:48.694Z,1750193208.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:48.913Z,1750193208.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:48.916Z,1750193208.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 438.708069 m,
      bearing: 335.315487 deg,
      approach rate: -0.742199 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.312728 deg,
      new cmd heading: 335.315487 deg.

2025-06-17T20:46:48.917Z,1750193208.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852359 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:48.944Z,1750193208.944 [DAT](INFO): Reached modem response timeout
2025-06-17T20:46:48.945Z,1750193208.945 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:46:48.945Z,1750193208.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:49.199Z,1750193209.199 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:46:49.200Z,1750193209.200 [DAT](INFO): response not received
2025-06-17T20:46:49.201Z,1750193209.201 [DAT](INFO): DAT read: user:661>

2025-06-17T20:46:49.204Z,1750193209.204 [DAT](INFO): DAT read: Tx time:20:46:49.3331

2025-06-17T20:46:49.205Z,1750193209.205 [DAT](INFO): Ping request sent.
2025-06-17T20:46:49.205Z,1750193209.205 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:46:49.206Z,1750193209.206 [DAT](INFO): publishing transmit ping time
2025-06-17T20:46:49.208Z,1750193209.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002178
2025-06-17T20:46:49.335Z,1750193209.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:49.338Z,1750193209.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:49.340Z,1750193209.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 438.396545 m,
      bearing: 335.317948 deg,
      approach rate: -0.733749 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.315488 deg,
      new cmd heading: 335.317948 deg.

2025-06-17T20:46:49.341Z,1750193209.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852402 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:49.449Z,1750193209.449 [DAT](INFO): DAT read: TxSync time:20:46:49.3323

2025-06-17T20:46:49.450Z,1750193209.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245045
2025-06-17T20:46:49.690Z,1750193209.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:49.701Z,1750193209.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495874
2025-06-17T20:46:49.712Z,1750193209.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 438.137726 m,
      bearing: 335.319952 deg,
      approach rate: -0.735461 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.317947 deg,
      new cmd heading: 335.319952 deg.

2025-06-17T20:46:49.713Z,1750193209.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852437 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:49.955Z,1750193209.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749579
2025-06-17T20:46:50.131Z,1750193210.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:50.137Z,1750193210.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 437.824921 m,
      bearing: 335.322376 deg,
      approach rate: -0.709368 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.319941 deg,
      new cmd heading: 335.322376 deg.

2025-06-17T20:46:50.138Z,1750193210.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852479 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:50.208Z,1750193210.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002365
2025-06-17T20:46:50.458Z,1750193210.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252288
2025-06-17T20:46:50.535Z,1750193210.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:50.538Z,1750193210.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 437.513855 m,
      bearing: 335.324137 deg,
      approach rate: -0.768431 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.322373 deg,
      new cmd heading: 335.324137 deg.

2025-06-17T20:46:50.539Z,1750193210.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852510 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:50.709Z,1750193210.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503924
2025-06-17T20:46:50.913Z,1750193210.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:50.916Z,1750193210.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 437.238556 m,
      bearing: 335.325640 deg,
      approach rate: -0.739455 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.324148 deg,
      new cmd heading: 335.325640 deg.

2025-06-17T20:46:50.917Z,1750193210.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852537 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:50.962Z,1750193210.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756776
2025-06-17T20:46:51.217Z,1750193211.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011899
2025-06-17T20:46:51.347Z,1750193211.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:51.349Z,1750193211.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:51.351Z,1750193211.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 436.912964 m,
      bearing: 335.326501 deg,
      approach rate: -0.737926 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.325651 deg,
      new cmd heading: 335.326501 deg.

2025-06-17T20:46:51.353Z,1750193211.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852551 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:51.465Z,1750193211.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260340
2025-06-17T20:46:51.717Z,1750193211.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512043
2025-06-17T20:46:51.736Z,1750193211.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:51.740Z,1750193211.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 436.627258 m,
      bearing: 335.327240 deg,
      approach rate: -0.738305 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.326498 deg,
      new cmd heading: 335.327240 deg.

2025-06-17T20:46:51.742Z,1750193211.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852564 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:51.970Z,1750193211.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765002
2025-06-17T20:46:52.147Z,1750193212.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:52.166Z,1750193212.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 436.335999 m,
      bearing: 335.327981 deg,
      approach rate: -0.708506 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.327236 deg,
      new cmd heading: 335.327981 deg.

2025-06-17T20:46:52.166Z,1750193212.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852577 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:52.223Z,1750193212.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017810
2025-06-17T20:46:52.473Z,1750193212.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267937
2025-06-17T20:46:52.567Z,1750193212.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:52.570Z,1750193212.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 436.012329 m,
      bearing: 335.328955 deg,
      approach rate: -0.769698 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.327973 deg,
      new cmd heading: 335.328955 deg.

2025-06-17T20:46:52.571Z,1750193212.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852594 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:52.725Z,1750193212.725 [DAT](INFO): DAT read: Rx Time:20:46:52.3328

2025-06-17T20:46:52.725Z,1750193212.725 [DAT](INFO): Rx dataTimestamp_ set to:1750193212.724965
2025-06-17T20:46:52.726Z,1750193212.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520913
2025-06-17T20:46:52.952Z,1750193212.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:52.955Z,1750193212.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 435.739594 m,
      bearing: 335.329748 deg,
      approach rate: -0.708645 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.328957 deg,
      new cmd heading: 335.329748 deg.

2025-06-17T20:46:52.956Z,1750193212.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852608 target range: 516.664307 and range: 482.50 m.
2025-06-17T20:46:52.982Z,1750193212.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777098
2025-06-17T20:46:53.251Z,1750193213.251 [DAT](INFO): DAT read: 20:46:52.3328 LVL= 21232, 23665, 18690, 32755, AGC= 71, IDX= 326, 0.00, 1.587, 0.277, 1.678, 1.064, PHS= 0.611,-0.740, 0.611, RAW= 150.0,  -7.2, CAL= 155.5, -15.4, ROT= 354.5,  15.4

2025-06-17T20:46:53.254Z,1750193213.254 [DAT](INFO): got valid direction response:
 20:46:52.3328 LVL= 21232, 23665, 18690, 32755, AGC= 71, IDX= 326, 0.00, 1.587, 0.277, 1.678, 1.064, PHS= 0.611,-0.740, 0.611, RAW= 150.0,  -7.2, CAL= 155.5, -15.4, ROT= 354.5,  15.4

2025-06-17T20:46:53.258Z,1750193213.258 [DAT](INFO): DAT read: Bearing 354.5,  15.4 (Local)

2025-06-17T20:46:53.259Z,1750193213.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,  15.4 (Local)

2025-06-17T20:46:53.263Z,1750193213.263 [DAT](INFO): DAT read: Range 10 to 50 : 446.7 m  (Round-trip  595.6 ms) speed  0.4 m/s

2025-06-17T20:46:53.266Z,1750193213.266 [DAT](INFO): DAT read: user:662>

2025-06-17T20:46:53.269Z,1750193213.269 [DAT](INFO): DAT read: Tx time:20:46:53.4331

2025-06-17T20:46:53.270Z,1750193213.270 [DAT](INFO): Ping request sent.
2025-06-17T20:46:53.270Z,1750193213.270 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:46:53.271Z,1750193213.271 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:46:53.297Z,1750193213.297 [DAT](INFO): direction in FSK: [0.959657,-0.092405,-0.265556]
2025-06-17T20:46:53.297Z,1750193213.297 [DAT](INFO): publishing transmit ping time
2025-06-17T20:46:53.297Z,1750193213.297 [DAT](INFO): publishing direction and range info
2025-06-17T20:46:53.324Z,1750193213.324 [DAT](INFO): publishing transmit ping time
2025-06-17T20:46:53.325Z,1750193213.325 [DAT](INFO): publishing direction and range info
2025-06-17T20:46:53.452Z,1750193213.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 446.700012 m,
      deltaT: 37.057279 s,
      deltaX: -35.799988 m,
      approachRate: -0.966072 m/s,
      rangeRepo size: 4

2025-06-17T20:46:53.453Z,1750193213.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:53.455Z,1750193213.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 435.358948 m,
      bearing: 335.330405 deg,
      approach rate: -0.769379 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.329749 deg,
      new cmd heading: 335.330405 deg.

2025-06-17T20:46:53.460Z,1750193213.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852620 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:53.485Z,1750193213.485 [DAT](INFO): DAT read: TxSync time:20:46:53.4323

2025-06-17T20:46:53.789Z,1750193213.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:53.791Z,1750193213.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:53.797Z,1750193213.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 435.091980 m,
      bearing: 335.330876 deg,
      approach rate: -0.776911 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.330405 deg,
      new cmd heading: 335.330876 deg.

2025-06-17T20:46:53.798Z,1750193213.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852628 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:53.989Z,1750193213.989 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:46:53.989Z,1750193213.989 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:46:53.989Z,1750193213.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:46:54.158Z,1750193214.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:54.162Z,1750193214.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 434.806396 m,
      bearing: 335.331383 deg,
      approach rate: -0.777572 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.330869 deg,
      new cmd heading: 335.331383 deg.

2025-06-17T20:46:54.163Z,1750193214.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852637 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:54.246Z,1750193214.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975715
2025-06-17T20:46:54.497Z,1750193214.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227022
2025-06-17T20:46:54.586Z,1750193214.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:54.589Z,1750193214.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 434.488525 m,
      bearing: 335.331852 deg,
      approach rate: -0.743000 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.331388 deg,
      new cmd heading: 335.331852 deg.

2025-06-17T20:46:54.589Z,1750193214.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852645 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:54.750Z,1750193214.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479903
2025-06-17T20:46:55.001Z,1750193215.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731035
2025-06-17T20:46:55.021Z,1750193215.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:55.024Z,1750193215.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 434.164246 m,
      bearing: 335.332247 deg,
      approach rate: -0.744863 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.331853 deg,
      new cmd heading: 335.332247 deg.

2025-06-17T20:46:55.025Z,1750193215.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852652 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:55.259Z,1750193215.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988496
2025-06-17T20:46:55.404Z,1750193215.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:55.407Z,1750193215.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 433.893768 m,
      bearing: 335.333310 deg,
      approach rate: -0.705953 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.332235 deg,
      new cmd heading: 335.333310 deg.

2025-06-17T20:46:55.412Z,1750193215.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852670 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:55.506Z,1750193215.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235836
2025-06-17T20:46:55.757Z,1750193215.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487366
2025-06-17T20:46:55.790Z,1750193215.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:55.793Z,1750193215.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 433.591370 m,
      bearing: 335.334475 deg,
      approach rate: -0.784379 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.333301 deg,
      new cmd heading: 335.334475 deg.

2025-06-17T20:46:55.793Z,1750193215.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852691 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:56.009Z,1750193216.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739066
2025-06-17T20:46:56.234Z,1750193216.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:56.241Z,1750193216.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:56.261Z,1750193216.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991145
2025-06-17T20:46:56.269Z,1750193216.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 433.264984 m,
      bearing: 335.335745 deg,
      approach rate: -0.731322 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.334476 deg,
      new cmd heading: 335.335745 deg.

2025-06-17T20:46:56.271Z,1750193216.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852713 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:56.513Z,1750193216.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242926
2025-06-17T20:46:56.660Z,1750193216.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:56.662Z,1750193216.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 432.945953 m,
      bearing: 335.337225 deg,
      approach rate: -0.753497 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.335732 deg,
      new cmd heading: 335.337225 deg.

2025-06-17T20:46:56.663Z,1750193216.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852739 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:56.767Z,1750193216.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496791
2025-06-17T20:46:57.017Z,1750193217.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747130
2025-06-17T20:46:57.051Z,1750193217.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:57.053Z,1750193217.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 432.654816 m,
      bearing: 335.338587 deg,
      approach rate: -0.744187 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.337235 deg,
      new cmd heading: 335.338587 deg.

2025-06-17T20:46:57.054Z,1750193217.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852762 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:57.272Z,1750193217.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.001381
2025-06-17T20:46:57.474Z,1750193217.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:57.482Z,1750193217.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 432.355835 m,
      bearing: 335.340552 deg,
      approach rate: -0.706233 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.338574 deg,
      new cmd heading: 335.340552 deg.

2025-06-17T20:46:57.490Z,1750193217.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852797 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:57.521Z,1750193217.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.251425
2025-06-17T20:46:57.773Z,1750193217.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.503144
2025-06-17T20:46:57.846Z,1750193217.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:57.849Z,1750193217.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 432.065063 m,
      bearing: 335.342477 deg,
      approach rate: -0.781406 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.340541 deg,
      new cmd heading: 335.342477 deg.

2025-06-17T20:46:57.850Z,1750193217.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852830 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:58.025Z,1750193218.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.754998
2025-06-17T20:46:58.279Z,1750193218.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.009304
2025-06-17T20:46:58.326Z,1750193218.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:46:58.347Z,1750193218.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:58.364Z,1750193218.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 431.733276 m,
      bearing: 335.344677 deg,
      approach rate: -0.669774 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.342481 deg,
      new cmd heading: 335.344677 deg.

2025-06-17T20:46:58.365Z,1750193218.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852869 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:58.529Z,1750193218.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.259055
2025-06-17T20:46:58.730Z,1750193218.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:58.734Z,1750193218.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 431.415405 m,
      bearing: 335.346828 deg,
      approach rate: -0.819072 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.344666 deg,
      new cmd heading: 335.346828 deg.

2025-06-17T20:46:58.735Z,1750193218.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852906 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:58.781Z,1750193218.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.511061
2025-06-17T20:46:59.033Z,1750193219.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.763227
2025-06-17T20:46:59.180Z,1750193219.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:59.183Z,1750193219.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 431.101593 m,
      bearing: 335.349123 deg,
      approach rate: -0.703279 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.346825 deg,
      new cmd heading: 335.349123 deg.

2025-06-17T20:46:59.183Z,1750193219.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852946 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:59.286Z,1750193219.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.015824
2025-06-17T20:46:59.537Z,1750193219.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.267087
2025-06-17T20:46:59.591Z,1750193219.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:59.594Z,1750193219.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 430.782776 m,
      bearing: 335.351830 deg,
      approach rate: -0.768216 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.349120 deg,
      new cmd heading: 335.351830 deg.

2025-06-17T20:46:59.594Z,1750193219.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852993 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:46:59.792Z,1750193219.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.522127
2025-06-17T20:46:59.965Z,1750193219.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:46:59.967Z,1750193219.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 430.506287 m,
      bearing: 335.354209 deg,
      approach rate: -0.738944 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.351824 deg,
      new cmd heading: 335.354209 deg.

2025-06-17T20:46:59.969Z,1750193219.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853035 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:00.042Z,1750193220.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.771931
2025-06-17T20:47:00.295Z,1750193220.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.025623
2025-06-17T20:47:00.446Z,1750193220.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:00.452Z,1750193220.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:00.455Z,1750193220.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 430.165375 m,
      bearing: 335.357435 deg,
      approach rate: -0.705855 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.354201 deg,
      new cmd heading: 335.357435 deg.

2025-06-17T20:47:00.455Z,1750193220.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853091 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:00.546Z,1750193220.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.275935
2025-06-17T20:47:00.783Z,1750193220.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:00.786Z,1750193220.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 429.903046 m,
      bearing: 335.359968 deg,
      approach rate: -0.781882 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.357425 deg,
      new cmd heading: 335.359968 deg.

2025-06-17T20:47:00.787Z,1750193220.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853136 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:00.797Z,1750193220.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.527147
2025-06-17T20:47:01.049Z,1750193221.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.779063
2025-06-17T20:47:01.183Z,1750193221.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:01.185Z,1750193221.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 429.609375 m,
      bearing: 335.362850 deg,
      approach rate: -0.735771 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.359966 deg,
      new cmd heading: 335.362850 deg.

2025-06-17T20:47:01.186Z,1750193221.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853186 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:01.301Z,1750193221.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.031083
2025-06-17T20:47:01.553Z,1750193221.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.283125
2025-06-17T20:47:01.621Z,1750193221.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:01.628Z,1750193221.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 429.302887 m,
      bearing: 335.365941 deg,
      approach rate: -0.699200 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.362862 deg,
      new cmd heading: 335.365941 deg.

2025-06-17T20:47:01.629Z,1750193221.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853240 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:01.805Z,1750193221.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.535087
2025-06-17T20:47:01.986Z,1750193221.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:01.989Z,1750193221.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 429.021454 m,
      bearing: 335.368811 deg,
      approach rate: -0.771121 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.365949 deg,
      new cmd heading: 335.368811 deg.

2025-06-17T20:47:01.990Z,1750193221.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853290 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:02.058Z,1750193222.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.787862
2025-06-17T20:47:02.309Z,1750193222.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.039119
2025-06-17T20:47:02.458Z,1750193222.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:02.477Z,1750193222.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:02.479Z,1750193222.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 428.675964 m,
      bearing: 335.371756 deg,
      approach rate: -0.704109 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.368818 deg,
      new cmd heading: 335.371756 deg.

2025-06-17T20:47:02.484Z,1750193222.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853342 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:02.561Z,1750193222.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.291145
2025-06-17T20:47:02.813Z,1750193222.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.543114
2025-06-17T20:47:02.818Z,1750193222.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:02.821Z,1750193222.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 428.417023 m,
      bearing: 335.373966 deg,
      approach rate: -0.757491 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.371769 deg,
      new cmd heading: 335.373966 deg.

2025-06-17T20:47:02.822Z,1750193222.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853380 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:03.065Z,1750193223.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.795277
2025-06-17T20:47:03.199Z,1750193223.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:03.202Z,1750193223.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 428.138000 m,
      bearing: 335.376403 deg,
      approach rate: -0.732292 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.373954 deg,
      new cmd heading: 335.376403 deg.

2025-06-17T20:47:03.203Z,1750193223.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853423 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:03.316Z,1750193223.316 [DAT](INFO): Reached modem response timeout
2025-06-17T20:47:03.317Z,1750193223.317 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:47:03.317Z,1750193223.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:03.568Z,1750193223.568 [DAT](INFO): Reached modem response timeout
2025-06-17T20:47:03.569Z,1750193223.569 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:47:03.569Z,1750193223.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:03.647Z,1750193223.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:03.654Z,1750193223.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 427.820435 m,
      bearing: 335.378873 deg,
      approach rate: -0.709625 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.376413 deg,
      new cmd heading: 335.378873 deg.

2025-06-17T20:47:03.655Z,1750193223.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853466 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:03.820Z,1750193223.820 [DAT](INFO): Reached modem response timeout
2025-06-17T20:47:03.821Z,1750193223.821 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:47:03.821Z,1750193223.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:04.015Z,1750193224.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:04.018Z,1750193224.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 427.551697 m,
      bearing: 335.380979 deg,
      approach rate: -0.729324 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.378872 deg,
      new cmd heading: 335.380979 deg.

2025-06-17T20:47:04.019Z,1750193224.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853502 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:04.074Z,1750193224.074 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:47:04.074Z,1750193224.074 [DAT](INFO): response not received
2025-06-17T20:47:04.075Z,1750193224.075 [DAT](INFO): DAT read: user:663>

2025-06-17T20:47:04.076Z,1750193224.076 [DAT](INFO): DAT read: Tx time:20:47:04.3832

2025-06-17T20:47:04.077Z,1750193224.077 [DAT](INFO): Ping request sent.
2025-06-17T20:47:04.077Z,1750193224.077 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:47:04.077Z,1750193224.077 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:04.078Z,1750193224.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001111
2025-06-17T20:47:04.325Z,1750193224.325 [DAT](INFO): DAT read: TxSync time:20:47:04.3824

2025-06-17T20:47:04.326Z,1750193224.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249047
2025-06-17T20:47:04.459Z,1750193224.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:04.461Z,1750193224.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:04.463Z,1750193224.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 427.226044 m,
      bearing: 335.383518 deg,
      approach rate: -0.731157 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.380976 deg,
      new cmd heading: 335.383518 deg.

2025-06-17T20:47:04.464Z,1750193224.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853547 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:04.578Z,1750193224.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500940
2025-06-17T20:47:04.829Z,1750193224.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752155
2025-06-17T20:47:04.847Z,1750193224.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:04.850Z,1750193224.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 426.946320 m,
      bearing: 335.385304 deg,
      approach rate: -0.725119 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.383516 deg,
      new cmd heading: 335.385304 deg.

2025-06-17T20:47:04.851Z,1750193224.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853578 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:05.082Z,1750193225.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004975
2025-06-17T20:47:05.221Z,1750193225.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:05.224Z,1750193225.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 426.675079 m,
      bearing: 335.387031 deg,
      approach rate: -0.723888 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.385292 deg,
      new cmd heading: 335.387031 deg.

2025-06-17T20:47:05.225Z,1750193225.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853608 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:05.333Z,1750193225.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256229
2025-06-17T20:47:05.585Z,1750193225.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508091
2025-06-17T20:47:05.661Z,1750193225.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:05.664Z,1750193225.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 426.355652 m,
      bearing: 335.389205 deg,
      approach rate: -0.725864 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.387041 deg,
      new cmd heading: 335.389205 deg.

2025-06-17T20:47:05.665Z,1750193225.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853646 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:05.838Z,1750193225.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761790
2025-06-17T20:47:06.089Z,1750193226.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012270
2025-06-17T20:47:06.098Z,1750193226.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:06.101Z,1750193226.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 426.038666 m,
      bearing: 335.391334 deg,
      approach rate: -0.725782 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.389199 deg,
      new cmd heading: 335.391334 deg.

2025-06-17T20:47:06.102Z,1750193226.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853683 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:06.342Z,1750193226.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265274
2025-06-17T20:47:06.573Z,1750193226.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:06.575Z,1750193226.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:06.582Z,1750193226.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 425.706940 m,
      bearing: 335.393489 deg,
      approach rate: -0.694966 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.391330 deg,
      new cmd heading: 335.393489 deg.

2025-06-17T20:47:06.583Z,1750193226.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853721 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:06.593Z,1750193226.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516233
2025-06-17T20:47:06.846Z,1750193226.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768834
2025-06-17T20:47:06.924Z,1750193226.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:06.926Z,1750193226.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 425.439575 m,
      bearing: 335.395187 deg,
      approach rate: -0.768137 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.393489 deg,
      new cmd heading: 335.395187 deg.

2025-06-17T20:47:06.927Z,1750193226.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853750 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:07.097Z,1750193227.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020081
2025-06-17T20:47:07.341Z,1750193227.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:07.343Z,1750193227.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 425.136566 m,
      bearing: 335.397070 deg,
      approach rate: -0.726386 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.395182 deg,
      new cmd heading: 335.397070 deg.

2025-06-17T20:47:07.345Z,1750193227.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853783 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:07.349Z,1750193227.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272502
2025-06-17T20:47:07.601Z,1750193227.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524264
2025-06-17T20:47:07.801Z,1750193227.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:07.803Z,1750193227.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 424.813660 m,
      bearing: 335.398863 deg,
      approach rate: -0.702053 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.397068 deg,
      new cmd heading: 335.398863 deg.

2025-06-17T20:47:07.808Z,1750193227.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853815 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:07.854Z,1750193227.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777202
2025-06-17T20:47:08.105Z,1750193228.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028104
2025-06-17T20:47:08.223Z,1750193228.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:08.242Z,1750193228.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 424.502411 m,
      bearing: 335.400557 deg,
      approach rate: -0.737045 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.398871 deg,
      new cmd heading: 335.400557 deg.

2025-06-17T20:47:08.242Z,1750193228.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853844 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:08.357Z,1750193228.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280482
2025-06-17T20:47:08.609Z,1750193228.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532184
2025-06-17T20:47:08.617Z,1750193228.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:08.619Z,1750193228.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:08.625Z,1750193228.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 424.225861 m,
      bearing: 335.402181 deg,
      approach rate: -0.698656 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.400565 deg,
      new cmd heading: 335.402181 deg.

2025-06-17T20:47:08.626Z,1750193228.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853872 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:08.861Z,1750193228.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784439
2025-06-17T20:47:08.982Z,1750193228.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:09.001Z,1750193229.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 423.963104 m,
      bearing: 335.403679 deg,
      approach rate: -0.723621 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.402177 deg,
      new cmd heading: 335.403679 deg.

2025-06-17T20:47:09.002Z,1750193229.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853899 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:09.114Z,1750193229.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036876
2025-06-17T20:47:09.365Z,1750193229.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288035
2025-06-17T20:47:09.399Z,1750193229.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:09.401Z,1750193229.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 423.659821 m,
      bearing: 335.405360 deg,
      approach rate: -0.727671 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.403679 deg,
      new cmd heading: 335.405360 deg.

2025-06-17T20:47:09.402Z,1750193229.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853928 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:09.617Z,1750193229.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540070
2025-06-17T20:47:09.818Z,1750193229.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:09.821Z,1750193229.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 423.367432 m,
      bearing: 335.407239 deg,
      approach rate: -0.696663 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.405373 deg,
      new cmd heading: 335.407239 deg.

2025-06-17T20:47:09.822Z,1750193229.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853961 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:09.870Z,1750193229.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793235
2025-06-17T20:47:10.121Z,1750193230.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044092
2025-06-17T20:47:10.174Z,1750193230.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:10.177Z,1750193230.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 423.094757 m,
      bearing: 335.408947 deg,
      approach rate: -0.767136 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.407231 deg,
      new cmd heading: 335.408947 deg.

2025-06-17T20:47:10.177Z,1750193230.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853991 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:10.373Z,1750193230.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296125
2025-06-17T20:47:10.599Z,1750193230.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:10.618Z,1750193230.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 422.783142 m,
      bearing: 335.410790 deg,
      approach rate: -0.732907 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.408952 deg,
      new cmd heading: 335.410790 deg.

2025-06-17T20:47:10.619Z,1750193230.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854023 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:10.625Z,1750193230.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548256
2025-06-17T20:47:10.877Z,1750193230.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800131
2025-06-17T20:47:10.982Z,1750193230.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:10.984Z,1750193230.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:10.986Z,1750193230.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 422.501862 m,
      bearing: 335.412436 deg,
      approach rate: -0.731163 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.410783 deg,
      new cmd heading: 335.412436 deg.

2025-06-17T20:47:10.987Z,1750193230.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854052 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:11.129Z,1750193231.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052208
2025-06-17T20:47:11.381Z,1750193231.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304285
2025-06-17T20:47:11.387Z,1750193231.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:11.391Z,1750193231.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 422.205231 m,
      bearing: 335.414150 deg,
      approach rate: -0.734589 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.412449 deg,
      new cmd heading: 335.414150 deg.

2025-06-17T20:47:11.392Z,1750193231.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854081 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:11.636Z,1750193231.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559799
2025-06-17T20:47:11.815Z,1750193231.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:11.818Z,1750193231.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 421.890686 m,
      bearing: 335.417001 deg,
      approach rate: -0.735672 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.414143 deg,
      new cmd heading: 335.417001 deg.

2025-06-17T20:47:11.819Z,1750193231.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854131 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:11.891Z,1750193231.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814163
2025-06-17T20:47:11.980Z,1750193231.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:47:12.146Z,1750193232.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069487
2025-06-17T20:47:12.217Z,1750193232.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:12.219Z,1750193232.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 421.596161 m,
      bearing: 335.419676 deg,
      approach rate: -0.733487 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.417012 deg,
      new cmd heading: 335.419676 deg.

2025-06-17T20:47:12.220Z,1750193232.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854178 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:12.397Z,1750193232.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320080
2025-06-17T20:47:12.635Z,1750193232.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:12.637Z,1750193232.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 421.285492 m,
      bearing: 335.421999 deg,
      approach rate: -0.743245 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.419689 deg,
      new cmd heading: 335.421999 deg.

2025-06-17T20:47:12.638Z,1750193232.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854218 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:12.649Z,1750193232.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572235
2025-06-17T20:47:12.901Z,1750193232.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824146
2025-06-17T20:47:12.984Z,1750193232.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:47:12.997Z,1750193232.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:12.999Z,1750193232.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:13.002Z,1750193233.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 421.014526 m,
      bearing: 335.424020 deg,
      approach rate: -0.743371 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.422011 deg,
      new cmd heading: 335.424020 deg.

2025-06-17T20:47:13.003Z,1750193233.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854254 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:13.153Z,1750193233.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076103
2025-06-17T20:47:13.405Z,1750193233.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328478
2025-06-17T20:47:13.407Z,1750193233.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:13.410Z,1750193233.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 420.711731 m,
      bearing: 335.426261 deg,
      approach rate: -0.742104 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.424033 deg,
      new cmd heading: 335.426261 deg.

2025-06-17T20:47:13.411Z,1750193233.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854293 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:13.657Z,1750193233.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.580160
2025-06-17T20:47:13.834Z,1750193233.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:13.838Z,1750193233.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 420.391693 m,
      bearing: 335.428286 deg,
      approach rate: -0.749061 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.426273 deg,
      new cmd heading: 335.428286 deg.

2025-06-17T20:47:13.838Z,1750193233.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854328 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:13.910Z,1750193233.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832901
2025-06-17T20:47:14.160Z,1750193234.160 [DAT](INFO): Reached modem response timeout
2025-06-17T20:47:14.161Z,1750193234.161 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:47:14.161Z,1750193234.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:14.208Z,1750193234.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:14.210Z,1750193234.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 420.112793 m,
      bearing: 335.430022 deg,
      approach rate: -0.746801 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.428295 deg,
      new cmd heading: 335.430022 deg.

2025-06-17T20:47:14.211Z,1750193234.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854358 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:14.415Z,1750193234.415 [DAT](INFO): Reached modem response timeout
2025-06-17T20:47:14.416Z,1750193234.416 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:47:14.416Z,1750193234.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:14.647Z,1750193234.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:14.649Z,1750193234.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 419.780090 m,
      bearing: 335.432223 deg,
      approach rate: -0.758272 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.430016 deg,
      new cmd heading: 335.432223 deg.

2025-06-17T20:47:14.650Z,1750193234.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854397 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:14.664Z,1750193234.664 [DAT](INFO): Reached modem response timeout
2025-06-17T20:47:14.665Z,1750193234.665 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:47:14.665Z,1750193234.665 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:14.916Z,1750193234.916 [DAT](INFO): Reached modem response timeout
2025-06-17T20:47:14.917Z,1750193234.917 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:47:14.917Z,1750193234.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:15.026Z,1750193235.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:15.029Z,1750193235.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:15.031Z,1750193235.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 419.490356 m,
      bearing: 335.434102 deg,
      approach rate: -0.758132 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.432229 deg,
      new cmd heading: 335.434102 deg.

2025-06-17T20:47:15.032Z,1750193235.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854430 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:15.169Z,1750193235.169 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:47:15.169Z,1750193235.169 [DAT](INFO): response not received
2025-06-17T20:47:15.170Z,1750193235.170 [DAT](INFO): DAT read: user:664>

2025-06-17T20:47:15.170Z,1750193235.170 [DAT](INFO): DAT read: Tx time:20:47:15.3332

2025-06-17T20:47:15.171Z,1750193235.171 [DAT](INFO): Ping request sent.
2025-06-17T20:47:15.171Z,1750193235.171 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:47:15.171Z,1750193235.171 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:15.172Z,1750193235.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-06-17T20:47:15.421Z,1750193235.421 [DAT](INFO): DAT read: TxSync time:20:47:15.3324

2025-06-17T20:47:15.422Z,1750193235.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250969
2025-06-17T20:47:15.462Z,1750193235.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:15.469Z,1750193235.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 419.181580 m,
      bearing: 335.436076 deg,
      approach rate: -0.712811 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.434115 deg,
      new cmd heading: 335.436076 deg.

2025-06-17T20:47:15.470Z,1750193235.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854464 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:15.674Z,1750193235.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502396
2025-06-17T20:47:15.925Z,1750193235.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754224
2025-06-17T20:47:15.928Z,1750193235.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:15.931Z,1750193235.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 418.811768 m,
      bearing: 335.437722 deg,
      approach rate: -0.794275 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.436082 deg,
      new cmd heading: 335.437722 deg.

2025-06-17T20:47:15.932Z,1750193235.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854493 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:16.177Z,1750193236.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006214
2025-06-17T20:47:16.303Z,1750193236.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:16.306Z,1750193236.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 418.528076 m,
      bearing: 335.439001 deg,
      approach rate: -0.755698 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.437721 deg,
      new cmd heading: 335.439001 deg.

2025-06-17T20:47:16.306Z,1750193236.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854515 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:16.429Z,1750193236.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258085
2025-06-17T20:47:16.683Z,1750193236.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511581
2025-06-17T20:47:16.763Z,1750193236.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:16.767Z,1750193236.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 418.197052 m,
      bearing: 335.441024 deg,
      approach rate: -0.720055 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.439005 deg,
      new cmd heading: 335.441024 deg.

2025-06-17T20:47:16.774Z,1750193236.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854550 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:16.933Z,1750193236.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762039
2025-06-17T20:47:17.128Z,1750193237.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:17.130Z,1750193237.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:17.137Z,1750193237.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 417.915955 m,
      bearing: 335.442677 deg,
      approach rate: -0.764464 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.441027 deg,
      new cmd heading: 335.442677 deg.

2025-06-17T20:47:17.138Z,1750193237.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854579 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:17.187Z,1750193237.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015953
2025-06-17T20:47:17.437Z,1750193237.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266104
2025-06-17T20:47:17.515Z,1750193237.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:17.517Z,1750193237.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 417.613617 m,
      bearing: 335.444421 deg,
      approach rate: -0.786987 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.442666 deg,
      new cmd heading: 335.444421 deg.

2025-06-17T20:47:17.518Z,1750193237.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854609 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:17.689Z,1750193237.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518484
2025-06-17T20:47:17.937Z,1750193237.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:17.939Z,1750193237.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 417.298889 m,
      bearing: 335.445517 deg,
      approach rate: -0.745258 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.444414 deg,
      new cmd heading: 335.445517 deg.

2025-06-17T20:47:17.941Z,1750193237.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770195
2025-06-17T20:47:17.942Z,1750193237.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854629 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:18.194Z,1750193238.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022973
2025-06-17T20:47:18.329Z,1750193238.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:18.331Z,1750193238.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 417.006226 m,
      bearing: 335.446528 deg,
      approach rate: -0.748632 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.445507 deg,
      new cmd heading: 335.446528 deg.

2025-06-17T20:47:18.332Z,1750193238.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854646 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:18.445Z,1750193238.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274092
2025-06-17T20:47:18.697Z,1750193238.697 [DAT](INFO): DAT read: Rx Time:20:47:18.3067

2025-06-17T20:47:18.697Z,1750193238.697 [DAT](INFO): Rx dataTimestamp_ set to:1750193238.697120
2025-06-17T20:47:18.698Z,1750193238.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527247
2025-06-17T20:47:18.788Z,1750193238.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:18.791Z,1750193238.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 416.660461 m,
      bearing: 335.447420 deg,
      approach rate: -0.757788 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.446518 deg,
      new cmd heading: 335.447420 deg.

2025-06-17T20:47:18.796Z,1750193238.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854662 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:18.949Z,1750193238.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778285
2025-06-17T20:47:19.144Z,1750193239.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:19.146Z,1750193239.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 416.399780 m,
      bearing: 335.448106 deg,
      approach rate: -0.758361 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.447420 deg,
      new cmd heading: 335.448106 deg.

2025-06-17T20:47:19.147Z,1750193239.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854674 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:19.202Z,1750193239.202 [DAT](INFO): DAT read: $Error in header

2025-06-17T20:47:19.203Z,1750193239.203 [DAT](INFO): Received a bad header
2025-06-17T20:47:19.216Z,1750193239.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.045597
2025-06-17T20:47:19.453Z,1750193239.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282083
2025-06-17T20:47:19.531Z,1750193239.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:19.533Z,1750193239.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:19.535Z,1750193239.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 416.092926 m,
      bearing: 335.448937 deg,
      approach rate: -0.757339 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.448103 deg,
      new cmd heading: 335.448937 deg.

2025-06-17T20:47:19.536Z,1750193239.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854689 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:19.705Z,1750193239.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534152
2025-06-17T20:47:19.957Z,1750193239.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786157
2025-06-17T20:47:19.974Z,1750193239.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:19.977Z,1750193239.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 415.761536 m,
      bearing: 335.449958 deg,
      approach rate: -0.751551 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.448950 deg,
      new cmd heading: 335.449958 deg.

2025-06-17T20:47:19.978Z,1750193239.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854706 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:20.209Z,1750193240.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038068
2025-06-17T20:47:20.356Z,1750193240.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:20.358Z,1750193240.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 415.473938 m,
      bearing: 335.450868 deg,
      approach rate: -0.753146 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.449961 deg,
      new cmd heading: 335.450868 deg.

2025-06-17T20:47:20.359Z,1750193240.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854722 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:20.461Z,1750193240.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290091
2025-06-17T20:47:20.714Z,1750193240.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543542
2025-06-17T20:47:20.835Z,1750193240.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:20.838Z,1750193240.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 415.113556 m,
      bearing: 335.451832 deg,
      approach rate: -0.751783 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.450862 deg,
      new cmd heading: 335.451832 deg.

2025-06-17T20:47:20.839Z,1750193240.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854739 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:20.965Z,1750193240.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794278
2025-06-17T20:47:21.206Z,1750193241.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:21.215Z,1750193241.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 414.855652 m,
      bearing: 335.452545 deg,
      approach rate: -0.695902 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.451846 deg,
      new cmd heading: 335.452545 deg.

2025-06-17T20:47:21.217Z,1750193241.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046204
2025-06-17T20:47:21.224Z,1750193241.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854752 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:21.469Z,1750193241.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297988
2025-06-17T20:47:21.579Z,1750193241.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:21.581Z,1750193241.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:21.583Z,1750193241.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 414.551727 m,
      bearing: 335.453399 deg,
      approach rate: -0.809951 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.452556 deg,
      new cmd heading: 335.453399 deg.

2025-06-17T20:47:21.585Z,1750193241.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854766 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:21.721Z,1750193241.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550198
2025-06-17T20:47:21.973Z,1750193241.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802141
2025-06-17T20:47:22.046Z,1750193242.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:22.049Z,1750193242.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 414.205292 m,
      bearing: 335.454852 deg,
      approach rate: -0.744635 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.453403 deg,
      new cmd heading: 335.454852 deg.

2025-06-17T20:47:22.050Z,1750193242.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854792 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:22.228Z,1750193242.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056970
2025-06-17T20:47:22.389Z,1750193242.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:22.391Z,1750193242.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 413.951019 m,
      bearing: 335.455933 deg,
      approach rate: -0.741767 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.454851 deg,
      new cmd heading: 335.455933 deg.

2025-06-17T20:47:22.393Z,1750193242.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854811 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:22.478Z,1750193242.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307603
2025-06-17T20:47:22.729Z,1750193242.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558294
2025-06-17T20:47:22.824Z,1750193242.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:22.826Z,1750193242.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 413.629181 m,
      bearing: 335.457232 deg,
      approach rate: -0.740185 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.455944 deg,
      new cmd heading: 335.457232 deg.

2025-06-17T20:47:22.827Z,1750193242.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854833 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:22.981Z,1750193242.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810033
2025-06-17T20:47:23.213Z,1750193243.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:23.215Z,1750193243.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 413.341583 m,
      bearing: 335.458394 deg,
      approach rate: -0.738936 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.457228 deg,
      new cmd heading: 335.458394 deg.

2025-06-17T20:47:23.218Z,1750193243.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854854 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:23.233Z,1750193243.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062200
2025-06-17T20:47:23.485Z,1750193243.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314059
2025-06-17T20:47:23.606Z,1750193243.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:23.608Z,1750193243.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:23.610Z,1750193243.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 413.050354 m,
      bearing: 335.459485 deg,
      approach rate: -0.737734 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.458403 deg,
      new cmd heading: 335.459485 deg.

2025-06-17T20:47:23.611Z,1750193243.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854873 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:23.738Z,1750193243.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567030
2025-06-17T20:47:23.989Z,1750193243.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818113
2025-06-17T20:47:24.041Z,1750193244.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:24.064Z,1750193244.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 412.736359 m,
      bearing: 335.461237 deg,
      approach rate: -0.724600 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.459495 deg,
      new cmd heading: 335.461237 deg.

2025-06-17T20:47:24.065Z,1750193244.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854903 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:24.241Z,1750193244.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070124
2025-06-17T20:47:24.414Z,1750193244.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:24.416Z,1750193244.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 412.465271 m,
      bearing: 335.462730 deg,
      approach rate: -0.727844 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.461244 deg,
      new cmd heading: 335.462730 deg.

2025-06-17T20:47:24.417Z,1750193244.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854929 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:24.493Z,1750193244.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322175
2025-06-17T20:47:24.749Z,1750193244.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577919
2025-06-17T20:47:24.845Z,1750193244.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:24.847Z,1750193244.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 412.149597 m,
      bearing: 335.464166 deg,
      approach rate: -0.731680 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.462719 deg,
      new cmd heading: 335.464166 deg.

2025-06-17T20:47:24.849Z,1750193244.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854954 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:24.997Z,1750193244.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826221
2025-06-17T20:47:25.248Z,1750193245.248 [DAT](INFO): Reached modem response timeout
2025-06-17T20:47:25.249Z,1750193245.249 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:47:25.249Z,1750193245.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:25.298Z,1750193245.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:25.301Z,1750193245.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 411.817078 m,
      bearing: 335.465682 deg,
      approach rate: -0.733532 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.464167 deg,
      new cmd heading: 335.465682 deg.

2025-06-17T20:47:25.302Z,1750193245.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854980 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:25.501Z,1750193245.501 [DAT](INFO): Reached modem response timeout
2025-06-17T20:47:25.501Z,1750193245.501 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:47:25.502Z,1750193245.502 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:25.753Z,1750193245.753 [DAT](INFO): Reached modem response timeout
2025-06-17T20:47:25.753Z,1750193245.753 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:47:25.754Z,1750193245.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:25.820Z,1750193245.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:25.822Z,1750193245.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:25.825Z,1750193245.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 411.436340 m,
      bearing: 335.467590 deg,
      approach rate: -0.726425 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.465670 deg,
      new cmd heading: 335.467590 deg.

2025-06-17T20:47:25.826Z,1750193245.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855014 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:26.006Z,1750193246.006 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:47:26.006Z,1750193246.006 [DAT](INFO): response not received
2025-06-17T20:47:26.007Z,1750193246.007 [DAT](INFO): DAT read: user:666>

2025-06-17T20:47:26.008Z,1750193246.008 [DAT](INFO): DAT read: Tx time:20:47:26.2833

2025-06-17T20:47:26.008Z,1750193246.008 [DAT](INFO): Ping request sent.
2025-06-17T20:47:26.008Z,1750193246.008 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:47:26.009Z,1750193246.009 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:26.010Z,1750193246.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001123
2025-06-17T20:47:26.230Z,1750193246.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:26.233Z,1750193246.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 411.139404 m,
      bearing: 335.469105 deg,
      approach rate: -0.729128 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.467582 deg,
      new cmd heading: 335.469105 deg.

2025-06-17T20:47:26.234Z,1750193246.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855041 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:26.257Z,1750193246.257 [DAT](INFO): DAT read: TxSync time:20:47:26.2825

2025-06-17T20:47:26.258Z,1750193246.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249223
2025-06-17T20:47:26.509Z,1750193246.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500345
2025-06-17T20:47:26.623Z,1750193246.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:26.626Z,1750193246.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 410.853241 m,
      bearing: 335.470606 deg,
      approach rate: -0.726734 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.469112 deg,
      new cmd heading: 335.470606 deg.

2025-06-17T20:47:26.627Z,1750193246.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855067 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:26.764Z,1750193246.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754991
2025-06-17T20:47:27.013Z,1750193247.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004615
2025-06-17T20:47:27.061Z,1750193247.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:27.063Z,1750193247.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 410.531128 m,
      bearing: 335.472559 deg,
      approach rate: -0.736605 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.470615 deg,
      new cmd heading: 335.472559 deg.

2025-06-17T20:47:27.065Z,1750193247.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855101 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:27.265Z,1750193247.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256302
2025-06-17T20:47:27.434Z,1750193247.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:27.437Z,1750193247.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 410.256622 m,
      bearing: 335.474277 deg,
      approach rate: -0.735585 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.472555 deg,
      new cmd heading: 335.474277 deg.

2025-06-17T20:47:27.438Z,1750193247.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855131 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:27.518Z,1750193247.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509343
2025-06-17T20:47:27.772Z,1750193247.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762581
2025-06-17T20:47:27.873Z,1750193247.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:27.875Z,1750193247.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:27.877Z,1750193247.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 409.928497 m,
      bearing: 335.476231 deg,
      approach rate: -0.744505 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.474276 deg,
      new cmd heading: 335.476231 deg.

2025-06-17T20:47:27.878Z,1750193247.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855165 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:28.021Z,1750193248.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012295
2025-06-17T20:47:28.243Z,1750193248.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:28.246Z,1750193248.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 409.653748 m,
      bearing: 335.477860 deg,
      approach rate: -0.746304 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.476243 deg,
      new cmd heading: 335.477860 deg.

2025-06-17T20:47:28.246Z,1750193248.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855193 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:28.273Z,1750193248.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264351
2025-06-17T20:47:28.525Z,1750193248.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516509
2025-06-17T20:47:28.652Z,1750193248.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:28.654Z,1750193248.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 409.349182 m,
      bearing: 335.479718 deg,
      approach rate: -0.745182 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.477855 deg,
      new cmd heading: 335.479718 deg.

2025-06-17T20:47:28.655Z,1750193248.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855226 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:28.779Z,1750193248.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770481
2025-06-17T20:47:29.029Z,1750193249.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020153
2025-06-17T20:47:29.046Z,1750193249.046 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 4.
2025-06-17T20:47:29.050Z,1750193249.050 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 46.
2025-06-17T20:47:29.137Z,1750193249.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:29.144Z,1750193249.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 408.990387 m,
      bearing: 335.481654 deg,
      approach rate: -0.738731 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.479713 deg,
      new cmd heading: 335.481654 deg.

2025-06-17T20:47:29.145Z,1750193249.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855259 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:29.281Z,1750193249.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272322
2025-06-17T20:47:29.466Z,1750193249.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:29.469Z,1750193249.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 408.737946 m,
      bearing: 335.483114 deg,
      approach rate: -0.768406 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.481653 deg,
      new cmd heading: 335.483114 deg.

2025-06-17T20:47:29.469Z,1750193249.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855285 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:29.535Z,1750193249.535 [DAT](INFO): DAT read: Rx Time:20:47:29.2574

2025-06-17T20:47:29.535Z,1750193249.535 [DAT](INFO): Rx dataTimestamp_ set to:1750193249.534719
2025-06-17T20:47:29.536Z,1750193249.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527545
2025-06-17T20:47:29.787Z,1750193249.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778161
2025-06-17T20:47:29.879Z,1750193249.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:29.881Z,1750193249.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.66 m.
2025-06-17T20:47:29.901Z,1750193249.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 516.664307 m,
      nav range: 408.424316 m,
      bearing: 335.484748 deg,
      approach rate: -0.755042 m/s,
      LOS rate: nan deg/s,
      cmd heading: 335.483101 deg,
      new cmd heading: 335.484748 deg.

2025-06-17T20:47:29.902Z,1750193249.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855313 target range: 516.664307 and range: 446.70 m.
2025-06-17T20:47:30.043Z,1750193250.043 [DAT](INFO): DAT read: 20:47:29.2574 LVL= 28656, 26817, 25666, 32755, AGC= 72, IDX= 472,-0.10, 1.924, 0.589, 1.871, 1.350, PHS= 0.662,-0.714, 0.518, RAW= 144.5,  -7.2, CAL= 150.5, -16.2, ROT= 359.5,  16.2

2025-06-17T20:47:30.045Z,1750193250.045 [DAT](INFO): got valid direction response:
 20:47:29.2574 LVL= 28656, 26817, 25666, 32755, AGC= 72, IDX= 472,-0.10, 1.924, 0.589, 1.871, 1.350, PHS= 0.662,-0.714, 0.518, RAW= 144.5,  -7.2, CAL= 150.5, -16.2, ROT= 359.5,  16.2

2025-06-17T20:47:30.046Z,1750193250.046 [DAT](INFO): DAT read: Range 10 to 50 : 427.4 m  (Round-trip  569.9 ms) speed  0.2 m/s

2025-06-17T20:47:30.047Z,1750193250.047 [DAT](INFO): DAT read: user:667>

2025-06-17T20:47:30.047Z,1750193250.047 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:47:30.048Z,1750193250.048 [DAT](INFO): direction in FSK: [0.960257,-0.008380,-0.278991]
2025-06-17T20:47:30.049Z,1750193250.049 [DAT](INFO): publishing direction and range info
2025-06-17T20:47:30.058Z,1750193250.058 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:47:30.058Z,1750193250.058 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:47:30.058Z,1750193250.058 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:30.293Z,1750193250.293 [DAT](INFO): DAT read: Tx time:20:47:30.3833

2025-06-17T20:47:30.294Z,1750193250.294 [DAT](INFO): Ping request sent.
2025-06-17T20:47:30.294Z,1750193250.294 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:47:30.294Z,1750193250.294 [DAT](INFO): DAT read: TxSync time:20:47:30.3826

2025-06-17T20:47:30.295Z,1750193250.295 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:30.295Z,1750193250.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001634
2025-06-17T20:47:30.301Z,1750193250.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 427.399994 m,
      deltaT: 36.803357 s,
      deltaX: -19.300018 m,
      approachRate: -0.524409 m/s,
      rangeRepo size: 4

2025-06-17T20:47:30.303Z,1750193250.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 423.460541 m,
      bearing: 335.489217 deg,
      lat: 36.905926 deg,
      lon: -122.115809 deg,
      deltaT: 127.041015 s,
      deltaX: -93.203766 m,
      approachRate: -0.733651 m/s,
      posRepo size: 2

2025-06-17T20:47:30.304Z,1750193250.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:30.305Z,1750193250.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 335.489217 deg.
2025-06-17T20:47:30.306Z,1750193250.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855392 target range: 423.460541 and range: 427.40 m.
2025-06-17T20:47:30.541Z,1750193250.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246995
2025-06-17T20:47:30.666Z,1750193250.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:30.669Z,1750193250.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 409.364929 m,
      bearing: 332.153347 deg,
      approach rate: -0.824436 m/s,
      LOS rate: -0.002199 deg/s,
      cmd heading: 335.489220 deg,
      new cmd heading: 335.486809 deg.

2025-06-17T20:47:30.670Z,1750193250.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855350 target range: 423.460541 and range: 427.40 m.
2025-06-17T20:47:30.798Z,1750193250.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504174
2025-06-17T20:47:31.045Z,1750193251.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751205
2025-06-17T20:47:31.103Z,1750193251.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:31.106Z,1750193251.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 409.036835 m,
      bearing: 332.152716 deg,
      approach rate: -0.750162 m/s,
      LOS rate: -0.001444 deg/s,
      cmd heading: 335.486816 deg,
      new cmd heading: 335.484922 deg.

2025-06-17T20:47:31.107Z,1750193251.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855317 target range: 423.460541 and range: 427.40 m.
2025-06-17T20:47:31.298Z,1750193251.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004162
2025-06-17T20:47:31.485Z,1750193251.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:31.487Z,1750193251.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 408.754669 m,
      bearing: 332.152169 deg,
      approach rate: -0.740229 m/s,
      LOS rate: -0.001437 deg/s,
      cmd heading: 335.484931 deg,
      new cmd heading: 335.483287 deg.

2025-06-17T20:47:31.488Z,1750193251.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855288 target range: 423.460541 and range: 427.40 m.
2025-06-17T20:47:31.549Z,1750193251.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255094
2025-06-17T20:47:31.804Z,1750193251.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509378
2025-06-17T20:47:31.902Z,1750193251.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:31.904Z,1750193251.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:31.907Z,1750193251.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 408.428650 m,
      bearing: 332.151607 deg,
      approach rate: -0.776652 m/s,
      LOS rate: -0.001340 deg/s,
      cmd heading: 335.483292 deg,
      new cmd heading: 335.481604 deg.

2025-06-17T20:47:31.924Z,1750193251.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855258 target range: 423.460541 and range: 427.40 m.
2025-06-17T20:47:32.053Z,1750193252.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759043
2025-06-17T20:47:32.289Z,1750193252.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:32.291Z,1750193252.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 408.133759 m,
      bearing: 332.150985 deg,
      approach rate: -0.767157 m/s,
      LOS rate: -0.001618 deg/s,
      cmd heading: 335.481598 deg,
      new cmd heading: 335.479732 deg.

2025-06-17T20:47:32.293Z,1750193252.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855226 target range: 423.460541 and range: 427.40 m.
2025-06-17T20:47:32.305Z,1750193252.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011164
2025-06-17T20:47:32.557Z,1750193252.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263117
2025-06-17T20:47:32.689Z,1750193252.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:32.692Z,1750193252.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 407.825378 m,
      bearing: 332.150317 deg,
      approach rate: -0.769817 m/s,
      LOS rate: -0.001669 deg/s,
      cmd heading: 335.479740 deg,
      new cmd heading: 335.477735 deg.

2025-06-17T20:47:32.693Z,1750193252.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855191 target range: 423.460541 and range: 427.40 m.
2025-06-17T20:47:32.811Z,1750193252.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517207
2025-06-17T20:47:33.061Z,1750193253.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767395
2025-06-17T20:47:33.121Z,1750193253.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:33.124Z,1750193253.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 407.501801 m,
      bearing: 332.149272 deg,
      approach rate: -0.748761 m/s,
      LOS rate: -0.002419 deg/s,
      cmd heading: 335.477746 deg,
      new cmd heading: 335.474610 deg.

2025-06-17T20:47:33.125Z,1750193253.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855136 target range: 423.460541 and range: 427.40 m.
2025-06-17T20:47:33.313Z,1750193253.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019067
2025-06-17T20:47:33.494Z,1750193253.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:33.497Z,1750193253.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 407.223541 m,
      bearing: 332.148432 deg,
      approach rate: -0.747113 m/s,
      LOS rate: -0.002259 deg/s,
      cmd heading: 335.474604 deg,
      new cmd heading: 335.472080 deg.

2025-06-17T20:47:33.498Z,1750193253.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855093 target range: 423.460541 and range: 427.40 m.
2025-06-17T20:47:33.565Z,1750193253.565 [DAT](INFO): DAT read: Rx Time:20:47:33.3417

2025-06-17T20:47:33.565Z,1750193253.565 [DAT](INFO): Rx dataTimestamp_ set to:1750193253.565207
2025-06-17T20:47:33.566Z,1750193253.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272336
2025-06-17T20:47:33.819Z,1750193253.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525174
2025-06-17T20:47:33.968Z,1750193253.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:33.970Z,1750193253.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:33.973Z,1750193253.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 406.861542 m,
      bearing: 332.147449 deg,
      approach rate: -0.760460 m/s,
      LOS rate: -0.002067 deg/s,
      cmd heading: 335.472090 deg,
      new cmd heading: 335.469138 deg.

2025-06-17T20:47:33.974Z,1750193253.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855041 target range: 423.460541 and range: 427.40 m.
2025-06-17T20:47:34.073Z,1750193254.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778341
2025-06-17T20:47:34.300Z,1750193254.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:34.307Z,1750193254.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 406.610077 m,
      bearing: 332.146783 deg,
      approach rate: -0.762255 m/s,
      LOS rate: -0.002020 deg/s,
      cmd heading: 335.469140 deg,
      new cmd heading: 335.467141 deg.

2025-06-17T20:47:34.309Z,1750193254.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855006 target range: 423.460541 and range: 427.40 m.
2025-06-17T20:47:34.322Z,1750193254.322 [DAT](INFO): DAT read: Range 10 to 50 : 415.6 m  (Round-trip  554.2 ms) speed  0.8 m/s

2025-06-17T20:47:34.323Z,1750193254.323 [DAT](INFO): DAT read: user:668>

2025-06-17T20:47:34.323Z,1750193254.323 [DAT](INFO): DAT read: Tx time:20:47:34.4333

2025-06-17T20:47:34.324Z,1750193254.324 [DAT](INFO): Ping request sent.
2025-06-17T20:47:34.324Z,1750193254.324 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:47:34.325Z,1750193254.325 [DAT](INFO): DAT read: TxSync time:20:47:34.4326

2025-06-17T20:47:34.325Z,1750193254.325 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:47:34.325Z,1750193254.325 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:34.326Z,1750193254.326 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:34.731Z,1750193254.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 415.600006 m,
      deltaT: 4.282618 s,
      deltaX: -11.799988 m,
      approachRate: -2.755321 m/s,
      rangeRepo size: 4

2025-06-17T20:47:34.737Z,1750193254.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:34.745Z,1750193254.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 406.301880 m,
      bearing: 332.146002 deg,
      approach rate: -0.716821 m/s,
      LOS rate: -0.001817 deg/s,
      cmd heading: 335.467145 deg,
      new cmd heading: 335.464802 deg.

2025-06-17T20:47:34.747Z,1750193254.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854965 target range: 423.460541 and range: 415.60 m.
2025-06-17T20:47:35.135Z,1750193255.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:35.138Z,1750193255.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 405.976562 m,
      bearing: 332.144767 deg,
      approach rate: -0.803334 m/s,
      LOS rate: -0.003053 deg/s,
      cmd heading: 335.464796 deg,
      new cmd heading: 335.461086 deg.

2025-06-17T20:47:35.139Z,1750193255.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854900 target range: 423.460541 and range: 415.60 m.
2025-06-17T20:47:35.514Z,1750193255.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:35.517Z,1750193255.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 405.690063 m,
      bearing: 332.143717 deg,
      approach rate: -0.755922 m/s,
      LOS rate: -0.002770 deg/s,
      cmd heading: 335.461080 deg,
      new cmd heading: 335.457931 deg.

2025-06-17T20:47:35.518Z,1750193255.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854846 target range: 423.460541 and range: 415.60 m.
2025-06-17T20:47:35.955Z,1750193255.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:35.958Z,1750193255.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 405.359772 m,
      bearing: 332.143066 deg,
      approach rate: -0.748413 m/s,
      LOS rate: -0.001478 deg/s,
      cmd heading: 335.457938 deg,
      new cmd heading: 335.455981 deg.

2025-06-17T20:47:35.959Z,1750193255.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854811 target range: 423.460541 and range: 415.60 m.
2025-06-17T20:47:36.323Z,1750193256.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:36.325Z,1750193256.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:36.328Z,1750193256.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 405.078979 m,
      bearing: 332.142514 deg,
      approach rate: -0.758101 m/s,
      LOS rate: -0.001489 deg/s,
      cmd heading: 335.455971 deg,
      new cmd heading: 335.454316 deg.

2025-06-17T20:47:36.329Z,1750193256.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854782 target range: 423.460541 and range: 415.60 m.
2025-06-17T20:47:36.337Z,1750193256.337 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:47:36.337Z,1750193256.337 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:47:36.337Z,1750193256.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:36.589Z,1750193256.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264829
2025-06-17T20:47:36.724Z,1750193256.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:36.727Z,1750193256.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 404.778473 m,
      bearing: 332.141894 deg,
      approach rate: -0.752998 m/s,
      LOS rate: -0.001556 deg/s,
      cmd heading: 335.454305 deg,
      new cmd heading: 335.452442 deg.

2025-06-17T20:47:36.728Z,1750193256.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854750 target range: 423.460541 and range: 415.60 m.
2025-06-17T20:47:36.842Z,1750193256.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517897
2025-06-17T20:47:37.093Z,1750193257.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768861
2025-06-17T20:47:37.173Z,1750193257.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:37.175Z,1750193257.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 404.448364 m,
      bearing: 332.141311 deg,
      approach rate: -0.738110 m/s,
      LOS rate: -0.001305 deg/s,
      cmd heading: 335.452447 deg,
      new cmd heading: 335.450696 deg.

2025-06-17T20:47:37.177Z,1750193257.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854719 target range: 423.460541 and range: 415.60 m.
2025-06-17T20:47:37.345Z,1750193257.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021284
2025-06-17T20:47:37.541Z,1750193257.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:37.543Z,1750193257.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 404.169220 m,
      bearing: 332.140810 deg,
      approach rate: -0.756618 m/s,
      LOS rate: -0.001360 deg/s,
      cmd heading: 335.450698 deg,
      new cmd heading: 335.449193 deg.

2025-06-17T20:47:37.545Z,1750193257.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854693 target range: 423.460541 and range: 415.60 m.
2025-06-17T20:47:37.598Z,1750193257.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273627
2025-06-17T20:47:37.850Z,1750193257.850 [DAT](INFO): DAT read: Rx Time:20:47:37.3876

2025-06-17T20:47:37.850Z,1750193257.850 [DAT](INFO): Rx dataTimestamp_ set to:1750193257.849835
2025-06-17T20:47:37.851Z,1750193257.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526716
2025-06-17T20:47:38.030Z,1750193258.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:38.034Z,1750193258.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 403.817566 m,
      bearing: 332.140346 deg,
      approach rate: -0.718281 m/s,
      LOS rate: -0.000948 deg/s,
      cmd heading: 335.449196 deg,
      new cmd heading: 335.447803 deg.

2025-06-17T20:47:38.035Z,1750193258.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854669 target range: 423.460541 and range: 415.60 m.
2025-06-17T20:47:38.103Z,1750193258.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779051
2025-06-17T20:47:38.340Z,1750193258.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:38.342Z,1750193258.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.46 m.
2025-06-17T20:47:38.346Z,1750193258.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.460541 m,
      nav range: 403.563751 m,
      bearing: 332.139973 deg,
      approach rate: -0.812826 m/s,
      LOS rate: -0.001195 deg/s,
      cmd heading: 335.447802 deg,
      new cmd heading: 335.446682 deg.

2025-06-17T20:47:38.347Z,1750193258.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854649 target range: 423.460541 and range: 415.60 m.
2025-06-17T20:47:38.362Z,1750193258.362 [DAT](INFO): DAT read: 20:47:37.3876 LVL= 16544, 20129, 16818, 22003, AGC= 74, IDX= 398, 0.03,-3.070, 1.668,-3.081, 2.449, PHS= 0.852,-0.734, 0.751, RAW= 146.7, -11.3, CAL= 153.8, -19.7, ROT= 356.2,  19.7

2025-06-17T20:47:38.363Z,1750193258.363 [DAT](INFO): got valid direction response:
 20:47:37.3876 LVL= 16544, 20129, 16818, 22003, AGC= 74, IDX= 398, 0.03,-3.070, 1.668,-3.081, 2.449, PHS= 0.852,-0.734, 0.751, RAW= 146.7, -11.3, CAL= 153.8, -19.7, ROT= 356.2,  19.7

2025-06-17T20:47:38.365Z,1750193258.365 [DAT](INFO): DAT read: Bearing 356.2,  19.7 (Local)

2025-06-17T20:47:38.365Z,1750193258.365 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  19.7 (Local)

2025-06-17T20:47:38.367Z,1750193258.367 [DAT](INFO): DAT read: Range 10 to 50 : 412.5 m  (Round-trip  550.1 ms) speed  0.8 m/s

2025-06-17T20:47:38.367Z,1750193258.367 [DAT](INFO): DAT read: user:669>

2025-06-17T20:47:38.389Z,1750193258.389 [DAT](INFO): DAT read: Tx time:20:47:38.4833

2025-06-17T20:47:38.389Z,1750193258.389 [DAT](INFO): Ping request sent.
2025-06-17T20:47:38.389Z,1750193258.389 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:47:38.390Z,1750193258.390 [DAT](INFO): DAT read: TxSync time:20:47:38.4826

2025-06-17T20:47:38.390Z,1750193258.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:47:38.391Z,1750193258.391 [DAT](INFO): direction in FSK: [0.939401,-0.062395,-0.337095]
2025-06-17T20:47:38.391Z,1750193258.391 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:38.404Z,1750193258.404 [DAT](INFO): publishing direction and range info
2025-06-17T20:47:38.407Z,1750193258.407 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:38.407Z,1750193258.407 [DAT](INFO): publishing direction and range info
2025-06-17T20:47:38.775Z,1750193258.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 412.500000 m,
      deltaT: 4.034243 s,
      deltaX: -3.100006 m,
      approachRate: -0.768423 m/s,
      rangeRepo size: 4

2025-06-17T20:47:38.777Z,1750193258.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 408.698822 m,
      bearing: 332.602983 deg,
      lat: 36.905916 deg,
      lon: -122.115809 deg,
      deltaT: 8.316861 s,
      deltaX: -14.761719 m,
      approachRate: -1.774915 m/s,
      posRepo size: 3

2025-06-17T20:47:38.778Z,1750193258.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.70 m.
2025-06-17T20:47:38.781Z,1750193258.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.698822 m,
      nav range: 402.312897 m,
      bearing: 332.069440 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001195 deg/s,
      cmd heading: 335.446682 deg,
      new cmd heading: 335.445133 deg.

2025-06-17T20:47:38.782Z,1750193258.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854622 target range: 408.698822 and range: 412.50 m.
2025-06-17T20:47:39.196Z,1750193259.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.70 m.
2025-06-17T20:47:39.199Z,1750193259.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.698822 m,
      nav range: 402.016144 m,
      bearing: 332.068218 deg,
      approach rate: -0.746434 m/s,
      LOS rate: -0.003077 deg/s,
      cmd heading: 335.445125 deg,
      new cmd heading: 335.441455 deg.

2025-06-17T20:47:39.209Z,1750193259.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854558 target range: 408.698822 and range: 412.50 m.
2025-06-17T20:47:39.567Z,1750193259.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.70 m.
2025-06-17T20:47:39.571Z,1750193259.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.698822 m,
      nav range: 401.735260 m,
      bearing: 332.066996 deg,
      approach rate: -0.710742 m/s,
      LOS rate: -0.003093 deg/s,
      cmd heading: 335.441464 deg,
      new cmd heading: 335.437797 deg.

2025-06-17T20:47:39.572Z,1750193259.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854494 target range: 408.698822 and range: 412.50 m.
2025-06-17T20:47:40.003Z,1750193260.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.70 m.
2025-06-17T20:47:40.006Z,1750193260.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.698822 m,
      nav range: 401.407501 m,
      bearing: 332.065493 deg,
      approach rate: -0.752073 m/s,
      LOS rate: -0.003452 deg/s,
      cmd heading: 335.437803 deg,
      new cmd heading: 335.433289 deg.

2025-06-17T20:47:40.007Z,1750193260.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854415 target range: 408.698822 and range: 412.50 m.
2025-06-17T20:47:40.381Z,1750193260.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:40.383Z,1750193260.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.70 m.
2025-06-17T20:47:40.387Z,1750193260.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.698822 m,
      nav range: 401.133148 m,
      bearing: 332.064168 deg,
      approach rate: -0.721171 m/s,
      LOS rate: -0.003486 deg/s,
      cmd heading: 335.433295 deg,
      new cmd heading: 335.429316 deg.

2025-06-17T20:47:40.388Z,1750193260.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854346 target range: 408.698822 and range: 412.50 m.
2025-06-17T20:47:40.625Z,1750193260.625 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:47:40.625Z,1750193260.625 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:47:40.625Z,1750193260.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:40.793Z,1750193260.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.70 m.
2025-06-17T20:47:40.795Z,1750193260.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.698822 m,
      nav range: 400.829346 m,
      bearing: 332.062666 deg,
      approach rate: -0.743504 m/s,
      LOS rate: -0.003679 deg/s,
      cmd heading: 335.429306 deg,
      new cmd heading: 335.424797 deg.

2025-06-17T20:47:40.797Z,1750193260.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854267 target range: 408.698822 and range: 412.50 m.
2025-06-17T20:47:40.877Z,1750193260.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488002
2025-06-17T20:47:41.129Z,1750193261.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739984
2025-06-17T20:47:41.260Z,1750193261.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.70 m.
2025-06-17T20:47:41.263Z,1750193261.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.698822 m,
      nav range: 400.488312 m,
      bearing: 332.061149 deg,
      approach rate: -0.728671 m/s,
      LOS rate: -0.003244 deg/s,
      cmd heading: 335.424798 deg,
      new cmd heading: 335.420243 deg.

2025-06-17T20:47:41.264Z,1750193261.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854187 target range: 408.698822 and range: 412.50 m.
2025-06-17T20:47:41.382Z,1750193261.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992470
2025-06-17T20:47:41.612Z,1750193261.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.70 m.
2025-06-17T20:47:41.615Z,1750193261.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.698822 m,
      nav range: 400.232025 m,
      bearing: 332.059998 deg,
      approach rate: -0.727519 m/s,
      LOS rate: -0.003268 deg/s,
      cmd heading: 335.420236 deg,
      new cmd heading: 335.416782 deg.

2025-06-17T20:47:41.633Z,1750193261.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243994
2025-06-17T20:47:41.634Z,1750193261.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854127 target range: 408.698822 and range: 412.50 m.
2025-06-17T20:47:41.885Z,1750193261.885 [DAT](INFO): DAT read: Rx Time:20:47:41.4333

2025-06-17T20:47:41.885Z,1750193261.885 [DAT](INFO): Rx dataTimestamp_ set to:1750193261.885007
2025-06-17T20:47:41.886Z,1750193261.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496916
2025-06-17T20:47:42.066Z,1750193262.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.70 m.
2025-06-17T20:47:42.073Z,1750193262.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.698822 m,
      nav range: 399.907471 m,
      bearing: 332.058507 deg,
      approach rate: -0.715745 m/s,
      LOS rate: -0.003291 deg/s,
      cmd heading: 335.416793 deg,
      new cmd heading: 335.412316 deg.

2025-06-17T20:47:42.074Z,1750193262.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854049 target range: 408.698822 and range: 412.50 m.
2025-06-17T20:47:42.137Z,1750193262.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.748164
2025-06-17T20:47:42.395Z,1750193262.395 [DAT](INFO): DAT read: 20:47:41.4333 LVL= 20176, 24849, 17602, 28483, AGC= 70, IDX= 402,-0.10, 2.779, 1.416, 2.798, 2.114, PHS= 0.754,-0.651, 0.681, RAW= 147.4, -11.4, CAL= 154.4, -19.8, ROT= 355.6,  19.8

2025-06-17T20:47:42.400Z,1750193262.400 [DAT](INFO): got valid direction response:
 20:47:41.4333 LVL= 20176, 24849, 17602, 28483, AGC= 70, IDX= 402,-0.10, 2.779, 1.416, 2.798, 2.114, PHS= 0.754,-0.651, 0.681, RAW= 147.4, -11.4, CAL= 154.4, -19.8, ROT= 355.6,  19.8

2025-06-17T20:47:42.402Z,1750193262.402 [DAT](INFO): DAT read: Bearing 355.6,  19.8 (Local)

2025-06-17T20:47:42.403Z,1750193262.403 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  19.8 (Local)

2025-06-17T20:47:42.414Z,1750193262.414 [DAT](INFO): DAT read: Range 10 to 50 : 409.3 m  (Round-trip  545.8 ms) speed  0.4 m/s

2025-06-17T20:47:42.414Z,1750193262.414 [DAT](INFO): DAT read: user:670>

2025-06-17T20:47:42.415Z,1750193262.415 [DAT](INFO): DAT read: Tx time:20:47:42.5333

2025-06-17T20:47:42.415Z,1750193262.415 [DAT](INFO): Ping request sent.
2025-06-17T20:47:42.416Z,1750193262.416 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:47:42.416Z,1750193262.416 [DAT](INFO): DAT read: TxSync time:20:47:42.5326

2025-06-17T20:47:42.417Z,1750193262.417 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:47:42.418Z,1750193262.418 [DAT](INFO): direction in FSK: [0.938108,-0.072183,-0.338738]
2025-06-17T20:47:42.418Z,1750193262.418 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:42.418Z,1750193262.418 [DAT](INFO): publishing direction and range info
2025-06-17T20:47:42.430Z,1750193262.430 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:42.430Z,1750193262.430 [DAT](INFO): publishing direction and range info
2025-06-17T20:47:42.502Z,1750193262.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 409.299988 m,
      deltaT: 4.033934 s,
      deltaX: -3.200012 m,
      approachRate: -0.793273 m/s,
      rangeRepo size: 4

2025-06-17T20:47:42.513Z,1750193262.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 405.531677 m,
      bearing: 332.365867 deg,
      lat: 36.905911 deg,
      lon: -122.115778 deg,
      deltaT: 4.033934 s,
      deltaX: -3.167145 m,
      approachRate: -0.785126 m/s,
      posRepo size: 4

2025-06-17T20:47:42.514Z,1750193262.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.53 m.
2025-06-17T20:47:42.520Z,1750193262.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.531677 m,
      nav range: 397.787079 m,
      bearing: 332.366980 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003291 deg/s,
      cmd heading: 335.412313 deg,
      new cmd heading: 335.408007 deg.

2025-06-17T20:47:42.521Z,1750193262.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853974 target range: 405.531677 and range: 409.30 m.
2025-06-17T20:47:42.840Z,1750193262.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:42.842Z,1750193262.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.53 m.
2025-06-17T20:47:42.845Z,1750193262.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.531677 m,
      nav range: 397.518951 m,
      bearing: 332.365986 deg,
      approach rate: -0.788225 m/s,
      LOS rate: -0.002923 deg/s,
      cmd heading: 335.407996 deg,
      new cmd heading: 335.405013 deg.

2025-06-17T20:47:42.846Z,1750193262.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853922 target range: 405.531677 and range: 409.30 m.
2025-06-17T20:47:42.893Z,1750193262.893 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:47:42.893Z,1750193262.893 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:47:42.893Z,1750193262.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:43.108Z,1750193263.108 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:47:43.145Z,1750193263.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.729252
2025-06-17T20:47:43.277Z,1750193263.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.53 m.
2025-06-17T20:47:43.280Z,1750193263.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.531677 m,
      nav range: 397.199615 m,
      bearing: 332.365921 deg,
      approach rate: -0.733532 m/s,
      LOS rate: -0.000150 deg/s,
      cmd heading: 335.405018 deg,
      new cmd heading: 335.404823 deg.

2025-06-17T20:47:43.281Z,1750193263.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853919 target range: 405.531677 and range: 409.30 m.
2025-06-17T20:47:43.397Z,1750193263.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981347
2025-06-17T20:47:43.649Z,1750193263.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233368
2025-06-17T20:47:43.657Z,1750193263.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.53 m.
2025-06-17T20:47:43.660Z,1750193263.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.531677 m,
      nav range: 396.922699 m,
      bearing: 332.365876 deg,
      approach rate: -0.728747 m/s,
      LOS rate: -0.000119 deg/s,
      cmd heading: 335.404827 deg,
      new cmd heading: 335.404691 deg.

2025-06-17T20:47:43.661Z,1750193263.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853916 target range: 405.531677 and range: 409.30 m.
2025-06-17T20:47:43.901Z,1750193263.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485286
2025-06-17T20:47:44.079Z,1750193264.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.53 m.
2025-06-17T20:47:44.082Z,1750193264.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.531677 m,
      nav range: 396.611511 m,
      bearing: 332.365528 deg,
      approach rate: -0.737221 m/s,
      LOS rate: -0.000825 deg/s,
      cmd heading: 335.404690 deg,
      new cmd heading: 335.403645 deg.

2025-06-17T20:47:44.083Z,1750193264.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853898 target range: 405.531677 and range: 409.30 m.
2025-06-17T20:47:44.112Z,1750193264.112 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:47:44.154Z,1750193264.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738324
2025-06-17T20:47:44.405Z,1750193264.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989238
2025-06-17T20:47:44.458Z,1750193264.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.53 m.
2025-06-17T20:47:44.461Z,1750193264.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.531677 m,
      nav range: 396.333771 m,
      bearing: 332.365274 deg,
      approach rate: -0.733380 m/s,
      LOS rate: -0.000672 deg/s,
      cmd heading: 335.403652 deg,
      new cmd heading: 335.402889 deg.

2025-06-17T20:47:44.462Z,1750193264.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853885 target range: 405.531677 and range: 409.30 m.
2025-06-17T20:47:44.657Z,1750193264.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241363
2025-06-17T20:47:44.854Z,1750193264.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:44.857Z,1750193264.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.53 m.
2025-06-17T20:47:44.880Z,1750193264.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.531677 m,
      nav range: 396.042694 m,
      bearing: 332.365044 deg,
      approach rate: -0.732185 m/s,
      LOS rate: -0.000577 deg/s,
      cmd heading: 335.402887 deg,
      new cmd heading: 335.402199 deg.

2025-06-17T20:47:44.882Z,1750193264.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853873 target range: 405.531677 and range: 409.30 m.
2025-06-17T20:47:44.909Z,1750193264.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493289
2025-06-17T20:47:45.161Z,1750193265.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745618
2025-06-17T20:47:45.413Z,1750193265.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997226
2025-06-17T20:47:45.494Z,1750193265.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.53 m.
2025-06-17T20:47:45.497Z,1750193265.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.531677 m,
      nav range: 395.571320 m,
      bearing: 332.364713 deg,
      approach rate: -0.738011 m/s,
      LOS rate: -0.000520 deg/s,
      cmd heading: 335.402204 deg,
      new cmd heading: 335.401208 deg.

2025-06-17T20:47:45.498Z,1750193265.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853856 target range: 405.531677 and range: 409.30 m.
2025-06-17T20:47:45.665Z,1750193265.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249173
2025-06-17T20:47:45.804Z,1750193265.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.53 m.
2025-06-17T20:47:45.807Z,1750193265.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.531677 m,
      nav range: 395.339478 m,
      bearing: 332.364524 deg,
      approach rate: -0.748962 m/s,
      LOS rate: -0.000609 deg/s,
      cmd heading: 335.401220 deg,
      new cmd heading: 335.400654 deg.

2025-06-17T20:47:45.808Z,1750193265.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853846 target range: 405.531677 and range: 409.30 m.
2025-06-17T20:47:45.917Z,1750193265.917 [DAT](INFO): DAT read: Rx Time:20:47:45.4793

2025-06-17T20:47:45.918Z,1750193265.918 [DAT](INFO): Rx dataTimestamp_ set to:1750193265.917460
2025-06-17T20:47:45.918Z,1750193265.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502750
2025-06-17T20:47:46.169Z,1750193266.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753231
2025-06-17T20:47:46.298Z,1750193266.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.53 m.
2025-06-17T20:47:46.301Z,1750193266.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.531677 m,
      nav range: 394.971069 m,
      bearing: 332.365009 deg,
      approach rate: -0.746235 m/s,
      LOS rate: 0.000983 deg/s,
      cmd heading: 335.400647 deg,
      new cmd heading: 335.402103 deg.

2025-06-17T20:47:46.302Z,1750193266.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853871 target range: 405.531677 and range: 409.30 m.
2025-06-17T20:47:46.427Z,1750193266.427 [DAT](INFO): DAT read: 20:47:45.4793 LVL= 27264, 26417, 25554, 30307, AGC= 70, IDX= 393,-0.24, 0.909,-0.576, 0.867, 0.122, PHS= 0.875,-0.651, 0.742, RAW= 145.5, -13.1, CAL= 152.3, -21.6, ROT= 357.7,  21.6

2025-06-17T20:47:46.428Z,1750193266.428 [DAT](INFO): got valid direction response:
 20:47:45.4793 LVL= 27264, 26417, 25554, 30307, AGC= 70, IDX= 393,-0.24, 0.909,-0.576, 0.867, 0.122, PHS= 0.875,-0.651, 0.742, RAW= 145.5, -13.1, CAL= 152.3, -21.6, ROT= 357.7,  21.6

2025-06-17T20:47:46.429Z,1750193266.429 [DAT](INFO): DAT read: Bearing 357.7,  21.6 (Local)

2025-06-17T20:47:46.429Z,1750193266.429 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,  21.6 (Local)

2025-06-17T20:47:46.431Z,1750193266.431 [DAT](INFO): DAT read: Range 10 to 50 : 406.3 m  (Round-trip  541.8 ms) speed  0.5 m/s

2025-06-17T20:47:46.431Z,1750193266.431 [DAT](INFO): DAT read: user:671>

2025-06-17T20:47:46.433Z,1750193266.433 [DAT](INFO): DAT read: Tx time:20:47:46.5833

2025-06-17T20:47:46.433Z,1750193266.433 [DAT](INFO): Ping request sent.
2025-06-17T20:47:46.433Z,1750193266.433 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:47:46.433Z,1750193266.433 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:47:46.434Z,1750193266.434 [DAT](INFO): direction in FSK: [0.929027,-0.037313,-0.368125]
2025-06-17T20:47:46.435Z,1750193266.435 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:46.435Z,1750193266.435 [DAT](INFO): publishing direction and range info
2025-06-17T20:47:46.438Z,1750193266.438 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:46.438Z,1750193266.438 [DAT](INFO): publishing direction and range info
2025-06-17T20:47:46.654Z,1750193266.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 406.299988 m,
      deltaT: 4.032011 s,
      deltaX: -3.000000 m,
      approachRate: -0.744046 m/s,
      rangeRepo size: 4

2025-06-17T20:47:46.661Z,1750193266.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 402.560760 m,
      bearing: 334.376536 deg,
      lat: 36.905916 deg,
      lon: -122.115762 deg,
      deltaT: 4.032011 s,
      deltaX: -2.970917 m,
      approachRate: -0.736832 m/s,
      posRepo size: 4

2025-06-17T20:47:46.662Z,1750193266.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:46.669Z,1750193266.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 394.558624 m,
      bearing: 332.595397 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000983 deg/s,
      cmd heading: 335.402095 deg,
      new cmd heading: 335.403145 deg.

2025-06-17T20:47:46.670Z,1750193266.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853889 target range: 402.560760 and range: 406.30 m.
2025-06-17T20:47:46.673Z,1750193266.673 [DAT](INFO): DAT read: TxSync time:20:47:46.5826

2025-06-17T20:47:47.168Z,1750193267.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:47.170Z,1750193267.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:47.177Z,1750193267.177 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:47:47.177Z,1750193267.177 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:47:47.177Z,1750193267.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:47.185Z,1750193267.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 394.165558 m,
      bearing: 332.595093 deg,
      approach rate: -0.760747 m/s,
      LOS rate: -0.000589 deg/s,
      cmd heading: 335.403133 deg,
      new cmd heading: 335.402219 deg.

2025-06-17T20:47:47.187Z,1750193267.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853873 target range: 402.560760 and range: 406.30 m.
2025-06-17T20:47:47.430Z,1750193267.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996711
2025-06-17T20:47:47.638Z,1750193267.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:47.645Z,1750193267.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 393.822693 m,
      bearing: 332.594809 deg,
      approach rate: -0.732607 m/s,
      LOS rate: -0.000607 deg/s,
      cmd heading: 335.402231 deg,
      new cmd heading: 335.401379 deg.

2025-06-17T20:47:47.646Z,1750193267.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853858 target range: 402.560760 and range: 406.30 m.
2025-06-17T20:47:47.681Z,1750193267.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247948
2025-06-17T20:47:47.933Z,1750193267.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499721
2025-06-17T20:47:48.131Z,1750193268.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:48.134Z,1750193268.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 393.453278 m,
      bearing: 332.593945 deg,
      approach rate: -0.749427 m/s,
      LOS rate: -0.001754 deg/s,
      cmd heading: 335.401384 deg,
      new cmd heading: 335.398790 deg.

2025-06-17T20:47:48.135Z,1750193268.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853813 target range: 402.560760 and range: 406.30 m.
2025-06-17T20:47:48.186Z,1750193268.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752233
2025-06-17T20:47:48.437Z,1750193268.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003867
2025-06-17T20:47:48.482Z,1750193268.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:48.485Z,1750193268.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 393.193390 m,
      bearing: 332.593278 deg,
      approach rate: -0.740102 m/s,
      LOS rate: -0.001901 deg/s,
      cmd heading: 335.398789 deg,
      new cmd heading: 335.396786 deg.

2025-06-17T20:47:48.486Z,1750193268.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853778 target range: 402.560760 and range: 406.30 m.
2025-06-17T20:47:48.689Z,1750193268.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255979
2025-06-17T20:47:48.890Z,1750193268.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:48.893Z,1750193268.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 392.892212 m,
      bearing: 332.592484 deg,
      approach rate: -0.737915 m/s,
      LOS rate: -0.001947 deg/s,
      cmd heading: 335.396794 deg,
      new cmd heading: 335.394410 deg.

2025-06-17T20:47:48.894Z,1750193268.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853737 target range: 402.560760 and range: 406.30 m.
2025-06-17T20:47:48.942Z,1750193268.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509284
2025-06-17T20:47:49.193Z,1750193269.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759850
2025-06-17T20:47:49.304Z,1750193269.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:49.306Z,1750193269.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:49.309Z,1750193269.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 392.581451 m,
      bearing: 332.590961 deg,
      approach rate: -0.747702 m/s,
      LOS rate: -0.003668 deg/s,
      cmd heading: 335.394417 deg,
      new cmd heading: 335.389844 deg.

2025-06-17T20:47:49.310Z,1750193269.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853657 target range: 402.560760 and range: 406.30 m.
2025-06-17T20:47:49.445Z,1750193269.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011778
2025-06-17T20:47:49.697Z,1750193269.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263883
2025-06-17T20:47:49.703Z,1750193269.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:49.706Z,1750193269.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 392.285461 m,
      bearing: 332.589508 deg,
      approach rate: -0.745999 m/s,
      LOS rate: -0.003665 deg/s,
      cmd heading: 335.389855 deg,
      new cmd heading: 335.385493 deg.

2025-06-17T20:47:49.707Z,1750193269.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853581 target range: 402.560760 and range: 406.30 m.
2025-06-17T20:47:49.949Z,1750193269.949 [DAT](INFO): DAT read: Rx Time:20:47:49.5380

2025-06-17T20:47:49.949Z,1750193269.949 [DAT](INFO): Rx dataTimestamp_ set to:1750193269.949069
2025-06-17T20:47:49.950Z,1750193269.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516913
2025-06-17T20:47:50.154Z,1750193270.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:50.157Z,1750193270.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 391.949921 m,
      bearing: 332.587455 deg,
      approach rate: -0.743915 m/s,
      LOS rate: -0.004554 deg/s,
      cmd heading: 335.385484 deg,
      new cmd heading: 335.379321 deg.

2025-06-17T20:47:50.158Z,1750193270.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853473 target range: 402.560760 and range: 406.30 m.
2025-06-17T20:47:50.202Z,1750193270.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768551
2025-06-17T20:47:50.454Z,1750193270.454 [DAT](INFO): DAT read: Range 10 to 50 : 412.8 m  (Round-trip  550.4 ms) speed  0.8 m/s

2025-06-17T20:47:50.455Z,1750193270.455 [DAT](INFO): DAT read: user:672>

2025-06-17T20:47:50.455Z,1750193270.455 [DAT](INFO): DAT read: Tx time:20:47:50.6334

2025-06-17T20:47:50.456Z,1750193270.456 [DAT](INFO): Ping request sent.
2025-06-17T20:47:50.456Z,1750193270.456 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:47:50.456Z,1750193270.456 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:47:50.456Z,1750193270.456 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:50.457Z,1750193270.457 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:50.531Z,1750193270.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 412.799988 m,
      deltaT: 4.031915 s,
      deltaX: 6.500000 m,
      approachRate: 1.612137 m/s,
      rangeRepo size: 4

2025-06-17T20:47:50.536Z,1750193270.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:50.539Z,1750193270.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 391.699585 m,
      bearing: 332.585912 deg,
      approach rate: -0.665075 m/s,
      LOS rate: -0.004103 deg/s,
      cmd heading: 335.379309 deg,
      new cmd heading: 335.374676 deg.

2025-06-17T20:47:50.544Z,1750193270.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853392 target range: 402.560760 and range: 412.80 m.
2025-06-17T20:47:50.705Z,1750193270.705 [DAT](INFO): DAT read: TxSync time:20:47:50.6327

2025-06-17T20:47:50.915Z,1750193270.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:50.918Z,1750193270.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 391.385651 m,
      bearing: 332.583974 deg,
      approach rate: -0.816154 m/s,
      LOS rate: -0.005043 deg/s,
      cmd heading: 335.374665 deg,
      new cmd heading: 335.368845 deg.

2025-06-17T20:47:50.919Z,1750193270.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853291 target range: 402.560760 and range: 412.80 m.
2025-06-17T20:47:51.322Z,1750193271.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:51.340Z,1750193271.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:51.343Z,1750193271.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 391.078522 m,
      bearing: 332.581931 deg,
      approach rate: -0.751005 m/s,
      LOS rate: -0.005000 deg/s,
      cmd heading: 335.368845 deg,
      new cmd heading: 335.362711 deg.

2025-06-17T20:47:51.348Z,1750193271.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853183 target range: 402.560760 and range: 412.80 m.
2025-06-17T20:47:51.461Z,1750193271.461 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:47:51.461Z,1750193271.461 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:47:51.461Z,1750193271.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:51.713Z,1750193271.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257020
2025-06-17T20:47:51.714Z,1750193271.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:51.717Z,1750193271.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 390.786438 m,
      bearing: 332.580008 deg,
      approach rate: -0.749127 m/s,
      LOS rate: -0.004934 deg/s,
      cmd heading: 335.362698 deg,
      new cmd heading: 335.356927 deg.

2025-06-17T20:47:51.718Z,1750193271.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853083 target range: 402.560760 and range: 412.80 m.
2025-06-17T20:47:51.965Z,1750193271.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508932
2025-06-17T20:47:52.183Z,1750193272.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:52.201Z,1750193272.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 390.433105 m,
      bearing: 332.577691 deg,
      approach rate: -0.753908 m/s,
      LOS rate: -0.004949 deg/s,
      cmd heading: 335.356933 deg,
      new cmd heading: 335.349974 deg.

2025-06-17T20:47:52.202Z,1750193272.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852961 target range: 402.560760 and range: 412.80 m.
2025-06-17T20:47:52.217Z,1750193272.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761033
2025-06-17T20:47:52.469Z,1750193272.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012907
2025-06-17T20:47:52.527Z,1750193272.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:52.530Z,1750193272.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 390.173523 m,
      bearing: 332.575935 deg,
      approach rate: -0.753267 m/s,
      LOS rate: -0.005098 deg/s,
      cmd heading: 335.349967 deg,
      new cmd heading: 335.344696 deg.

2025-06-17T20:47:52.531Z,1750193272.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852869 target range: 402.560760 and range: 412.80 m.
2025-06-17T20:47:52.722Z,1750193272.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265545
2025-06-17T20:47:52.916Z,1750193272.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:52.919Z,1750193272.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 389.880859 m,
      bearing: 332.573915 deg,
      approach rate: -0.752403 m/s,
      LOS rate: -0.005196 deg/s,
      cmd heading: 335.344694 deg,
      new cmd heading: 335.338630 deg.

2025-06-17T20:47:52.920Z,1750193272.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852763 target range: 402.560760 and range: 412.80 m.
2025-06-17T20:47:52.974Z,1750193272.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517901
2025-06-17T20:47:53.225Z,1750193273.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768910
2025-06-17T20:47:53.346Z,1750193273.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:53.349Z,1750193273.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:53.351Z,1750193273.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 389.557800 m,
      bearing: 332.571812 deg,
      approach rate: -0.747066 m/s,
      LOS rate: -0.004867 deg/s,
      cmd heading: 335.338628 deg,
      new cmd heading: 335.332314 deg.

2025-06-17T20:47:53.353Z,1750193273.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852653 target range: 402.560760 and range: 412.80 m.
2025-06-17T20:47:53.477Z,1750193273.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021211
2025-06-17T20:47:53.729Z,1750193273.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273392
2025-06-17T20:47:53.738Z,1750193273.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:53.743Z,1750193273.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 389.269592 m,
      bearing: 332.569890 deg,
      approach rate: -0.740082 m/s,
      LOS rate: -0.004939 deg/s,
      cmd heading: 335.332317 deg,
      new cmd heading: 335.326547 deg.

2025-06-17T20:47:53.745Z,1750193273.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852552 target range: 402.560760 and range: 412.80 m.
2025-06-17T20:47:53.981Z,1750193273.981 [DAT](INFO): DAT read: Rx Time:20:47:53.5838

2025-06-17T20:47:53.981Z,1750193273.981 [DAT](INFO): Rx dataTimestamp_ set to:1750193273.980958
2025-06-17T20:47:53.982Z,1750193273.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525959
2025-06-17T20:47:54.206Z,1750193274.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.56 m.
2025-06-17T20:47:54.209Z,1750193274.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.560760 m,
      nav range: 388.915131 m,
      bearing: 332.567950 deg,
      approach rate: -0.757015 m/s,
      LOS rate: -0.004147 deg/s,
      cmd heading: 335.326553 deg,
      new cmd heading: 335.320728 deg.

2025-06-17T20:47:54.210Z,1750193274.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852451 target range: 402.560760 and range: 412.80 m.
2025-06-17T20:47:54.233Z,1750193274.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776936
2025-06-17T20:47:54.493Z,1750193274.493 [DAT](INFO): DAT read: 20:47:53.5838 LVL= 31600, 32753, 27250, 32755, AGC= 67, IDX= 405, 0.09,-0.514,-1.967,-0.583,-1.200, PHS= 0.774,-0.721, 0.614, RAW= 144.4,  -9.4, CAL= 151.1, -18.4, ROT= 358.9,  18.4

2025-06-17T20:47:54.495Z,1750193274.495 [DAT](INFO): got valid direction response:
 20:47:53.5838 LVL= 31600, 32753, 27250, 32755, AGC= 67, IDX= 405, 0.09,-0.514,-1.967,-0.583,-1.200, PHS= 0.774,-0.721, 0.614, RAW= 144.4,  -9.4, CAL= 151.1, -18.4, ROT= 358.9,  18.4

2025-06-17T20:47:54.496Z,1750193274.496 [DAT](INFO): DAT read: Bearing 358.9,  18.4 (Local)

2025-06-17T20:47:54.497Z,1750193274.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.9,  18.4 (Local)

2025-06-17T20:47:54.498Z,1750193274.498 [DAT](INFO): DAT read: Range 10 to 50 : 409.6 m  (Round-trip  546.2 ms) speed  0.8 m/s

2025-06-17T20:47:54.499Z,1750193274.499 [DAT](INFO): DAT read: user:673>

2025-06-17T20:47:54.548Z,1750193274.548 [DAT](INFO): DAT read: Tx time:20:47:54.6834

2025-06-17T20:47:54.548Z,1750193274.548 [DAT](INFO): Ping request sent.
2025-06-17T20:47:54.548Z,1750193274.548 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:47:54.549Z,1750193274.549 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:47:54.550Z,1750193274.550 [DAT](INFO): direction in FSK: [0.948701,-0.018216,-0.315649]
2025-06-17T20:47:54.550Z,1750193274.550 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:54.550Z,1750193274.550 [DAT](INFO): publishing direction and range info
2025-06-17T20:47:54.566Z,1750193274.566 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:54.566Z,1750193274.566 [DAT](INFO): publishing direction and range info
2025-06-17T20:47:54.654Z,1750193274.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 409.600006 m,
      deltaT: 4.032035 s,
      deltaX: -3.199982 m,
      approachRate: -0.793639 m/s,
      rangeRepo size: 4

2025-06-17T20:47:54.660Z,1750193274.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 405.833588 m,
      bearing: 335.666571 deg,
      lat: 36.905963 deg,
      lon: -122.115636 deg,
      deltaT: 8.063950 s,
      deltaX: 3.272827 m,
      approachRate: 0.405859 m/s,
      posRepo size: 4

2025-06-17T20:47:54.661Z,1750193274.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.83 m.
2025-06-17T20:47:54.668Z,1750193274.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.833588 m,
      nav range: 388.235260 m,
      bearing: 334.375748 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004147 deg/s,
      cmd heading: 335.320733 deg,
      new cmd heading: 335.315172 deg.

2025-06-17T20:47:54.669Z,1750193274.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852354 target range: 405.833588 and range: 409.60 m.
2025-06-17T20:47:54.738Z,1750193274.738 [DAT](INFO): DAT read: TxSync time:20:47:54.6827

2025-06-17T20:47:54.969Z,1750193274.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.83 m.
2025-06-17T20:47:54.972Z,1750193274.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.833588 m,
      nav range: 387.973206 m,
      bearing: 334.375573 deg,
      approach rate: -0.829097 m/s,
      LOS rate: -0.000554 deg/s,
      cmd heading: 335.315160 deg,
      new cmd heading: 335.314635 deg.

2025-06-17T20:47:54.973Z,1750193274.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852345 target range: 405.833588 and range: 409.60 m.
2025-06-17T20:47:55.420Z,1750193275.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:55.423Z,1750193275.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.83 m.
2025-06-17T20:47:55.430Z,1750193275.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.833588 m,
      nav range: 387.649811 m,
      bearing: 334.375558 deg,
      approach rate: -0.713367 m/s,
      LOS rate: -0.000032 deg/s,
      cmd heading: 335.314641 deg,
      new cmd heading: 335.314598 deg.

2025-06-17T20:47:55.431Z,1750193275.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852344 target range: 405.833588 and range: 409.60 m.
2025-06-17T20:47:55.493Z,1750193275.493 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:47:55.493Z,1750193275.493 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:47:55.493Z,1750193275.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:47:55.746Z,1750193275.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.197019
2025-06-17T20:47:55.792Z,1750193275.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.83 m.
2025-06-17T20:47:55.795Z,1750193275.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.833588 m,
      nav range: 387.363464 m,
      bearing: 334.375676 deg,
      approach rate: -0.775355 m/s,
      LOS rate: 0.000319 deg/s,
      cmd heading: 335.314586 deg,
      new cmd heading: 335.314939 deg.

2025-06-17T20:47:55.796Z,1750193275.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852350 target range: 405.833588 and range: 409.60 m.
2025-06-17T20:47:55.997Z,1750193275.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.448614
2025-06-17T20:47:56.239Z,1750193276.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.83 m.
2025-06-17T20:47:56.249Z,1750193276.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700574
2025-06-17T20:47:56.266Z,1750193276.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.833588 m,
      nav range: 387.035675 m,
      bearing: 334.376225 deg,
      approach rate: -0.732947 m/s,
      LOS rate: 0.001229 deg/s,
      cmd heading: 335.314941 deg,
      new cmd heading: 335.316590 deg.

2025-06-17T20:47:56.267Z,1750193276.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852378 target range: 405.833588 and range: 409.60 m.
2025-06-17T20:47:56.502Z,1750193276.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953229
2025-06-17T20:47:56.698Z,1750193276.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.83 m.
2025-06-17T20:47:56.701Z,1750193276.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.833588 m,
      nav range: 386.698029 m,
      bearing: 334.376745 deg,
      approach rate: -0.735516 m/s,
      LOS rate: 0.001135 deg/s,
      cmd heading: 335.316581 deg,
      new cmd heading: 335.318144 deg.

2025-06-17T20:47:56.702Z,1750193276.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852406 target range: 405.833588 and range: 409.60 m.
2025-06-17T20:47:56.754Z,1750193276.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205247
2025-06-17T20:47:57.005Z,1750193277.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456437
2025-06-17T20:47:57.139Z,1750193277.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.83 m.
2025-06-17T20:47:57.142Z,1750193277.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.833588 m,
      nav range: 386.377747 m,
      bearing: 334.377220 deg,
      approach rate: -0.726337 m/s,
      LOS rate: 0.001077 deg/s,
      cmd heading: 335.318138 deg,
      new cmd heading: 335.319563 deg.

2025-06-17T20:47:57.144Z,1750193277.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852430 target range: 405.833588 and range: 409.60 m.
2025-06-17T20:47:57.257Z,1750193277.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708759
2025-06-17T20:47:57.513Z,1750193277.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964099
2025-06-17T20:47:57.631Z,1750193277.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:57.633Z,1750193277.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.83 m.
2025-06-17T20:47:57.636Z,1750193277.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.833588 m,
      nav range: 386.014618 m,
      bearing: 334.377730 deg,
      approach rate: -0.734696 m/s,
      LOS rate: 0.001033 deg/s,
      cmd heading: 335.319559 deg,
      new cmd heading: 335.321090 deg.

2025-06-17T20:47:57.637Z,1750193277.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852457 target range: 405.833588 and range: 409.60 m.
2025-06-17T20:47:57.762Z,1750193277.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213326
2025-06-17T20:47:58.013Z,1750193278.013 [DAT](INFO): DAT read: Rx Time:20:47:57.6170

2025-06-17T20:47:58.014Z,1750193278.014 [DAT](INFO): Rx dataTimestamp_ set to:1750193278.013376
2025-06-17T20:47:58.014Z,1750193278.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465956
2025-06-17T20:47:58.019Z,1750193278.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.83 m.
2025-06-17T20:47:58.022Z,1750193278.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.833588 m,
      nav range: 385.730896 m,
      bearing: 334.378161 deg,
      approach rate: -0.735050 m/s,
      LOS rate: 0.001116 deg/s,
      cmd heading: 335.321089 deg,
      new cmd heading: 335.322381 deg.

2025-06-17T20:47:58.023Z,1750193278.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852479 target range: 405.833588 and range: 409.60 m.
2025-06-17T20:47:58.265Z,1750193278.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.716569
2025-06-17T20:47:58.467Z,1750193278.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.83 m.
2025-06-17T20:47:58.470Z,1750193278.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.833588 m,
      nav range: 385.408203 m,
      bearing: 334.379073 deg,
      approach rate: -0.721245 m/s,
      LOS rate: 0.002040 deg/s,
      cmd heading: 335.322373 deg,
      new cmd heading: 335.325111 deg.

2025-06-17T20:47:58.471Z,1750193278.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852527 target range: 405.833588 and range: 409.60 m.
2025-06-17T20:47:58.527Z,1750193278.527 [DAT](INFO): DAT read: 20:47:57.6170 LVL= 27456, 32753, 23010, 32755, AGC= 72, IDX= 265, 0.37,-2.622, 2.114,-2.690, 2.918, PHS= 0.831,-0.757, 0.673, RAW= 144.8,  -9.9, CAL= 151.6, -18.8, ROT= 358.4,  18.8

2025-06-17T20:47:58.541Z,1750193278.541 [DAT](INFO): got valid direction response:
 20:47:57.6170 LVL= 27456, 32753, 23010, 32755, AGC= 72, IDX= 265, 0.37,-2.622, 2.114,-2.690, 2.918, PHS= 0.831,-0.757, 0.673, RAW= 144.8,  -9.9, CAL= 151.6, -18.8, ROT= 358.4,  18.8

2025-06-17T20:47:58.542Z,1750193278.542 [DAT](INFO): DAT read: Bearing 358.4,  18.8 (Local)

2025-06-17T20:47:58.542Z,1750193278.542 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  18.8 (Local)

2025-06-17T20:47:58.553Z,1750193278.553 [DAT](INFO): DAT read: Range 10 to 50 : 397.0 m  (Round-trip  529.4 ms) speed  0.4 m/s

2025-06-17T20:47:58.554Z,1750193278.554 [DAT](INFO): DAT read: user:674>

2025-06-17T20:47:58.555Z,1750193278.555 [DAT](INFO): DAT read: Tx time:20:47:58.7334

2025-06-17T20:47:58.555Z,1750193278.555 [DAT](INFO): Ping request sent.
2025-06-17T20:47:58.555Z,1750193278.555 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:47:58.555Z,1750193278.555 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:47:58.561Z,1750193278.561 [DAT](INFO): direction in FSK: [0.946280,-0.026432,-0.322266]
2025-06-17T20:47:58.561Z,1750193278.561 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:58.561Z,1750193278.561 [DAT](INFO): publishing direction and range info
2025-06-17T20:47:58.576Z,1750193278.576 [DAT](INFO): publishing transmit ping time
2025-06-17T20:47:58.577Z,1750193278.577 [DAT](INFO): publishing direction and range info
2025-06-17T20:47:58.769Z,1750193278.769 [DAT](INFO): DAT read: TxSync time:20:47:58.7327

2025-06-17T20:47:58.845Z,1750193278.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 397.000000 m,
      deltaT: 4.032597 s,
      deltaX: -12.600006 m,
      approachRate: -3.124539 m/s,
      rangeRepo size: 4

2025-06-17T20:47:58.847Z,1750193278.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 393.352081 m,
      bearing: 334.768462 deg,
      lat: 36.905963 deg,
      lon: -122.115636 deg,
      deltaT: 4.032597 s,
      deltaX: -12.481506 m,
      approachRate: -3.095153 m/s,
      posRepo size: 4

2025-06-17T20:47:58.847Z,1750193278.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.35 m.
2025-06-17T20:47:58.854Z,1750193278.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.352081 m,
      nav range: 385.152588 m,
      bearing: 334.379820 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002040 deg/s,
      cmd heading: 335.325105 deg,
      new cmd heading: 335.327386 deg.

2025-06-17T20:47:58.855Z,1750193278.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852567 target range: 393.352081 and range: 397.00 m.
2025-06-17T20:47:59.365Z,1750193279.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.35 m.
2025-06-17T20:47:59.368Z,1750193279.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.352081 m,
      nav range: 384.764771 m,
      bearing: 334.381108 deg,
      approach rate: -0.737674 m/s,
      LOS rate: 0.002453 deg/s,
      cmd heading: 335.327400 deg,
      new cmd heading: 335.331268 deg.

2025-06-17T20:47:59.369Z,1750193279.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852635 target range: 393.352081 and range: 397.00 m.
2025-06-17T20:47:59.724Z,1750193279.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:47:59.726Z,1750193279.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.35 m.
2025-06-17T20:47:59.738Z,1750193279.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.352081 m,
      nav range: 384.520355 m,
      bearing: 334.381915 deg,
      approach rate: -0.676859 m/s,
      LOS rate: 0.002237 deg/s,
      cmd heading: 335.331279 deg,
      new cmd heading: 335.333702 deg.

2025-06-17T20:47:59.748Z,1750193279.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852677 target range: 393.352081 and range: 397.00 m.
2025-06-17T20:47:59.777Z,1750193279.777 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:47:59.777Z,1750193279.777 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:47:59.777Z,1750193279.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:00.029Z,1750193280.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473844
2025-06-17T20:48:00.091Z,1750193280.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.35 m.
2025-06-17T20:48:00.094Z,1750193280.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.352081 m,
      nav range: 384.244873 m,
      bearing: 334.382812 deg,
      approach rate: -0.754750 m/s,
      LOS rate: 0.002458 deg/s,
      cmd heading: 335.333711 deg,
      new cmd heading: 335.336402 deg.

2025-06-17T20:48:00.095Z,1750193280.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852725 target range: 393.352081 and range: 397.00 m.
2025-06-17T20:48:00.281Z,1750193280.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725852
2025-06-17T20:48:00.526Z,1750193280.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.35 m.
2025-06-17T20:48:00.529Z,1750193280.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.352081 m,
      nav range: 383.933868 m,
      bearing: 334.383764 deg,
      approach rate: -0.715904 m/s,
      LOS rate: 0.002195 deg/s,
      cmd heading: 335.336415 deg,
      new cmd heading: 335.339276 deg.

2025-06-17T20:48:00.530Z,1750193280.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852775 target range: 393.352081 and range: 397.00 m.
2025-06-17T20:48:00.533Z,1750193280.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977999
2025-06-17T20:48:00.785Z,1750193280.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230132
2025-06-17T20:48:00.899Z,1750193280.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.35 m.
2025-06-17T20:48:00.902Z,1750193280.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.352081 m,
      nav range: 383.666260 m,
      bearing: 334.384583 deg,
      approach rate: -0.716263 m/s,
      LOS rate: 0.002192 deg/s,
      cmd heading: 335.339284 deg,
      new cmd heading: 335.341741 deg.

2025-06-17T20:48:00.903Z,1750193280.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852818 target range: 393.352081 and range: 397.00 m.
2025-06-17T20:48:01.037Z,1750193281.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481842
2025-06-17T20:48:01.291Z,1750193281.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736119
2025-06-17T20:48:01.368Z,1750193281.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.35 m.
2025-06-17T20:48:01.374Z,1750193281.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.352081 m,
      nav range: 383.345642 m,
      bearing: 334.385934 deg,
      approach rate: -0.690277 m/s,
      LOS rate: 0.002913 deg/s,
      cmd heading: 335.341743 deg,
      new cmd heading: 335.345802 deg.

2025-06-17T20:48:01.375Z,1750193281.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852889 target range: 393.352081 and range: 397.00 m.
2025-06-17T20:48:01.541Z,1750193281.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985807
2025-06-17T20:48:01.704Z,1750193281.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.35 m.
2025-06-17T20:48:01.707Z,1750193281.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.352081 m,
      nav range: 383.090363 m,
      bearing: 334.387016 deg,
      approach rate: -0.751459 m/s,
      LOS rate: 0.003187 deg/s,
      cmd heading: 335.345814 deg,
      new cmd heading: 335.349062 deg.

2025-06-17T20:48:01.708Z,1750193281.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852945 target range: 393.352081 and range: 397.00 m.
2025-06-17T20:48:01.795Z,1750193281.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239655
2025-06-17T20:48:02.045Z,1750193282.045 [DAT](INFO): DAT read: Rx Time:20:48:01.6905

2025-06-17T20:48:02.045Z,1750193282.045 [DAT](INFO): Rx dataTimestamp_ set to:1750193282.045071
2025-06-17T20:48:02.046Z,1750193282.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490976
2025-06-17T20:48:02.116Z,1750193282.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:02.118Z,1750193282.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.35 m.
2025-06-17T20:48:02.121Z,1750193282.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.352081 m,
      nav range: 382.793854 m,
      bearing: 334.388257 deg,
      approach rate: -0.715203 m/s,
      LOS rate: 0.002994 deg/s,
      cmd heading: 335.349065 deg,
      new cmd heading: 335.352788 deg.

2025-06-17T20:48:02.122Z,1750193282.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853010 target range: 393.352081 and range: 397.00 m.
2025-06-17T20:48:02.297Z,1750193282.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741886
2025-06-17T20:48:02.555Z,1750193282.555 [DAT](INFO): DAT read: 20:48:01.6905 LVL= 22064, 27825, 19922, 25059, AGC= 73, IDX= 172, 0.03, 2.490, 1.363, 2.572, 1.778, PHS= 0.800,-0.368, 0.791, RAW= 149.6, -20.4, CAL= 154.8, -27.4, ROT= 355.2,  27.4

2025-06-17T20:48:02.556Z,1750193282.556 [DAT](INFO): got valid direction response:
 20:48:01.6905 LVL= 22064, 27825, 19922, 25059, AGC= 73, IDX= 172, 0.03, 2.490, 1.363, 2.572, 1.778, PHS= 0.800,-0.368, 0.791, RAW= 149.6, -20.4, CAL= 154.8, -27.4, ROT= 355.2,  27.4

2025-06-17T20:48:02.557Z,1750193282.557 [DAT](INFO): DAT read: Bearing 355.2,  27.4 (Local)

2025-06-17T20:48:02.557Z,1750193282.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.2,  27.4 (Local)

2025-06-17T20:48:02.559Z,1750193282.559 [DAT](INFO): DAT read: Range 10 to 50 : 414.6 m  (Round-trip  552.9 ms) speed  0.9 m/s

2025-06-17T20:48:02.576Z,1750193282.576 [DAT](INFO): DAT read: user:675>

2025-06-17T20:48:02.577Z,1750193282.577 [DAT](INFO): DAT read: Tx time:20:48:02.7834

2025-06-17T20:48:02.577Z,1750193282.577 [DAT](INFO): Ping request sent.
2025-06-17T20:48:02.577Z,1750193282.577 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:48:02.577Z,1750193282.577 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:48:02.578Z,1750193282.578 [DAT](INFO): direction in FSK: [0.884702,-0.074290,-0.460200]
2025-06-17T20:48:02.579Z,1750193282.579 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:02.579Z,1750193282.579 [DAT](INFO): publishing direction and range info
2025-06-17T20:48:02.586Z,1750193282.586 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:02.586Z,1750193282.586 [DAT](INFO): publishing direction and range info
2025-06-17T20:48:02.606Z,1750193282.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 414.600006 m,
      deltaT: 4.031491 s,
      deltaX: 17.600006 m,
      approachRate: 4.365632 m/s,
      rangeRepo size: 4

2025-06-17T20:48:02.617Z,1750193282.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 410.792419 m,
      bearing: 332.574012 deg,
      lat: 36.906001 deg,
      lon: -122.115636 deg,
      deltaT: 4.031491 s,
      deltaX: 17.440338 m,
      approachRate: 4.326027 m/s,
      posRepo size: 4

2025-06-17T20:48:02.617Z,1750193282.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:02.624Z,1750193282.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 386.343781 m,
      bearing: 334.663758 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002994 deg/s,
      cmd heading: 335.352781 deg,
      new cmd heading: 335.357158 deg.

2025-06-17T20:48:02.625Z,1750193282.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853086 target range: 410.792419 and range: 414.60 m.
2025-06-17T20:48:02.801Z,1750193282.801 [DAT](INFO): DAT read: TxSync time:20:48:02.7827

2025-06-17T20:48:02.963Z,1750193282.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:02.970Z,1750193282.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 386.051208 m,
      bearing: 334.664746 deg,
      approach rate: -0.817969 m/s,
      LOS rate: 0.002763 deg/s,
      cmd heading: 335.357152 deg,
      new cmd heading: 335.360116 deg.

2025-06-17T20:48:02.971Z,1750193282.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853138 target range: 410.792419 and range: 414.60 m.
2025-06-17T20:48:03.439Z,1750193283.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:03.454Z,1750193283.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 385.699463 m,
      bearing: 334.665870 deg,
      approach rate: -0.738860 m/s,
      LOS rate: 0.002363 deg/s,
      cmd heading: 335.360130 deg,
      new cmd heading: 335.363505 deg.

2025-06-17T20:48:03.457Z,1750193283.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853198 target range: 410.792419 and range: 414.60 m.
2025-06-17T20:48:03.806Z,1750193283.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:03.810Z,1750193283.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 385.410950 m,
      bearing: 334.666800 deg,
      approach rate: -0.787478 m/s,
      LOS rate: 0.002541 deg/s,
      cmd heading: 335.363518 deg,
      new cmd heading: 335.366310 deg.

2025-06-17T20:48:03.811Z,1750193283.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853246 target range: 410.792419 and range: 414.60 m.
2025-06-17T20:48:04.221Z,1750193284.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:04.223Z,1750193284.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:04.226Z,1750193284.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 385.100616 m,
      bearing: 334.667782 deg,
      approach rate: -0.743498 m/s,
      LOS rate: 0.002355 deg/s,
      cmd heading: 335.366304 deg,
      new cmd heading: 335.369253 deg.

2025-06-17T20:48:04.227Z,1750193284.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853298 target range: 410.792419 and range: 414.60 m.
2025-06-17T20:48:04.315Z,1750193284.315 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:48:04.315Z,1750193284.315 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:48:04.316Z,1750193284.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:04.565Z,1750193284.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987661
2025-06-17T20:48:04.653Z,1750193284.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:04.656Z,1750193284.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 384.775635 m,
      bearing: 334.667689 deg,
      approach rate: -0.756128 m/s,
      LOS rate: -0.000216 deg/s,
      cmd heading: 335.369255 deg,
      new cmd heading: 335.368976 deg.

2025-06-17T20:48:04.657Z,1750193284.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853293 target range: 410.792419 and range: 414.60 m.
2025-06-17T20:48:04.817Z,1750193284.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239680
2025-06-17T20:48:05.017Z,1750193285.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:05.019Z,1750193285.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 384.500977 m,
      bearing: 334.667505 deg,
      approach rate: -0.754840 m/s,
      LOS rate: -0.000507 deg/s,
      cmd heading: 335.368982 deg,
      new cmd heading: 335.368428 deg.

2025-06-17T20:48:05.021Z,1750193285.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853283 target range: 410.792419 and range: 414.60 m.
2025-06-17T20:48:05.069Z,1750193285.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491926
2025-06-17T20:48:05.323Z,1750193285.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745874
2025-06-17T20:48:05.453Z,1750193285.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:05.456Z,1750193285.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 384.170410 m,
      bearing: 334.668205 deg,
      approach rate: -0.757957 m/s,
      LOS rate: 0.001606 deg/s,
      cmd heading: 335.368435 deg,
      new cmd heading: 335.370537 deg.

2025-06-17T20:48:05.457Z,1750193285.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853320 target range: 410.792419 and range: 414.60 m.
2025-06-17T20:48:05.574Z,1750193285.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996176
2025-06-17T20:48:05.825Z,1750193285.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247888
2025-06-17T20:48:05.831Z,1750193285.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:05.833Z,1750193285.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 383.885223 m,
      bearing: 334.668841 deg,
      approach rate: -0.755210 m/s,
      LOS rate: 0.001688 deg/s,
      cmd heading: 335.370539 deg,
      new cmd heading: 335.372451 deg.

2025-06-17T20:48:05.834Z,1750193285.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853354 target range: 410.792419 and range: 414.60 m.
2025-06-17T20:48:06.077Z,1750193286.077 [DAT](INFO): DAT read: Rx Time:20:48:05.7360

2025-06-17T20:48:06.078Z,1750193286.078 [DAT](INFO): Rx dataTimestamp_ set to:1750193286.077637
2025-06-17T20:48:06.079Z,1750193286.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501788
2025-06-17T20:48:06.244Z,1750193286.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:06.246Z,1750193286.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:06.249Z,1750193286.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 383.569336 m,
      bearing: 334.669642 deg,
      approach rate: -0.759999 m/s,
      LOS rate: 0.001928 deg/s,
      cmd heading: 335.372452 deg,
      new cmd heading: 335.374855 deg.

2025-06-17T20:48:06.250Z,1750193286.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853395 target range: 410.792419 and range: 414.60 m.
2025-06-17T20:48:06.334Z,1750193286.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754118
2025-06-17T20:48:06.582Z,1750193286.582 [DAT](INFO): DAT read: Range 10 to 50 : 411.2 m  (Round-trip  548.3 ms) speed  0.4 m/s

2025-06-17T20:48:06.583Z,1750193286.583 [DAT](INFO): DAT read: user:676>

2025-06-17T20:48:06.583Z,1750193286.583 [DAT](INFO): DAT read: Tx time:20:48:06.8335

2025-06-17T20:48:06.584Z,1750193286.584 [DAT](INFO): Ping request sent.
2025-06-17T20:48:06.584Z,1750193286.584 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:48:06.584Z,1750193286.584 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:48:06.584Z,1750193286.584 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:06.585Z,1750193286.585 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:06.729Z,1750193286.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 411.200012 m,
      deltaT: 4.031874 s,
      deltaX: -3.399994 m,
      approachRate: -0.843279 m/s,
      rangeRepo size: 4

2025-06-17T20:48:06.729Z,1750193286.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:06.738Z,1750193286.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 383.212952 m,
      bearing: 334.669693 deg,
      approach rate: -0.746664 m/s,
      LOS rate: 0.000106 deg/s,
      cmd heading: 335.374856 deg,
      new cmd heading: 335.375008 deg.

2025-06-17T20:48:06.739Z,1750193286.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853398 target range: 410.792419 and range: 411.20 m.
2025-06-17T20:48:06.833Z,1750193286.833 [DAT](INFO): DAT read: TxSync time:20:48:06.8328

2025-06-17T20:48:07.038Z,1750193287.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:07.041Z,1750193287.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 382.967377 m,
      bearing: 334.669758 deg,
      approach rate: -0.779665 m/s,
      LOS rate: 0.000208 deg/s,
      cmd heading: 335.375020 deg,
      new cmd heading: 335.375216 deg.

2025-06-17T20:48:07.042Z,1750193287.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853402 target range: 410.792419 and range: 411.20 m.
2025-06-17T20:48:07.475Z,1750193287.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:07.498Z,1750193287.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 382.639893 m,
      bearing: 334.670584 deg,
      approach rate: -0.749503 m/s,
      LOS rate: 0.001891 deg/s,
      cmd heading: 335.375211 deg,
      new cmd heading: 335.377690 deg.

2025-06-17T20:48:07.499Z,1750193287.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853445 target range: 410.792419 and range: 411.20 m.
2025-06-17T20:48:07.847Z,1750193287.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:07.850Z,1750193287.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 382.362396 m,
      bearing: 334.671323 deg,
      approach rate: -0.747485 m/s,
      LOS rate: 0.001994 deg/s,
      cmd heading: 335.377697 deg,
      new cmd heading: 335.379918 deg.

2025-06-17T20:48:07.851Z,1750193287.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853484 target range: 410.792419 and range: 411.20 m.
2025-06-17T20:48:08.267Z,1750193288.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:08.269Z,1750193288.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:08.272Z,1750193288.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 382.055298 m,
      bearing: 334.672106 deg,
      approach rate: -0.726810 m/s,
      LOS rate: 0.001855 deg/s,
      cmd heading: 335.379910 deg,
      new cmd heading: 335.382261 deg.

2025-06-17T20:48:08.273Z,1750193288.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853525 target range: 410.792419 and range: 411.20 m.
2025-06-17T20:48:08.349Z,1750193288.349 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:48:08.349Z,1750193288.349 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:48:08.350Z,1750193288.350 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:08.601Z,1750193288.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016858
2025-06-17T20:48:08.726Z,1750193288.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:08.730Z,1750193288.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 381.703094 m,
      bearing: 334.671331 deg,
      approach rate: -0.770352 m/s,
      LOS rate: -0.001697 deg/s,
      cmd heading: 335.382260 deg,
      new cmd heading: 335.379932 deg.

2025-06-17T20:48:08.731Z,1750193288.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853484 target range: 410.792419 and range: 411.20 m.
2025-06-17T20:48:08.854Z,1750193288.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269583
2025-06-17T20:48:09.077Z,1750193289.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:09.080Z,1750193289.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 381.440643 m,
      bearing: 334.670752 deg,
      approach rate: -0.748170 m/s,
      LOS rate: -0.001651 deg/s,
      cmd heading: 335.379937 deg,
      new cmd heading: 335.378200 deg.

2025-06-17T20:48:09.081Z,1750193289.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853454 target range: 410.792419 and range: 411.20 m.
2025-06-17T20:48:09.105Z,1750193289.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520809
2025-06-17T20:48:09.360Z,1750193289.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775286
2025-06-17T20:48:09.502Z,1750193289.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:09.509Z,1750193289.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 381.148163 m,
      bearing: 334.669882 deg,
      approach rate: -0.687796 m/s,
      LOS rate: -0.002049 deg/s,
      cmd heading: 335.378189 deg,
      new cmd heading: 335.375575 deg.

2025-06-17T20:48:09.510Z,1750193289.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853408 target range: 410.792419 and range: 411.20 m.
2025-06-17T20:48:09.609Z,1750193289.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025370
2025-06-17T20:48:09.861Z,1750193289.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276933
2025-06-17T20:48:09.873Z,1750193289.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:09.876Z,1750193289.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 380.866058 m,
      bearing: 334.669004 deg,
      approach rate: -0.760978 m/s,
      LOS rate: -0.002370 deg/s,
      cmd heading: 335.375566 deg,
      new cmd heading: 335.372930 deg.

2025-06-17T20:48:09.877Z,1750193289.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853362 target range: 410.792419 and range: 411.20 m.
2025-06-17T20:48:10.113Z,1750193290.113 [DAT](INFO): DAT read: Rx Time:20:48:09.7678

2025-06-17T20:48:10.113Z,1750193290.113 [DAT](INFO): Rx dataTimestamp_ set to:1750193290.113137
2025-06-17T20:48:10.114Z,1750193290.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530064
2025-06-17T20:48:10.269Z,1750193290.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:10.271Z,1750193290.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 380.580750 m,
      bearing: 334.668106 deg,
      approach rate: -0.721324 m/s,
      LOS rate: -0.002271 deg/s,
      cmd heading: 335.372943 deg,
      new cmd heading: 335.370248 deg.

2025-06-17T20:48:10.273Z,1750193290.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853315 target range: 410.792419 and range: 411.20 m.
2025-06-17T20:48:10.368Z,1750193290.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783268
2025-06-17T20:48:10.621Z,1750193290.621 [DAT](INFO): DAT read: 20:48:09.7678 LVL= 21440, 29617, 20930, 29651, AGC= 71, IDX= 256, 0.2HS= 0.865,-0.664, 0.732, RAW= 145.5, -12.7, CAL= 152.4, -21.2, ROT= 357.6,  21.2

2025-06-17T20:48:10.622Z,1750193290.622 [DAT](INFO): unknown deviceResponse_: 20:48:09.7678 LVL= 21440, 29617, 20930, 29651, AGC= 71, IDX= 256, 0.2HS= 0.865,-0.664, 0.732, RAW= 145.5, -12.7, CAL= 152.4, -21.2, ROT= 357.6,  21.2

2025-06-17T20:48:10.623Z,1750193290.623 [DAT](INFO): DAT read: Bearing 357.6,  21.2 (Local)

2025-06-17T20:48:10.623Z,1750193290.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.6,  21.2 (Local)

2025-06-17T20:48:10.625Z,1750193290.625 [DAT](INFO): DAT read: Range 10 to 50 : 397.5 m  (Round-trip  530.1 ms) speed  0.7 m/s

2025-06-17T20:48:10.626Z,1750193290.626 [DAT](INFO): DAT read: user:677>

2025-06-17T20:48:10.627Z,1750193290.627 [DAT](INFO): DAT read: Tx time:20:48:10.8835

2025-06-17T20:48:10.627Z,1750193290.627 [DAT](INFO): Ping request sent.
2025-06-17T20:48:10.627Z,1750193290.627 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:48:10.627Z,1750193290.627 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:48:10.628Z,1750193290.628 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:10.628Z,1750193290.628 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:10.779Z,1750193290.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:10.782Z,1750193290.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 397.500000 m,
      deltaT: 4.036008 s,
      deltaX: -13.700012 m,
      approachRate: -3.394446 m/s,
      rangeRepo size: 4

2025-06-17T20:48:10.782Z,1750193290.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:10.785Z,1750193290.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 380.211456 m,
      bearing: 334.667287 deg,
      approach rate: -0.720654 m/s,
      LOS rate: -0.001601 deg/s,
      cmd heading: 335.370239 deg,
      new cmd heading: 335.367778 deg.

2025-06-17T20:48:10.786Z,1750193290.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853272 target range: 410.792419 and range: 397.50 m.
2025-06-17T20:48:10.870Z,1750193290.870 [DAT](INFO): DAT read: TxSync time:20:48:10.8828

2025-06-17T20:48:10.871Z,1750193290.871 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:48:10.871Z,1750193290.871 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:48:10.871Z,1750193290.871 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:11.077Z,1750193291.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:11.100Z,1750193291.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 379.997253 m,
      bearing: 334.666813 deg,
      approach rate: -0.723971 m/s,
      LOS rate: -0.001601 deg/s,
      cmd heading: 335.367780 deg,
      new cmd heading: 335.366359 deg.

2025-06-17T20:48:11.101Z,1750193291.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853247 target range: 410.792419 and range: 397.50 m.
2025-06-17T20:48:11.121Z,1750193291.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493867
2025-06-17T20:48:11.375Z,1750193291.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747544
2025-06-17T20:48:11.500Z,1750193291.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:11.502Z,1750193291.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 379.686554 m,
      bearing: 334.666649 deg,
      approach rate: -0.735234 m/s,
      LOS rate: -0.000388 deg/s,
      cmd heading: 335.366359 deg,
      new cmd heading: 335.365867 deg.

2025-06-17T20:48:11.503Z,1750193291.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853239 target range: 410.792419 and range: 397.50 m.
2025-06-17T20:48:11.625Z,1750193291.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997756
2025-06-17T20:48:11.877Z,1750193291.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249716
2025-06-17T20:48:11.903Z,1750193291.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:11.926Z,1750193291.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 379.389343 m,
      bearing: 334.666492 deg,
      approach rate: -0.735900 m/s,
      LOS rate: -0.000389 deg/s,
      cmd heading: 335.365867 deg,
      new cmd heading: 335.365396 deg.

2025-06-17T20:48:11.937Z,1750193291.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853230 target range: 410.792419 and range: 397.50 m.
2025-06-17T20:48:12.132Z,1750193292.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505097
2025-06-17T20:48:12.317Z,1750193292.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:12.319Z,1750193292.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 379.089050 m,
      bearing: 334.666333 deg,
      approach rate: -0.726910 m/s,
      LOS rate: -0.000385 deg/s,
      cmd heading: 335.365403 deg,
      new cmd heading: 335.364926 deg.

2025-06-17T20:48:12.321Z,1750193292.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853222 target range: 410.792419 and range: 397.50 m.
2025-06-17T20:48:12.384Z,1750193292.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755982
2025-06-17T20:48:12.633Z,1750193292.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005711
2025-06-17T20:48:12.740Z,1750193292.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:12.749Z,1750193292.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 378.799225 m,
      bearing: 334.666551 deg,
      approach rate: -0.691488 m/s,
      LOS rate: 0.000521 deg/s,
      cmd heading: 335.364938 deg,
      new cmd heading: 335.365593 deg.

2025-06-17T20:48:12.751Z,1750193292.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853234 target range: 410.792419 and range: 397.50 m.
2025-06-17T20:48:12.885Z,1750193292.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257635
2025-06-17T20:48:13.107Z,1750193293.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:13.109Z,1750193293.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:13.112Z,1750193293.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 378.515869 m,
      bearing: 334.666746 deg,
      approach rate: -0.758741 m/s,
      LOS rate: 0.000522 deg/s,
      cmd heading: 335.365594 deg,
      new cmd heading: 335.366179 deg.

2025-06-17T20:48:13.113Z,1750193293.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853244 target range: 410.792419 and range: 397.50 m.
2025-06-17T20:48:13.154Z,1750193293.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526417
2025-06-17T20:48:13.407Z,1750193293.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779571
2025-06-17T20:48:13.522Z,1750193293.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:13.525Z,1750193293.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 378.219025 m,
      bearing: 334.666886 deg,
      approach rate: -0.718990 m/s,
      LOS rate: 0.000340 deg/s,
      cmd heading: 335.366168 deg,
      new cmd heading: 335.366589 deg.

2025-06-17T20:48:13.526Z,1750193293.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853251 target range: 410.792419 and range: 397.50 m.
2025-06-17T20:48:13.657Z,1750193293.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029685
2025-06-17T20:48:13.904Z,1750193293.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:13.907Z,1750193293.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 377.944214 m,
      bearing: 334.667023 deg,
      approach rate: -0.719249 m/s,
      LOS rate: 0.000358 deg/s,
      cmd heading: 335.366578 deg,
      new cmd heading: 335.366987 deg.

2025-06-17T20:48:13.909Z,1750193293.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281800
2025-06-17T20:48:13.910Z,1750193293.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853258 target range: 410.792419 and range: 397.50 m.
2025-06-17T20:48:14.162Z,1750193294.162 [DAT](INFO): DAT read: Rx Time:20:48:13.8287

2025-06-17T20:48:14.162Z,1750193294.162 [DAT](INFO): Rx dataTimestamp_ set to:1750193294.161700
2025-06-17T20:48:14.163Z,1750193294.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535422
2025-06-17T20:48:14.259Z,1750193294.259 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:48:14.327Z,1750193294.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:14.330Z,1750193294.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 377.640411 m,
      bearing: 334.667174 deg,
      approach rate: -0.718143 m/s,
      LOS rate: 0.000358 deg/s,
      cmd heading: 335.366987 deg,
      new cmd heading: 335.367441 deg.

2025-06-17T20:48:14.331Z,1750193294.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853266 target range: 410.792419 and range: 397.50 m.
2025-06-17T20:48:14.416Z,1750193294.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788175
2025-06-17T20:48:14.666Z,1750193294.666 [DAT](INFO): DAT read: Range 10 to 50 : 405.7 m  (Round-trip  541.0 ms) speed  0.4 m/s

2025-06-17T20:48:14.667Z,1750193294.667 [DAT](INFO): DAT read: user:678>

2025-06-17T20:48:14.668Z,1750193294.668 [DAT](INFO): DAT read: Tx time:20:48:14.9335

2025-06-17T20:48:14.668Z,1750193294.668 [DAT](INFO): Ping request sent.
2025-06-17T20:48:14.668Z,1750193294.668 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:48:14.669Z,1750193294.669 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:48:14.669Z,1750193294.669 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:14.670Z,1750193294.670 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:14.878Z,1750193294.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 405.700012 m,
      deltaT: 4.048014 s,
      deltaX: 8.200012 m,
      approachRate: 2.025688 m/s,
      rangeRepo size: 4

2025-06-17T20:48:14.878Z,1750193294.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:14.886Z,1750193294.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 377.247742 m,
      bearing: 334.666867 deg,
      approach rate: -0.714020 m/s,
      LOS rate: -0.000558 deg/s,
      cmd heading: 335.367452 deg,
      new cmd heading: 335.366530 deg.

2025-06-17T20:48:14.887Z,1750193294.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853250 target range: 410.792419 and range: 405.70 m.
2025-06-17T20:48:14.895Z,1750193294.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 59.845768 m.
2025-06-17T20:48:14.917Z,1750193294.917 [DAT](INFO): DAT read: TxSync time:20:48:14.9328

2025-06-17T20:48:15.260Z,1750193295.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:48:15.325Z,1750193295.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:15.329Z,1750193295.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:15.335Z,1750193295.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 376.917664 m,
      bearing: 334.666735 deg,
      approach rate: -0.730615 m/s,
      LOS rate: -0.000293 deg/s,
      cmd heading: 335.366523 deg,
      new cmd heading: 335.366126 deg.

2025-06-17T20:48:15.372Z,1750193295.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853243 target range: 410.792419 and range: 405.70 m.
2025-06-17T20:48:15.421Z,1750193295.421 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:48:15.421Z,1750193295.421 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:48:15.421Z,1750193295.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:15.686Z,1750193295.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.017289
2025-06-17T20:48:15.745Z,1750193295.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:15.750Z,1750193295.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 376.612457 m,
      bearing: 334.667176 deg,
      approach rate: -0.733355 m/s,
      LOS rate: 0.001061 deg/s,
      cmd heading: 335.366113 deg,
      new cmd heading: 335.367438 deg.

2025-06-17T20:48:15.772Z,1750193295.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853266 target range: 410.792419 and range: 405.70 m.
2025-06-17T20:48:15.937Z,1750193295.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.268947
2025-06-17T20:48:16.111Z,1750193296.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:16.134Z,1750193296.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 376.345825 m,
      bearing: 334.667594 deg,
      approach rate: -0.728320 m/s,
      LOS rate: 0.001141 deg/s,
      cmd heading: 335.367425 deg,
      new cmd heading: 335.368678 deg.

2025-06-17T20:48:16.135Z,1750193296.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853288 target range: 410.792419 and range: 405.70 m.
2025-06-17T20:48:16.191Z,1750193296.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522433
2025-06-17T20:48:16.445Z,1750193296.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775645
2025-06-17T20:48:16.570Z,1750193296.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:16.573Z,1750193296.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 376.016388 m,
      bearing: 334.668142 deg,
      approach rate: -0.721447 m/s,
      LOS rate: 0.001201 deg/s,
      cmd heading: 335.368681 deg,
      new cmd heading: 335.370327 deg.

2025-06-17T20:48:16.574Z,1750193296.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853316 target range: 410.792419 and range: 405.70 m.
2025-06-17T20:48:16.693Z,1750193296.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024471
2025-06-17T20:48:16.915Z,1750193296.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:16.918Z,1750193296.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 375.765045 m,
      bearing: 334.668516 deg,
      approach rate: -0.723378 m/s,
      LOS rate: 0.001077 deg/s,
      cmd heading: 335.370321 deg,
      new cmd heading: 335.371444 deg.

2025-06-17T20:48:16.919Z,1750193296.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853336 target range: 410.792419 and range: 405.70 m.
2025-06-17T20:48:16.945Z,1750193296.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276555
2025-06-17T20:48:17.197Z,1750193297.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528493
2025-06-17T20:48:17.336Z,1750193297.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:17.338Z,1750193297.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:17.342Z,1750193297.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 375.459839 m,
      bearing: 334.669001 deg,
      approach rate: -0.721003 m/s,
      LOS rate: 0.001147 deg/s,
      cmd heading: 335.371441 deg,
      new cmd heading: 335.372897 deg.

2025-06-17T20:48:17.343Z,1750193297.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853361 target range: 410.792419 and range: 405.70 m.
2025-06-17T20:48:17.449Z,1750193297.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780953
2025-06-17T20:48:17.701Z,1750193297.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033117
2025-06-17T20:48:17.823Z,1750193297.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:17.830Z,1750193297.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 375.109650 m,
      bearing: 334.669286 deg,
      approach rate: -0.722576 m/s,
      LOS rate: 0.000588 deg/s,
      cmd heading: 335.372889 deg,
      new cmd heading: 335.373743 deg.

2025-06-17T20:48:17.831Z,1750193297.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853376 target range: 410.792419 and range: 405.70 m.
2025-06-17T20:48:17.954Z,1750193297.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285251
2025-06-17T20:48:18.155Z,1750193298.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:18.170Z,1750193298.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 374.859802 m,
      bearing: 334.669510 deg,
      approach rate: -0.752219 m/s,
      LOS rate: 0.000675 deg/s,
      cmd heading: 335.373736 deg,
      new cmd heading: 335.374408 deg.

2025-06-17T20:48:18.171Z,1750193298.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853388 target range: 410.792419 and range: 405.70 m.
2025-06-17T20:48:18.207Z,1750193298.207 [DAT](INFO): DAT read: Rx Time:20:48:17.8746

2025-06-17T20:48:18.207Z,1750193298.207 [DAT](INFO): Rx dataTimestamp_ set to:1750193298.206877
2025-06-17T20:48:18.208Z,1750193298.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539528
2025-06-17T20:48:18.457Z,1750193298.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788467
2025-06-17T20:48:18.601Z,1750193298.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:18.621Z,1750193298.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 374.532074 m,
      bearing: 334.669078 deg,
      approach rate: -0.735143 m/s,
      LOS rate: -0.000970 deg/s,
      cmd heading: 335.374419 deg,
      new cmd heading: 335.373121 deg.

2025-06-17T20:48:18.622Z,1750193298.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853365 target range: 410.792419 and range: 405.70 m.
2025-06-17T20:48:18.712Z,1750193298.712 [DAT](INFO): DAT read: Range 10 to 50 : 402.6 m  (Round-trip  536.9 ms) speed  0.4 m/s

2025-06-17T20:48:18.713Z,1750193298.713 [DAT](INFO): DAT read: user:679>

2025-06-17T20:48:18.714Z,1750193298.714 [DAT](INFO): DAT read: Tx time:20:48:18.9835

2025-06-17T20:48:18.715Z,1750193298.715 [DAT](INFO): Ping request sent.
2025-06-17T20:48:18.715Z,1750193298.715 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:48:18.715Z,1750193298.715 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:48:18.716Z,1750193298.716 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:18.718Z,1750193298.718 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:18.961Z,1750193298.961 [DAT](INFO): DAT read: TxSync time:20:48:18.9828

2025-06-17T20:48:19.059Z,1750193299.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 402.600006 m,
      deltaT: 4.044461 s,
      deltaX: -3.100006 m,
      approachRate: -0.766482 m/s,
      rangeRepo size: 4

2025-06-17T20:48:19.059Z,1750193299.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:19.062Z,1750193299.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 374.195038 m,
      bearing: 334.668683 deg,
      approach rate: -0.737399 m/s,
      LOS rate: -0.000864 deg/s,
      cmd heading: 335.373135 deg,
      new cmd heading: 335.371950 deg.

2025-06-17T20:48:19.063Z,1750193299.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853345 target range: 410.792419 and range: 402.60 m.
2025-06-17T20:48:19.458Z,1750193299.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:19.461Z,1750193299.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:19.463Z,1750193299.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 373.899445 m,
      bearing: 334.668336 deg,
      approach rate: -0.734399 m/s,
      LOS rate: -0.000862 deg/s,
      cmd heading: 335.371960 deg,
      new cmd heading: 335.370919 deg.

2025-06-17T20:48:19.465Z,1750193299.465 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:48:19.465Z,1750193299.465 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:48:19.465Z,1750193299.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:19.468Z,1750193299.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853327 target range: 410.792419 and range: 402.60 m.
2025-06-17T20:48:19.717Z,1750193299.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001705
2025-06-17T20:48:19.969Z,1750193299.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253608
2025-06-17T20:48:20.012Z,1750193300.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:20.015Z,1750193300.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 373.491302 m,
      bearing: 334.666975 deg,
      approach rate: -0.740465 m/s,
      LOS rate: -0.002473 deg/s,
      cmd heading: 335.370922 deg,
      new cmd heading: 335.366833 deg.

2025-06-17T20:48:20.016Z,1750193300.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853255 target range: 410.792419 and range: 402.60 m.
2025-06-17T20:48:20.221Z,1750193300.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505740
2025-06-17T20:48:20.474Z,1750193300.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759002
2025-06-17T20:48:20.564Z,1750193300.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:20.567Z,1750193300.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 373.130615 m,
      bearing: 334.665718 deg,
      approach rate: -0.658743 m/s,
      LOS rate: -0.002298 deg/s,
      cmd heading: 335.366823 deg,
      new cmd heading: 335.363049 deg.

2025-06-17T20:48:20.572Z,1750193300.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853189 target range: 410.792419 and range: 402.60 m.
2025-06-17T20:48:20.725Z,1750193300.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009611
2025-06-17T20:48:20.866Z,1750193300.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:20.869Z,1750193300.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 372.854248 m,
      bearing: 334.665166 deg,
      approach rate: -0.901337 m/s,
      LOS rate: -0.001802 deg/s,
      cmd heading: 335.363053 deg,
      new cmd heading: 335.361395 deg.

2025-06-17T20:48:20.870Z,1750193300.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853160 target range: 410.792419 and range: 402.60 m.
2025-06-17T20:48:20.978Z,1750193300.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262707
2025-06-17T20:48:21.229Z,1750193301.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513756
2025-06-17T20:48:21.245Z,1750193301.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:21.248Z,1750193301.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 372.569397 m,
      bearing: 334.664579 deg,
      approach rate: -0.751808 m/s,
      LOS rate: -0.001550 deg/s,
      cmd heading: 335.361387 deg,
      new cmd heading: 335.359625 deg.

2025-06-17T20:48:21.249Z,1750193301.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853130 target range: 410.792419 and range: 402.60 m.
2025-06-17T20:48:21.481Z,1750193301.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765659
2025-06-17T20:48:21.672Z,1750193301.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:21.674Z,1750193301.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:21.677Z,1750193301.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 372.246277 m,
      bearing: 334.663545 deg,
      approach rate: -0.753324 m/s,
      LOS rate: -0.002414 deg/s,
      cmd heading: 335.359638 deg,
      new cmd heading: 335.356531 deg.

2025-06-17T20:48:21.678Z,1750193301.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853076 target range: 410.792419 and range: 402.60 m.
2025-06-17T20:48:21.734Z,1750193301.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018659
2025-06-17T20:48:21.985Z,1750193301.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269635
2025-06-17T20:48:22.048Z,1750193302.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:22.051Z,1750193302.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 371.963776 m,
      bearing: 334.662606 deg,
      approach rate: -0.755545 m/s,
      LOS rate: -0.002512 deg/s,
      cmd heading: 335.356524 deg,
      new cmd heading: 335.353706 deg.

2025-06-17T20:48:22.052Z,1750193302.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853026 target range: 410.792419 and range: 402.60 m.
2025-06-17T20:48:22.237Z,1750193302.237 [DAT](INFO): DAT read: Rx Time:20:48:21.9205

2025-06-17T20:48:22.237Z,1750193302.237 [DAT](INFO): Rx dataTimestamp_ set to:1750193302.237067
2025-06-17T20:48:22.238Z,1750193302.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522798
2025-06-17T20:48:22.456Z,1750193302.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.79 m.
2025-06-17T20:48:22.459Z,1750193302.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.792419 m,
      nav range: 371.654816 m,
      bearing: 334.661565 deg,
      approach rate: -0.756017 m/s,
      LOS rate: -0.002550 deg/s,
      cmd heading: 335.353710 deg,
      new cmd heading: 335.350583 deg.

2025-06-17T20:48:22.480Z,1750193302.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852972 target range: 410.792419 and range: 402.60 m.
2025-06-17T20:48:22.489Z,1750193302.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773839
2025-06-17T20:48:22.750Z,1750193302.750 [DAT](INFO): DAT read: 20:48:21.9205 LVL= 19904, 22817, 16370, 28947, AGC= 71, IDX= 398, 0.27, 1.952, 0.744, 2.117, 1.326, PHS= 0.714,-0.535, 0.787, RAW= 152.8, -14.9, CAL= 159.4, -21.9, ROT= 350.6,  21.9

2025-06-17T20:48:22.751Z,1750193302.751 [DAT](INFO): got valid direction response:
 20:48:21.9205 LVL= 19904, 22817, 16370, 28947, AGC= 71, IDX= 398, 0.27, 1.952, 0.744, 2.117, 1.326, PHS= 0.714,-0.535, 0.787, RAW= 152.8, -14.9, CAL= 159.4, -21.9, ROT= 350.6,  21.9

2025-06-17T20:48:22.753Z,1750193302.753 [DAT](INFO): DAT read: Bearing 350.6,  21.9 (Local)

2025-06-17T20:48:22.753Z,1750193302.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.6,  21.9 (Local)

2025-06-17T20:48:22.755Z,1750193302.755 [DAT](INFO): DAT read: Range 10 to 50 : 399.5 m  (Round-trip  532.7 ms) speed  0.6 m/s

2025-06-17T20:48:22.756Z,1750193302.756 [DAT](INFO): DAT read: user:680>

2025-06-17T20:48:22.757Z,1750193302.757 [DAT](INFO): DAT read: Tx time:20:48:23.0336

2025-06-17T20:48:22.758Z,1750193302.758 [DAT](INFO): Ping request sent.
2025-06-17T20:48:22.758Z,1750193302.758 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:48:22.758Z,1750193302.758 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:48:22.760Z,1750193302.760 [DAT](INFO): direction in FSK: [0.915377,-0.151540,-0.372988]
2025-06-17T20:48:22.760Z,1750193302.760 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:22.761Z,1750193302.761 [DAT](INFO): publishing direction and range info
2025-06-17T20:48:22.781Z,1750193302.781 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:22.781Z,1750193302.781 [DAT](INFO): publishing direction and range info
2025-06-17T20:48:22.966Z,1750193302.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 399.500000 m,
      deltaT: 4.031808 s,
      deltaX: -3.100006 m,
      approachRate: -0.768887 m/s,
      rangeRepo size: 4

2025-06-17T20:48:22.972Z,1750193302.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 395.842255 m,
      bearing: 327.918232 deg,
      lat: 36.906006 deg,
      lon: -122.115810 deg,
      deltaT: 20.192165 s,
      deltaX: -14.950165 m,
      approachRate: -0.740394 m/s,
      posRepo size: 4

2025-06-17T20:48:22.973Z,1750193302.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:22.980Z,1750193302.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 378.597382 m,
      bearing: 332.582707 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002550 deg/s,
      cmd heading: 335.350595 deg,
      new cmd heading: 335.346702 deg.

2025-06-17T20:48:22.981Z,1750193302.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852904 target range: 395.842255 and range: 399.50 m.
2025-06-17T20:48:22.993Z,1750193302.993 [DAT](INFO): DAT read: TxSync time:20:48:23.0329

2025-06-17T20:48:23.283Z,1750193303.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:23.290Z,1750193303.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 378.356812 m,
      bearing: 332.580362 deg,
      approach rate: -0.757062 m/s,
      LOS rate: -0.007385 deg/s,
      cmd heading: 335.346715 deg,
      new cmd heading: 335.339676 deg.

2025-06-17T20:48:23.291Z,1750193303.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852781 target range: 395.842255 and range: 399.50 m.
2025-06-17T20:48:23.721Z,1750193303.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:23.723Z,1750193303.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:23.726Z,1750193303.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 378.028259 m,
      bearing: 332.577358 deg,
      approach rate: -0.746716 m/s,
      LOS rate: -0.006833 deg/s,
      cmd heading: 335.339667 deg,
      new cmd heading: 335.330648 deg.

2025-06-17T20:48:23.727Z,1750193303.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852624 target range: 395.842255 and range: 399.50 m.
2025-06-17T20:48:23.749Z,1750193303.749 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:48:23.749Z,1750193303.749 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:48:23.750Z,1750193303.750 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:24.001Z,1750193304.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242755
2025-06-17T20:48:24.087Z,1750193304.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:24.090Z,1750193304.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 377.751434 m,
      bearing: 332.574784 deg,
      approach rate: -0.803584 m/s,
      LOS rate: -0.007480 deg/s,
      cmd heading: 335.330651 deg,
      new cmd heading: 335.322921 deg.

2025-06-17T20:48:24.091Z,1750193304.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852489 target range: 395.842255 and range: 399.50 m.
2025-06-17T20:48:24.253Z,1750193304.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494671
2025-06-17T20:48:24.500Z,1750193304.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:24.503Z,1750193304.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 377.430756 m,
      bearing: 332.571796 deg,
      approach rate: -0.741605 m/s,
      LOS rate: -0.006915 deg/s,
      cmd heading: 335.322919 deg,
      new cmd heading: 335.313949 deg.

2025-06-17T20:48:24.505Z,1750193304.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747100
2025-06-17T20:48:24.506Z,1750193304.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852333 target range: 395.842255 and range: 399.50 m.
2025-06-17T20:48:24.759Z,1750193304.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000482
2025-06-17T20:48:24.915Z,1750193304.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:24.922Z,1750193304.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 377.125824 m,
      bearing: 332.570089 deg,
      approach rate: -0.734143 m/s,
      LOS rate: -0.004112 deg/s,
      cmd heading: 335.313958 deg,
      new cmd heading: 335.308834 deg.

2025-06-17T20:48:24.923Z,1750193304.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852243 target range: 395.842255 and range: 399.50 m.
2025-06-17T20:48:25.009Z,1750193305.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251101
2025-06-17T20:48:25.261Z,1750193305.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502657
2025-06-17T20:48:25.302Z,1750193305.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:25.309Z,1750193305.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 376.834106 m,
      bearing: 332.568441 deg,
      approach rate: -0.754322 m/s,
      LOS rate: -0.004266 deg/s,
      cmd heading: 335.308822 deg,
      new cmd heading: 335.303872 deg.

2025-06-17T20:48:25.310Z,1750193305.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852157 target range: 395.842255 and range: 399.50 m.
2025-06-17T20:48:25.517Z,1750193305.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759161
2025-06-17T20:48:25.765Z,1750193305.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007272
2025-06-17T20:48:25.844Z,1750193305.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:25.846Z,1750193305.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:25.849Z,1750193305.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 376.413727 m,
      bearing: 332.565268 deg,
      approach rate: -0.772804 m/s,
      LOS rate: -0.005840 deg/s,
      cmd heading: 335.303876 deg,
      new cmd heading: 335.294346 deg.

2025-06-17T20:48:25.850Z,1750193305.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851990 target range: 395.842255 and range: 399.50 m.
2025-06-17T20:48:26.017Z,1750193306.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258620
2025-06-17T20:48:26.141Z,1750193306.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:26.143Z,1750193306.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 376.193604 m,
      bearing: 332.563587 deg,
      approach rate: -0.746725 m/s,
      LOS rate: -0.005704 deg/s,
      cmd heading: 335.294342 deg,
      new cmd heading: 335.289298 deg.

2025-06-17T20:48:26.145Z,1750193306.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851902 target range: 395.842255 and range: 399.50 m.
2025-06-17T20:48:26.269Z,1750193306.269 [DAT](INFO): DAT read: Rx Time:20:48:25.9686

2025-06-17T20:48:26.270Z,1750193306.270 [DAT](INFO): Rx dataTimestamp_ set to:1750193306.269322
2025-06-17T20:48:26.270Z,1750193306.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512079
2025-06-17T20:48:26.521Z,1750193306.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762813
2025-06-17T20:48:26.538Z,1750193306.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:26.541Z,1750193306.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 375.897369 m,
      bearing: 332.561301 deg,
      approach rate: -0.745044 m/s,
      LOS rate: -0.005755 deg/s,
      cmd heading: 335.289287 deg,
      new cmd heading: 335.282422 deg.

2025-06-17T20:48:26.542Z,1750193306.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851782 target range: 395.842255 and range: 399.50 m.
2025-06-17T20:48:26.774Z,1750193306.774 [DAT](INFO): DAT read: Range 10 to 50 : 398.1 m  (Round-trip  530.8 ms) speed  0.4 m/s

2025-06-17T20:48:26.775Z,1750193306.775 [DAT](INFO): DAT read: user:681>

2025-06-17T20:48:26.776Z,1750193306.776 [DAT](INFO): DAT read: Tx time:20:48:27.0836

2025-06-17T20:48:26.776Z,1750193306.776 [DAT](INFO): Ping request sent.
2025-06-17T20:48:26.776Z,1750193306.776 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:48:26.777Z,1750193306.777 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:48:26.777Z,1750193306.777 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:26.778Z,1750193306.778 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:26.974Z,1750193306.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 398.100006 m,
      deltaT: 4.032342 s,
      deltaX: -1.399994 m,
      approachRate: -0.347191 m/s,
      rangeRepo size: 4

2025-06-17T20:48:26.975Z,1750193306.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:26.978Z,1750193306.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 375.571930 m,
      bearing: 332.558083 deg,
      approach rate: -0.748018 m/s,
      LOS rate: -0.007402 deg/s,
      cmd heading: 335.282430 deg,
      new cmd heading: 335.272769 deg.

2025-06-17T20:48:26.979Z,1750193306.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851614 target range: 395.842255 and range: 398.10 m.
2025-06-17T20:48:27.025Z,1750193307.025 [DAT](INFO): DAT read: TxSync time:20:48:27.0829

2025-06-17T20:48:27.385Z,1750193307.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:27.392Z,1750193307.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 375.282288 m,
      bearing: 332.555214 deg,
      approach rate: -0.703794 m/s,
      LOS rate: -0.006976 deg/s,
      cmd heading: 335.272758 deg,
      new cmd heading: 335.264145 deg.

2025-06-17T20:48:27.393Z,1750193307.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851463 target range: 395.842255 and range: 398.10 m.
2025-06-17T20:48:27.795Z,1750193307.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:27.798Z,1750193307.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 374.956177 m,
      bearing: 332.552985 deg,
      approach rate: -0.795967 m/s,
      LOS rate: -0.005446 deg/s,
      cmd heading: 335.264152 deg,
      new cmd heading: 335.257458 deg.

2025-06-17T20:48:27.799Z,1750193307.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851346 target range: 395.842255 and range: 398.10 m.
2025-06-17T20:48:28.159Z,1750193308.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:28.162Z,1750193308.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:28.165Z,1750193308.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 374.680573 m,
      bearing: 332.551052 deg,
      approach rate: -0.750808 m/s,
      LOS rate: -0.005270 deg/s,
      cmd heading: 335.257459 deg,
      new cmd heading: 335.251656 deg.

2025-06-17T20:48:28.166Z,1750193308.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851245 target range: 395.842255 and range: 398.10 m.
2025-06-17T20:48:28.285Z,1750193308.285 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:48:28.285Z,1750193308.285 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:48:28.285Z,1750193308.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:28.537Z,1750193308.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760373
2025-06-17T20:48:28.564Z,1750193308.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:28.567Z,1750193308.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 374.377350 m,
      bearing: 332.548833 deg,
      approach rate: -0.754306 m/s,
      LOS rate: -0.005526 deg/s,
      cmd heading: 335.251667 deg,
      new cmd heading: 335.245002 deg.

2025-06-17T20:48:28.568Z,1750193308.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851129 target range: 395.842255 and range: 398.10 m.
2025-06-17T20:48:28.789Z,1750193308.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012331
2025-06-17T20:48:29.011Z,1750193309.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:29.014Z,1750193309.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 374.044006 m,
      bearing: 332.545728 deg,
      approach rate: -0.745221 m/s,
      LOS rate: -0.006947 deg/s,
      cmd heading: 335.245000 deg,
      new cmd heading: 335.235678 deg.

2025-06-17T20:48:29.015Z,1750193309.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850966 target range: 395.842255 and range: 398.10 m.
2025-06-17T20:48:29.041Z,1750193309.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264307
2025-06-17T20:48:29.293Z,1750193309.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516264
2025-06-17T20:48:29.365Z,1750193309.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:29.389Z,1750193309.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 373.779999 m,
      bearing: 332.543245 deg,
      approach rate: -0.745818 m/s,
      LOS rate: -0.007018 deg/s,
      cmd heading: 335.235684 deg,
      new cmd heading: 335.228231 deg.

2025-06-17T20:48:29.390Z,1750193309.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850836 target range: 395.842255 and range: 398.10 m.
2025-06-17T20:48:29.545Z,1750193309.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768324
2025-06-17T20:48:29.797Z,1750193309.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020379
2025-06-17T20:48:29.806Z,1750193309.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:29.809Z,1750193309.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 373.452423 m,
      bearing: 332.539906 deg,
      approach rate: -0.742809 m/s,
      LOS rate: -0.007580 deg/s,
      cmd heading: 335.228225 deg,
      new cmd heading: 335.218197 deg.

2025-06-17T20:48:29.810Z,1750193309.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850661 target range: 395.842255 and range: 398.10 m.
2025-06-17T20:48:30.049Z,1750193310.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272411
2025-06-17T20:48:30.182Z,1750193310.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:30.185Z,1750193310.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:30.187Z,1750193310.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 373.177643 m,
      bearing: 332.537102 deg,
      approach rate: -0.726058 m/s,
      LOS rate: -0.007415 deg/s,
      cmd heading: 335.218199 deg,
      new cmd heading: 335.209780 deg.

2025-06-17T20:48:30.188Z,1750193310.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850514 target range: 395.842255 and range: 398.10 m.
2025-06-17T20:48:30.301Z,1750193310.301 [DAT](INFO): DAT read: Rx Time:20:48:30.0151

2025-06-17T20:48:30.302Z,1750193310.302 [DAT](INFO): Rx dataTimestamp_ set to:1750193310.301262
2025-06-17T20:48:30.302Z,1750193310.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525595
2025-06-17T20:48:30.553Z,1750193310.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776155
2025-06-17T20:48:30.611Z,1750193310.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.84 m.
2025-06-17T20:48:30.618Z,1750193310.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.842255 m,
      nav range: 372.861237 m,
      bearing: 332.533868 deg,
      approach rate: -0.741424 m/s,
      LOS rate: -0.007583 deg/s,
      cmd heading: 335.209784 deg,
      new cmd heading: 335.200075 deg.

2025-06-17T20:48:30.619Z,1750193310.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850345 target range: 395.842255 and range: 398.10 m.
2025-06-17T20:48:30.814Z,1750193310.814 [DAT](INFO): DAT read: 20:48:30.0151 LVL= 27632, 32753, 22514, 32755, AGC= 70, IDX= 381, 0.27, 2.173, 1.008, 2.300, 1.687, PHS= 0.574,-0.631, 0.611, RAW= 151.5,  -9.1, CAL= 157.4, -16.9, ROT= 352.6,  16.9

2025-06-17T20:48:30.815Z,1750193310.815 [DAT](INFO): got valid direction response:
 20:48:30.0151 LVL= 27632, 32753, 22514, 32755, AGC= 70, IDX= 381, 0.27, 2.173, 1.008, 2.300, 1.687, PHS= 0.574,-0.631, 0.611, RAW= 151.5,  -9.1, CAL= 157.4, -16.9, ROT= 352.6,  16.9

2025-06-17T20:48:30.816Z,1750193310.816 [DAT](INFO): DAT read: Bearing 352.6,  16.9 (Local)

2025-06-17T20:48:30.817Z,1750193310.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.6,  16.9 (Local)

2025-06-17T20:48:30.818Z,1750193310.818 [DAT](INFO): DAT read: Range 10 to 50 : 395.4 m  (Round-trip  527.3 ms) speed  0.9 m/s

2025-06-17T20:48:30.819Z,1750193310.819 [DAT](INFO): DAT read: user:682>

2025-06-17T20:48:30.820Z,1750193310.820 [DAT](INFO): DAT read: Tx time:20:48:31.1336

2025-06-17T20:48:30.820Z,1750193310.820 [DAT](INFO): Ping request sent.
2025-06-17T20:48:30.820Z,1750193310.820 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:48:30.821Z,1750193310.821 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:48:30.822Z,1750193310.822 [DAT](INFO): direction in FSK: [0.948844,-0.123233,-0.290702]
2025-06-17T20:48:30.822Z,1750193310.822 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:30.822Z,1750193310.822 [DAT](INFO): publishing direction and range info
2025-06-17T20:48:30.834Z,1750193310.834 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:30.834Z,1750193310.834 [DAT](INFO): publishing direction and range info
2025-06-17T20:48:31.057Z,1750193311.057 [DAT](INFO): DAT read: TxSync time:20:48:31.1329

2025-06-17T20:48:31.064Z,1750193311.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 395.399994 m,
      deltaT: 4.032704 s,
      deltaX: -2.700012 m,
      approachRate: -0.669529 m/s,
      rangeRepo size: 4

2025-06-17T20:48:31.066Z,1750193311.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 391.782257 m,
      bearing: 329.546848 deg,
      lat: 36.906001 deg,
      lon: -122.115815 deg,
      deltaT: 8.065046 s,
      deltaX: -4.059998 m,
      approachRate: -0.503407 m/s,
      posRepo size: 4

2025-06-17T20:48:31.067Z,1750193311.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.78 m.
2025-06-17T20:48:31.081Z,1750193311.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 391.782257 m,
      nav range: 372.279449 m,
      bearing: 332.434026 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007583 deg/s,
      cmd heading: 335.200085 deg,
      new cmd heading: 335.189898 deg.

2025-06-17T20:48:31.082Z,1750193311.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850167 target range: 391.782257 and range: 395.40 m.
2025-06-17T20:48:31.425Z,1750193311.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.78 m.
2025-06-17T20:48:31.427Z,1750193311.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 391.782257 m,
      nav range: 371.991852 m,
      bearing: 332.430651 deg,
      approach rate: -0.786837 m/s,
      LOS rate: -0.009241 deg/s,
      cmd heading: 335.189894 deg,
      new cmd heading: 335.179761 deg.

2025-06-17T20:48:31.429Z,1750193311.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849990 target range: 391.782257 and range: 395.40 m.
2025-06-17T20:48:31.833Z,1750193311.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.78 m.
2025-06-17T20:48:31.835Z,1750193311.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 391.782257 m,
      nav range: 371.684418 m,
      bearing: 332.427429 deg,
      approach rate: -0.753796 m/s,
      LOS rate: -0.007907 deg/s,
      cmd heading: 335.179758 deg,
      new cmd heading: 335.170084 deg.

2025-06-17T20:48:31.836Z,1750193311.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849822 target range: 391.782257 and range: 395.40 m.
2025-06-17T20:48:32.219Z,1750193312.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:32.222Z,1750193312.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.78 m.
2025-06-17T20:48:32.225Z,1750193312.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 391.782257 m,
      nav range: 371.390839 m,
      bearing: 332.424330 deg,
      approach rate: -0.754151 m/s,
      LOS rate: -0.007966 deg/s,
      cmd heading: 335.170087 deg,
      new cmd heading: 335.160783 deg.

2025-06-17T20:48:32.226Z,1750193312.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849659 target range: 391.782257 and range: 395.40 m.
2025-06-17T20:48:32.318Z,1750193312.318 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:48:32.318Z,1750193312.318 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:48:32.318Z,1750193312.318 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:32.569Z,1750193312.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748455
2025-06-17T20:48:32.633Z,1750193312.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.78 m.
2025-06-17T20:48:32.635Z,1750193312.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 391.782257 m,
      nav range: 371.089691 m,
      bearing: 332.421113 deg,
      approach rate: -0.733004 m/s,
      LOS rate: -0.007837 deg/s,
      cmd heading: 335.160770 deg,
      new cmd heading: 335.151111 deg.

2025-06-17T20:48:32.640Z,1750193312.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849490 target range: 391.782257 and range: 395.40 m.
2025-06-17T20:48:32.821Z,1750193312.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000401
2025-06-17T20:48:33.054Z,1750193313.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.78 m.
2025-06-17T20:48:33.057Z,1750193313.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 391.782257 m,
      nav range: 370.768188 m,
      bearing: 332.417156 deg,
      approach rate: -0.763367 m/s,
      LOS rate: -0.009405 deg/s,
      cmd heading: 335.151099 deg,
      new cmd heading: 335.139216 deg.

2025-06-17T20:48:33.058Z,1750193313.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849283 target range: 391.782257 and range: 395.40 m.
2025-06-17T20:48:33.084Z,1750193313.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255110
2025-06-17T20:48:33.325Z,1750193313.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504450
2025-06-17T20:48:33.463Z,1750193313.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.78 m.
2025-06-17T20:48:33.470Z,1750193313.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 391.782257 m,
      nav range: 370.467865 m,
      bearing: 332.413442 deg,
      approach rate: -0.734334 m/s,
      LOS rate: -0.009088 deg/s,
      cmd heading: 335.139214 deg,
      new cmd heading: 335.128064 deg.

2025-06-17T20:48:33.471Z,1750193313.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849088 target range: 391.782257 and range: 395.40 m.
2025-06-17T20:48:33.577Z,1750193313.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756402
2025-06-17T20:48:33.829Z,1750193313.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008337
2025-06-17T20:48:33.876Z,1750193313.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.78 m.
2025-06-17T20:48:33.879Z,1750193313.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 391.782257 m,
      nav range: 370.145294 m,
      bearing: 332.408792 deg,
      approach rate: -0.780554 m/s,
      LOS rate: -0.011262 deg/s,
      cmd heading: 335.128067 deg,
      new cmd heading: 335.114105 deg.

2025-06-17T20:48:33.880Z,1750193313.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848845 target range: 391.782257 and range: 395.40 m.
2025-06-17T20:48:34.081Z,1750193314.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260388
2025-06-17T20:48:34.238Z,1750193314.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:34.241Z,1750193314.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.78 m.
2025-06-17T20:48:34.243Z,1750193314.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 391.782257 m,
      nav range: 369.873627 m,
      bearing: 332.404900 deg,
      approach rate: -0.744613 m/s,
      LOS rate: -0.010674 deg/s,
      cmd heading: 335.114106 deg,
      new cmd heading: 335.102423 deg.

2025-06-17T20:48:34.245Z,1750193314.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848640 target range: 391.782257 and range: 395.40 m.
2025-06-17T20:48:34.333Z,1750193314.333 [DAT](INFO): DAT read: Rx Time:20:48:34.0628

2025-06-17T20:48:34.333Z,1750193314.333 [DAT](INFO): Rx dataTimestamp_ set to:1750193314.333184
2025-06-17T20:48:34.334Z,1750193314.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513648
2025-06-17T20:48:34.585Z,1750193314.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764344
2025-06-17T20:48:34.657Z,1750193314.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.78 m.
2025-06-17T20:48:34.660Z,1750193314.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 391.782257 m,
      nav range: 369.555328 m,
      bearing: 332.400360 deg,
      approach rate: -0.764268 m/s,
      LOS rate: -0.010911 deg/s,
      cmd heading: 335.102413 deg,
      new cmd heading: 335.088781 deg.

2025-06-17T20:48:34.661Z,1750193314.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848403 target range: 391.782257 and range: 395.40 m.
2025-06-17T20:48:34.851Z,1750193314.851 [DAT](INFO): DAT read: 20:48:34.0628 LVL= 32752, 24913, 28114, 32755, AGC= 72, IDX= 412, 0.34,-1.534,-2.996,-1.409,-2.201, PHS= 0.755,-0.748, 0.789, RAW= 151.1, -10.5, CAL= 157.6, -18.2, ROT= 352.4,  18.2

2025-06-17T20:48:34.852Z,1750193314.852 [DAT](INFO): got valid direction response:
 20:48:34.0628 LVL= 32752, 24913, 28114, 32755, AGC= 72, IDX= 412, 0.34,-1.534,-2.996,-1.409,-2.201, PHS= 0.755,-0.748, 0.789, RAW= 151.1, -10.5, CAL= 157.6, -18.2, ROT= 352.4,  18.2

2025-06-17T20:48:34.855Z,1750193314.855 [DAT](INFO): DAT read: Bearing 352.4,  18.2 (Local)

2025-06-17T20:48:34.862Z,1750193314.862 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.4,  18.2 (Local)

2025-06-17T20:48:34.869Z,1750193314.869 [DAT](INFO): DAT read: Range 10 to 50 : 393.7 m  (Round-trip  525.0 ms) speed  0.5 m/s

2025-06-17T20:48:34.870Z,1750193314.870 [DAT](INFO): DAT read: user:683>

2025-06-17T20:48:34.870Z,1750193314.870 [DAT](INFO): DAT read: Tx time:20:48:35.1836

2025-06-17T20:48:34.871Z,1750193314.871 [DAT](INFO): Ping request sent.
2025-06-17T20:48:34.871Z,1750193314.871 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:48:34.871Z,1750193314.871 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:48:34.878Z,1750193314.878 [DAT](INFO): direction in FSK: [0.941627,-0.125640,-0.312335]
2025-06-17T20:48:34.878Z,1750193314.878 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:34.879Z,1750193314.879 [DAT](INFO): publishing direction and range info
2025-06-17T20:48:34.893Z,1750193314.893 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:34.893Z,1750193314.893 [DAT](INFO): publishing direction and range info
2025-06-17T20:48:35.089Z,1750193315.089 [DAT](INFO): DAT read: TxSync time:20:48:35.1829

2025-06-17T20:48:35.127Z,1750193315.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 393.700012 m,
      deltaT: 4.034451 s,
      deltaX: -1.699982 m,
      approachRate: -0.421366 m/s,
      rangeRepo size: 4

2025-06-17T20:48:35.133Z,1750193315.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 390.098053 m,
      bearing: 329.317724 deg,
      lat: 36.905974 deg,
      lon: -122.116024 deg,
      deltaT: 4.034451 s,
      deltaX: -1.684204 m,
      approachRate: -0.417456 m/s,
      posRepo size: 4

2025-06-17T20:48:35.134Z,1750193315.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:35.140Z,1750193315.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 375.552734 m,
      bearing: 329.671650 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010911 deg/s,
      cmd heading: 335.088780 deg,
      new cmd heading: 335.073443 deg.

2025-06-17T20:48:35.141Z,1750193315.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848135 target range: 390.098053 and range: 393.70 m.
2025-06-17T20:48:35.456Z,1750193315.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:35.459Z,1750193315.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 375.287140 m,
      bearing: 329.666354 deg,
      approach rate: -0.803339 m/s,
      LOS rate: -0.016031 deg/s,
      cmd heading: 335.073453 deg,
      new cmd heading: 335.057553 deg.

2025-06-17T20:48:35.460Z,1750193315.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847857 target range: 390.098053 and range: 393.70 m.
2025-06-17T20:48:35.878Z,1750193315.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:35.881Z,1750193315.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 374.966461 m,
      bearing: 329.660578 deg,
      approach rate: -0.760472 m/s,
      LOS rate: -0.013710 deg/s,
      cmd heading: 335.057553 deg,
      new cmd heading: 335.040209 deg.

2025-06-17T20:48:35.882Z,1750193315.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847555 target range: 390.098053 and range: 393.70 m.
2025-06-17T20:48:36.255Z,1750193316.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:36.257Z,1750193316.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:36.260Z,1750193316.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 374.678528 m,
      bearing: 329.655366 deg,
      approach rate: -0.759897 m/s,
      LOS rate: -0.013764 deg/s,
      cmd heading: 335.040204 deg,
      new cmd heading: 335.024557 deg.

2025-06-17T20:48:36.261Z,1750193316.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847281 target range: 390.098053 and range: 393.70 m.
2025-06-17T20:48:36.350Z,1750193316.350 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:48:36.350Z,1750193316.350 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:48:36.350Z,1750193316.350 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:36.604Z,1750193316.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733304
2025-06-17T20:48:36.682Z,1750193316.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:36.685Z,1750193316.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 374.367126 m,
      bearing: 329.649616 deg,
      approach rate: -0.732797 m/s,
      LOS rate: -0.013543 deg/s,
      cmd heading: 335.024549 deg,
      new cmd heading: 335.007284 deg.

2025-06-17T20:48:36.686Z,1750193316.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846980 target range: 390.098053 and range: 393.70 m.
2025-06-17T20:48:36.853Z,1750193316.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981903
2025-06-17T20:48:37.090Z,1750193317.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:37.092Z,1750193317.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 374.047760 m,
      bearing: 329.644148 deg,
      approach rate: -0.783750 m/s,
      LOS rate: -0.013431 deg/s,
      cmd heading: 335.007282 deg,
      new cmd heading: 334.990863 deg.

2025-06-17T20:48:37.093Z,1750193317.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846694 target range: 390.098053 and range: 393.70 m.
2025-06-17T20:48:37.113Z,1750193317.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242029
2025-06-17T20:48:37.365Z,1750193317.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493920
2025-06-17T20:48:37.553Z,1750193317.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:37.556Z,1750193317.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 373.726410 m,
      bearing: 329.638671 deg,
      approach rate: -0.693137 m/s,
      LOS rate: -0.011822 deg/s,
      cmd heading: 334.990863 deg,
      new cmd heading: 334.974419 deg.

2025-06-17T20:48:37.557Z,1750193317.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846406 target range: 390.098053 and range: 393.70 m.
2025-06-17T20:48:37.617Z,1750193317.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745987
2025-06-17T20:48:37.869Z,1750193317.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997945
2025-06-17T20:48:37.929Z,1750193317.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:37.932Z,1750193317.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 373.421173 m,
      bearing: 329.633090 deg,
      approach rate: -0.811856 m/s,
      LOS rate: -0.014858 deg/s,
      cmd heading: 334.974415 deg,
      new cmd heading: 334.957657 deg.

2025-06-17T20:48:37.933Z,1750193317.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846114 target range: 390.098053 and range: 393.70 m.
2025-06-17T20:48:38.121Z,1750193318.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250505
2025-06-17T20:48:38.274Z,1750193318.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:38.277Z,1750193318.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:38.279Z,1750193318.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 373.165161 m,
      bearing: 329.628486 deg,
      approach rate: -0.736903 m/s,
      LOS rate: -0.013262 deg/s,
      cmd heading: 334.957668 deg,
      new cmd heading: 334.943846 deg.

2025-06-17T20:48:38.280Z,1750193318.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845873 target range: 390.098053 and range: 393.70 m.
2025-06-17T20:48:38.373Z,1750193318.373 [DAT](INFO): DAT read: Rx Time:20:48:38.1065

2025-06-17T20:48:38.374Z,1750193318.374 [DAT](INFO): Rx dataTimestamp_ set to:1750193318.373567
2025-06-17T20:48:38.375Z,1750193318.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503968
2025-06-17T20:48:38.625Z,1750193318.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753985
2025-06-17T20:48:38.680Z,1750193318.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:38.683Z,1750193318.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 372.866791 m,
      bearing: 329.623159 deg,
      approach rate: -0.738967 m/s,
      LOS rate: -0.013202 deg/s,
      cmd heading: 334.943844 deg,
      new cmd heading: 334.927852 deg.

2025-06-17T20:48:38.684Z,1750193318.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845594 target range: 390.098053 and range: 393.70 m.
2025-06-17T20:48:38.878Z,1750193318.878 [DAT](INFO): DAT read: Range 10 to 50 : 388.9 m  (Round-trip  518.6 ms) speed  0.0 m/s

2025-06-17T20:48:38.879Z,1750193318.879 [DAT](INFO): DAT read: user:684>

2025-06-17T20:48:38.880Z,1750193318.880 [DAT](INFO): DAT read: Tx time:20:48:39.1837

2025-06-17T20:48:38.880Z,1750193318.880 [DAT](INFO): Ping request sent.
2025-06-17T20:48:38.880Z,1750193318.880 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:48:38.880Z,1750193318.880 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:48:38.880Z,1750193318.880 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:38.881Z,1750193318.881 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:39.129Z,1750193319.129 [DAT](INFO): DAT read: TxSync time:20:48:39.1830

2025-06-17T20:48:39.146Z,1750193319.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 388.899994 m,
      deltaT: 4.036402 s,
      deltaX: -4.800018 m,
      approachRate: -1.189182 m/s,
      rangeRepo size: 4

2025-06-17T20:48:39.147Z,1750193319.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:39.154Z,1750193319.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 372.527679 m,
      bearing: 329.617994 deg,
      approach rate: -0.728682 m/s,
      LOS rate: -0.011110 deg/s,
      cmd heading: 334.927861 deg,
      new cmd heading: 334.912350 deg.

2025-06-17T20:48:39.155Z,1750193319.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845323 target range: 390.098053 and range: 388.90 m.
2025-06-17T20:48:39.496Z,1750193319.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:39.499Z,1750193319.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 372.245483 m,
      bearing: 329.613770 deg,
      approach rate: -0.804711 m/s,
      LOS rate: -0.012054 deg/s,
      cmd heading: 334.912343 deg,
      new cmd heading: 334.899662 deg.

2025-06-17T20:48:39.500Z,1750193319.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845102 target range: 390.098053 and range: 388.90 m.
2025-06-17T20:48:39.927Z,1750193319.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:39.930Z,1750193319.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 371.924133 m,
      bearing: 329.608269 deg,
      approach rate: -0.746449 m/s,
      LOS rate: -0.012790 deg/s,
      cmd heading: 334.899666 deg,
      new cmd heading: 334.883147 deg.

2025-06-17T20:48:39.931Z,1750193319.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844813 target range: 390.098053 and range: 388.90 m.
2025-06-17T20:48:40.305Z,1750193320.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:40.307Z,1750193320.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:40.310Z,1750193320.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 371.640778 m,
      bearing: 329.603376 deg,
      approach rate: -0.744623 m/s,
      LOS rate: -0.012867 deg/s,
      cmd heading: 334.883137 deg,
      new cmd heading: 334.868448 deg.

2025-06-17T20:48:40.311Z,1750193320.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844557 target range: 390.098053 and range: 388.90 m.
2025-06-17T20:48:40.389Z,1750193320.389 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:48:40.389Z,1750193320.389 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:48:40.389Z,1750193320.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:40.641Z,1750193320.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760690
2025-06-17T20:48:40.713Z,1750193320.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:40.717Z,1750193320.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 371.337219 m,
      bearing: 329.598033 deg,
      approach rate: -0.748145 m/s,
      LOS rate: -0.013179 deg/s,
      cmd heading: 334.868438 deg,
      new cmd heading: 334.852396 deg.

2025-06-17T20:48:40.718Z,1750193320.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844277 target range: 390.098053 and range: 388.90 m.
2025-06-17T20:48:40.893Z,1750193320.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012746
2025-06-17T20:48:41.142Z,1750193321.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:41.145Z,1750193321.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264784
2025-06-17T20:48:41.149Z,1750193321.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 371.029114 m,
      bearing: 329.593236 deg,
      approach rate: -0.718724 m/s,
      LOS rate: -0.011200 deg/s,
      cmd heading: 334.852401 deg,
      new cmd heading: 334.837997 deg.

2025-06-17T20:48:41.150Z,1750193321.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844026 target range: 390.098053 and range: 388.90 m.
2025-06-17T20:48:41.398Z,1750193321.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517466
2025-06-17T20:48:41.535Z,1750193321.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:41.538Z,1750193321.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 370.717163 m,
      bearing: 329.588370 deg,
      approach rate: -0.792745 m/s,
      LOS rate: -0.012374 deg/s,
      cmd heading: 334.838003 deg,
      new cmd heading: 334.823396 deg.

2025-06-17T20:48:41.539Z,1750193321.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843771 target range: 390.098053 and range: 388.90 m.
2025-06-17T20:48:41.650Z,1750193321.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769443
2025-06-17T20:48:41.901Z,1750193321.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020725
2025-06-17T20:48:41.950Z,1750193321.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:41.953Z,1750193321.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 370.403320 m,
      bearing: 329.582079 deg,
      approach rate: -0.756510 m/s,
      LOS rate: -0.015177 deg/s,
      cmd heading: 334.823386 deg,
      new cmd heading: 334.804497 deg.

2025-06-17T20:48:41.954Z,1750193321.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843441 target range: 390.098053 and range: 388.90 m.
2025-06-17T20:48:42.156Z,1750193322.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276168
2025-06-17T20:48:42.325Z,1750193322.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:42.327Z,1750193322.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:42.330Z,1750193322.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 370.118164 m,
      bearing: 329.576341 deg,
      approach rate: -0.756166 m/s,
      LOS rate: -0.015229 deg/s,
      cmd heading: 334.804508 deg,
      new cmd heading: 334.787279 deg.

2025-06-17T20:48:42.331Z,1750193322.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843140 target range: 390.098053 and range: 388.90 m.
2025-06-17T20:48:42.406Z,1750193322.406 [DAT](INFO): DAT read: Rx Time:20:48:42.1026

2025-06-17T20:48:42.407Z,1750193322.407 [DAT](INFO): Rx dataTimestamp_ set to:1750193322.406559
2025-06-17T20:48:42.408Z,1750193322.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527308
2025-06-17T20:48:42.658Z,1750193322.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777795
2025-06-17T20:48:42.899Z,1750193322.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:42.906Z,1750193322.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 369.764709 m,
      bearing: 329.569201 deg,
      approach rate: -0.620637 m/s,
      LOS rate: -0.012550 deg/s,
      cmd heading: 334.787268 deg,
      new cmd heading: 334.765827 deg.

2025-06-17T20:48:42.907Z,1750193322.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842766 target range: 390.098053 and range: 388.90 m.
2025-06-17T20:48:42.910Z,1750193322.910 [DAT](INFO): DAT read: Range 10 to 50 : 386.0 m  (Round-trip  514.7 ms) speed  0.4 m/s

2025-06-17T20:48:42.911Z,1750193322.911 [DAT](INFO): DAT read: user:685>

2025-06-17T20:48:42.911Z,1750193322.911 [DAT](INFO): DAT read: Tx time:20:48:43.1837

2025-06-17T20:48:42.912Z,1750193322.912 [DAT](INFO): Ping request sent.
2025-06-17T20:48:42.912Z,1750193322.912 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:48:42.912Z,1750193322.912 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:48:42.912Z,1750193322.912 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:42.919Z,1750193322.919 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:43.161Z,1750193323.161 [DAT](INFO): DAT read: TxSync time:20:48:43.1830

2025-06-17T20:48:43.274Z,1750193323.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 386.000000 m,
      deltaT: 4.031882 s,
      deltaX: -2.899994 m,
      approachRate: -0.719266 m/s,
      rangeRepo size: 4

2025-06-17T20:48:43.275Z,1750193323.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:43.277Z,1750193323.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 369.409149 m,
      bearing: 329.561590 deg,
      approach rate: -0.944599 m/s,
      LOS rate: -0.020239 deg/s,
      cmd heading: 334.765821 deg,
      new cmd heading: 334.742967 deg.

2025-06-17T20:48:43.278Z,1750193323.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842367 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:43.660Z,1750193323.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:43.663Z,1750193323.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 369.136810 m,
      bearing: 329.555744 deg,
      approach rate: -0.704627 m/s,
      LOS rate: -0.015136 deg/s,
      cmd heading: 334.742954 deg,
      new cmd heading: 334.725404 deg.

2025-06-17T20:48:43.665Z,1750193323.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842061 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:44.090Z,1750193324.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:44.097Z,1750193324.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 368.804138 m,
      bearing: 329.548097 deg,
      approach rate: -0.773487 m/s,
      LOS rate: -0.017795 deg/s,
      cmd heading: 334.725414 deg,
      new cmd heading: 334.702453 deg.

2025-06-17T20:48:44.104Z,1750193324.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841660 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:44.512Z,1750193324.512 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-06-17T20:48:44.560Z,1750193324.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:44.564Z,1750193324.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:44.569Z,1750193324.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 368.466522 m,
      bearing: 329.540422 deg,
      approach rate: -0.712518 m/s,
      LOS rate: -0.016212 deg/s,
      cmd heading: 334.702465 deg,
      new cmd heading: 334.679419 deg.

2025-06-17T20:48:44.570Z,1750193324.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841258 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:44.673Z,1750193324.673 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:48:44.673Z,1750193324.673 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:48:44.674Z,1750193324.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:44.928Z,1750193324.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015769
2025-06-17T20:48:45.049Z,1750193325.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:45.052Z,1750193325.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 368.084320 m,
      bearing: 329.532590 deg,
      approach rate: -0.787145 m/s,
      LOS rate: -0.016147 deg/s,
      cmd heading: 334.679406 deg,
      new cmd heading: 334.655885 deg.

2025-06-17T20:48:45.053Z,1750193325.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840847 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:45.177Z,1750193325.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264917
2025-06-17T20:48:45.385Z,1750193325.385 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:48:45.429Z,1750193325.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517050
2025-06-17T20:48:45.484Z,1750193325.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:45.486Z,1750193325.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 367.759735 m,
      bearing: 329.525871 deg,
      approach rate: -0.747158 m/s,
      LOS rate: -0.015480 deg/s,
      cmd heading: 334.655883 deg,
      new cmd heading: 334.635708 deg.

2025-06-17T20:48:45.487Z,1750193325.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840495 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:45.683Z,1750193325.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770976
2025-06-17T20:48:45.923Z,1750193325.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:45.937Z,1750193325.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023771
2025-06-17T20:48:45.951Z,1750193325.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 367.460663 m,
      bearing: 329.519670 deg,
      approach rate: -0.682615 m/s,
      LOS rate: -0.014165 deg/s,
      cmd heading: 334.635720 deg,
      new cmd heading: 334.617102 deg.

2025-06-17T20:48:45.957Z,1750193325.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840170 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:46.186Z,1750193326.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273622
2025-06-17T20:48:46.290Z,1750193326.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:46.293Z,1750193326.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 367.148468 m,
      bearing: 329.513241 deg,
      approach rate: -0.847402 m/s,
      LOS rate: -0.017466 deg/s,
      cmd heading: 334.617115 deg,
      new cmd heading: 334.597810 deg.

2025-06-17T20:48:46.294Z,1750193326.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839833 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:46.389Z,1750193326.389 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:48:46.437Z,1750193326.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524871
2025-06-17T20:48:46.670Z,1750193326.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:46.673Z,1750193326.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:46.675Z,1750193326.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 366.855316 m,
      bearing: 329.507192 deg,
      approach rate: -0.766096 m/s,
      LOS rate: -0.015820 deg/s,
      cmd heading: 334.597799 deg,
      new cmd heading: 334.579638 deg.

2025-06-17T20:48:46.677Z,1750193326.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839516 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:46.689Z,1750193326.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776814
2025-06-17T20:48:46.943Z,1750193326.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030853
2025-06-17T20:48:47.113Z,1750193327.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:47.116Z,1750193327.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 366.521454 m,
      bearing: 329.500557 deg,
      approach rate: -0.758706 m/s,
      LOS rate: -0.015093 deg/s,
      cmd heading: 334.579631 deg,
      new cmd heading: 334.559706 deg.

2025-06-17T20:48:47.117Z,1750193327.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839169 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:47.194Z,1750193327.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281397
2025-06-17T20:48:47.445Z,1750193327.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533096
2025-06-17T20:48:47.501Z,1750193327.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:47.504Z,1750193327.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 366.227966 m,
      bearing: 329.494759 deg,
      approach rate: -0.755597 m/s,
      LOS rate: -0.014938 deg/s,
      cmd heading: 334.559714 deg,
      new cmd heading: 334.542307 deg.

2025-06-17T20:48:47.505Z,1750193327.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838865 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:47.698Z,1750193327.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786226
2025-06-17T20:48:47.883Z,1750193327.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:47.886Z,1750193327.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 365.938385 m,
      bearing: 329.489039 deg,
      approach rate: -0.758108 m/s,
      LOS rate: -0.014988 deg/s,
      cmd heading: 334.542310 deg,
      new cmd heading: 334.525135 deg.

2025-06-17T20:48:47.887Z,1750193327.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838565 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:47.951Z,1750193327.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039121
2025-06-17T20:48:48.201Z,1750193328.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288994
2025-06-17T20:48:48.312Z,1750193328.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:48.314Z,1750193328.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 365.614868 m,
      bearing: 329.481751 deg,
      approach rate: -0.755272 m/s,
      LOS rate: -0.017029 deg/s,
      cmd heading: 334.525126 deg,
      new cmd heading: 334.503243 deg.

2025-06-17T20:48:48.315Z,1750193328.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838183 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:48.453Z,1750193328.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541036
2025-06-17T20:48:48.690Z,1750193328.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:48.692Z,1750193328.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:48.695Z,1750193328.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 365.327942 m,
      bearing: 329.475309 deg,
      approach rate: -0.754690 m/s,
      LOS rate: -0.016957 deg/s,
      cmd heading: 334.503242 deg,
      new cmd heading: 334.483901 deg.

2025-06-17T20:48:48.705Z,1750193328.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792876
2025-06-17T20:48:48.712Z,1750193328.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837845 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:48.960Z,1750193328.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047368
2025-06-17T20:48:49.113Z,1750193329.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:49.132Z,1750193329.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 365.008789 m,
      bearing: 329.468693 deg,
      approach rate: -0.757192 m/s,
      LOS rate: -0.015712 deg/s,
      cmd heading: 334.483899 deg,
      new cmd heading: 334.464032 deg.

2025-06-17T20:48:49.133Z,1750193329.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837499 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:49.209Z,1750193329.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297120
2025-06-17T20:48:49.461Z,1750193329.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548901
2025-06-17T20:48:49.514Z,1750193329.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:49.517Z,1750193329.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 364.705505 m,
      bearing: 329.462419 deg,
      approach rate: -0.756968 m/s,
      LOS rate: -0.015671 deg/s,
      cmd heading: 334.464036 deg,
      new cmd heading: 334.445200 deg.

2025-06-17T20:48:49.518Z,1750193329.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837170 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:49.714Z,1750193329.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802119
2025-06-17T20:48:49.909Z,1750193329.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:49.911Z,1750193329.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 364.407684 m,
      bearing: 329.456271 deg,
      approach rate: -0.754636 m/s,
      LOS rate: -0.015593 deg/s,
      cmd heading: 334.445212 deg,
      new cmd heading: 334.426751 deg.

2025-06-17T20:48:49.929Z,1750193329.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836848 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:49.967Z,1750193329.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055124
2025-06-17T20:48:50.217Z,1750193330.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304975
2025-06-17T20:48:50.349Z,1750193330.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:50.351Z,1750193330.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 364.072357 m,
      bearing: 329.449418 deg,
      approach rate: -0.761896 m/s,
      LOS rate: -0.015585 deg/s,
      cmd heading: 334.426744 deg,
      new cmd heading: 334.406166 deg.

2025-06-17T20:48:50.353Z,1750193330.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836489 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:50.469Z,1750193330.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556873
2025-06-17T20:48:50.718Z,1750193330.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:50.721Z,1750193330.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809055
2025-06-17T20:48:50.722Z,1750193330.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:50.725Z,1750193330.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 363.789246 m,
      bearing: 329.443645 deg,
      approach rate: -0.758646 m/s,
      LOS rate: -0.015480 deg/s,
      cmd heading: 334.406171 deg,
      new cmd heading: 334.388841 deg.

2025-06-17T20:48:50.726Z,1750193330.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836186 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:50.976Z,1750193330.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063247
2025-06-17T20:48:51.122Z,1750193331.122 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -19.07,      +00
2025-06-17T20:48:51.137Z,1750193331.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:51.140Z,1750193331.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 363.471375 m,
      bearing: 329.437175 deg,
      approach rate: -0.765549 m/s,
      LOS rate: -0.015598 deg/s,
      cmd heading: 334.388850 deg,
      new cmd heading: 334.369420 deg.

2025-06-17T20:48:51.141Z,1750193331.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835847 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:51.226Z,1750193331.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313860
2025-06-17T20:48:51.477Z,1750193331.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564949
2025-06-17T20:48:51.530Z,1750193331.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:51.533Z,1750193331.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 363.171967 m,
      bearing: 329.431122 deg,
      approach rate: -0.761812 m/s,
      LOS rate: -0.015413 deg/s,
      cmd heading: 334.369425 deg,
      new cmd heading: 334.351251 deg.

2025-06-17T20:48:51.534Z,1750193331.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835530 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:51.730Z,1750193331.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817769
2025-06-17T20:48:51.932Z,1750193331.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:51.935Z,1750193331.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 362.865997 m,
      bearing: 329.424967 deg,
      approach rate: -0.761694 m/s,
      LOS rate: -0.015335 deg/s,
      cmd heading: 334.351256 deg,
      new cmd heading: 334.332776 deg.

2025-06-17T20:48:51.936Z,1750193331.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835208 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:51.985Z,1750193331.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072270
2025-06-17T20:48:52.233Z,1750193332.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320937
2025-06-17T20:48:52.367Z,1750193332.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:52.370Z,1750193332.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 362.537109 m,
      bearing: 329.417857 deg,
      approach rate: -0.756242 m/s,
      LOS rate: -0.016364 deg/s,
      cmd heading: 334.332787 deg,
      new cmd heading: 334.311438 deg.

2025-06-17T20:48:52.371Z,1750193332.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834836 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:52.485Z,1750193332.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573371
2025-06-17T20:48:52.738Z,1750193332.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825417
2025-06-17T20:48:52.756Z,1750193332.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:52.759Z,1750193332.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:52.767Z,1750193332.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 362.258026 m,
      bearing: 329.411914 deg,
      approach rate: -0.711305 m/s,
      LOS rate: -0.015159 deg/s,
      cmd heading: 334.311450 deg,
      new cmd heading: 334.293607 deg.

2025-06-17T20:48:52.772Z,1750193332.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834524 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:52.990Z,1750193332.990 [DAT](INFO): Reached modem response timeout
2025-06-17T20:48:52.991Z,1750193332.991 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:48:52.992Z,1750193332.992 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:53.194Z,1750193333.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:53.201Z,1750193333.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 361.930817 m,
      bearing: 329.404611 deg,
      approach rate: -0.752822 m/s,
      LOS rate: -0.016818 deg/s,
      cmd heading: 334.293610 deg,
      new cmd heading: 334.271680 deg.

2025-06-17T20:48:53.202Z,1750193333.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834141 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:53.241Z,1750193333.241 [DAT](INFO): Reached modem response timeout
2025-06-17T20:48:53.241Z,1750193333.241 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:48:53.241Z,1750193333.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:53.493Z,1750193333.493 [DAT](INFO): Reached modem response timeout
2025-06-17T20:48:53.493Z,1750193333.493 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:48:53.493Z,1750193333.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:53.560Z,1750193333.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:53.563Z,1750193333.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 361.657196 m,
      bearing: 329.398557 deg,
      approach rate: -0.752561 m/s,
      LOS rate: -0.016661 deg/s,
      cmd heading: 334.271671 deg,
      new cmd heading: 334.253498 deg.

2025-06-17T20:48:53.564Z,1750193333.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833824 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:53.745Z,1750193333.745 [DAT](INFO): Reached modem response timeout
2025-06-17T20:48:53.745Z,1750193333.745 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:48:53.746Z,1750193333.746 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:53.944Z,1750193333.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:53.947Z,1750193333.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 361.355591 m,
      bearing: 329.391923 deg,
      approach rate: -0.780243 m/s,
      LOS rate: -0.017178 deg/s,
      cmd heading: 334.253503 deg,
      new cmd heading: 334.233582 deg.

2025-06-17T20:48:53.948Z,1750193333.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833477 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:53.997Z,1750193333.997 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:48:53.998Z,1750193333.998 [DAT](INFO): response not received
2025-06-17T20:48:53.998Z,1750193333.998 [DAT](INFO): DAT read: user:686>

2025-06-17T20:48:53.999Z,1750193333.999 [DAT](INFO): DAT read: Tx time:20:48:54.1337

2025-06-17T20:48:53.999Z,1750193333.999 [DAT](INFO): Ping request sent.
2025-06-17T20:48:53.999Z,1750193333.999 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:48:53.999Z,1750193333.999 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:54.000Z,1750193334.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000868
2025-06-17T20:48:54.249Z,1750193334.249 [DAT](INFO): DAT read: TxSync time:20:48:54.1330

2025-06-17T20:48:54.250Z,1750193334.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250555
2025-06-17T20:48:54.386Z,1750193334.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:54.389Z,1750193334.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 361.024811 m,
      bearing: 329.385475 deg,
      approach rate: -0.747635 m/s,
      LOS rate: -0.014586 deg/s,
      cmd heading: 334.233586 deg,
      new cmd heading: 334.214226 deg.

2025-06-17T20:48:54.390Z,1750193334.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833138 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:54.502Z,1750193334.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502345
2025-06-17T20:48:54.754Z,1750193334.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754402
2025-06-17T20:48:54.770Z,1750193334.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:54.773Z,1750193334.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:54.775Z,1750193334.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 360.736847 m,
      bearing: 329.379950 deg,
      approach rate: -0.745240 m/s,
      LOS rate: -0.014310 deg/s,
      cmd heading: 334.214215 deg,
      new cmd heading: 334.197627 deg.

2025-06-17T20:48:54.777Z,1750193334.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832849 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:55.008Z,1750193335.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007881
2025-06-17T20:48:55.228Z,1750193335.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:55.231Z,1750193335.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 360.419037 m,
      bearing: 329.374149 deg,
      approach rate: -0.697555 m/s,
      LOS rate: -0.012744 deg/s,
      cmd heading: 334.197632 deg,
      new cmd heading: 334.180213 deg.

2025-06-17T20:48:55.236Z,1750193335.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832545 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:55.257Z,1750193335.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257672
2025-06-17T20:48:55.509Z,1750193335.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509601
2025-06-17T20:48:55.588Z,1750193335.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:55.591Z,1750193335.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 360.132812 m,
      bearing: 329.368857 deg,
      approach rate: -0.804709 m/s,
      LOS rate: -0.014890 deg/s,
      cmd heading: 334.180201 deg,
      new cmd heading: 334.164313 deg.

2025-06-17T20:48:55.597Z,1750193335.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832267 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:55.762Z,1750193335.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762648
2025-06-17T20:48:55.978Z,1750193335.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:55.981Z,1750193335.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 359.826569 m,
      bearing: 329.363173 deg,
      approach rate: -0.777511 m/s,
      LOS rate: -0.014444 deg/s,
      cmd heading: 334.164300 deg,
      new cmd heading: 334.147233 deg.

2025-06-17T20:48:55.982Z,1750193335.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831969 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:56.014Z,1750193336.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014155
2025-06-17T20:48:56.265Z,1750193336.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265626
2025-06-17T20:48:56.397Z,1750193336.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:56.399Z,1750193336.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 359.513824 m,
      bearing: 329.357173 deg,
      approach rate: -0.746853 m/s,
      LOS rate: -0.014341 deg/s,
      cmd heading: 334.147225 deg,
      new cmd heading: 334.129209 deg.

2025-06-17T20:48:56.401Z,1750193336.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831655 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:56.517Z,1750193336.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517661
2025-06-17T20:48:56.769Z,1750193336.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769801
2025-06-17T20:48:56.782Z,1750193336.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:56.785Z,1750193336.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:56.787Z,1750193336.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 359.223663 m,
      bearing: 329.351659 deg,
      approach rate: -0.747526 m/s,
      LOS rate: -0.014217 deg/s,
      cmd heading: 334.129221 deg,
      new cmd heading: 334.112664 deg.

2025-06-17T20:48:56.789Z,1750193336.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831366 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:57.021Z,1750193337.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021751
2025-06-17T20:48:57.205Z,1750193337.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:57.207Z,1750193337.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 358.906647 m,
      bearing: 329.345706 deg,
      approach rate: -0.756110 m/s,
      LOS rate: -0.014210 deg/s,
      cmd heading: 334.112664 deg,
      new cmd heading: 334.094791 deg.

2025-06-17T20:48:57.209Z,1750193337.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831054 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:57.274Z,1750193337.274 [DAT](INFO): DAT read: Rx Time:20:48:57.0392

2025-06-17T20:48:57.275Z,1750193337.275 [DAT](INFO): Rx dataTimestamp_ set to:1750193337.274363
2025-06-17T20:48:57.276Z,1750193337.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276391
2025-06-17T20:48:57.525Z,1750193337.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525882
2025-06-17T20:48:57.591Z,1750193337.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:57.594Z,1750193337.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 358.614624 m,
      bearing: 329.340304 deg,
      approach rate: -0.753887 m/s,
      LOS rate: -0.013958 deg/s,
      cmd heading: 334.094796 deg,
      new cmd heading: 334.078576 deg.

2025-06-17T20:48:57.595Z,1750193337.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830771 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:57.781Z,1750193337.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780985
2025-06-17T20:48:57.985Z,1750193337.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.10 m.
2025-06-17T20:48:57.988Z,1750193337.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.098053 m,
      nav range: 358.317505 m,
      bearing: 329.334869 deg,
      approach rate: -0.754037 m/s,
      LOS rate: -0.013805 deg/s,
      cmd heading: 334.078568 deg,
      new cmd heading: 334.062249 deg.

2025-06-17T20:48:57.989Z,1750193337.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830486 target range: 390.098053 and range: 386.00 m.
2025-06-17T20:48:58.039Z,1750193338.039 [DAT](INFO): DAT read: 20:48:57.0392 LVL= 21792, 32721, 20114, 32755, AGC= 76, IDX= 265,-0.39,-0.238,-1.701,-0.118,-0.833, PHS= 0.684,-0.820, 0.713, RAW= 150.9,  -7.6, CAL= 156.5, -15.7, ROT= 353.5,  15.7

2025-06-17T20:48:58.044Z,1750193338.044 [DAT](INFO): got valid direction response:
 20:48:57.0392 LVL= 21792, 32721, 20114, 32755, AGC= 76, IDX= 265,-0.39,-0.238,-1.701,-0.118,-0.833, PHS= 0.684,-0.820, 0.713, RAW= 150.9,  -7.6, CAL= 156.5, -15.7, ROT= 353.5,  15.7

2025-06-17T20:48:58.047Z,1750193338.047 [DAT](INFO): DAT read: Bearing 353.5,  15.7 (Local)

2025-06-17T20:48:58.060Z,1750193338.060 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.5,  15.7 (Local)

2025-06-17T20:48:58.065Z,1750193338.065 [DAT](INFO): DAT read: Range 10 to 50 : 375.9 m  (Round-trip  501.2 ms) speed  0.4 m/s

2025-06-17T20:48:58.067Z,1750193338.067 [DAT](INFO): DAT read: user:687>

2025-06-17T20:48:58.075Z,1750193338.075 [DAT](INFO): DAT read: Tx time:20:48:58.1338

2025-06-17T20:48:58.081Z,1750193338.081 [DAT](INFO): Ping request sent.
2025-06-17T20:48:58.082Z,1750193338.082 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:48:58.083Z,1750193338.083 [DAT](INFO): DAT read: TxSync time:20:48:58.1331

2025-06-17T20:48:58.090Z,1750193338.090 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:48:58.106Z,1750193338.106 [DAT](INFO): direction in FSK: [0.956503,-0.108980,-0.270600]
2025-06-17T20:48:58.107Z,1750193338.107 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:58.112Z,1750193338.112 [DAT](INFO): publishing direction and range info
2025-06-17T20:48:58.138Z,1750193338.138 [DAT](INFO): publishing transmit ping time
2025-06-17T20:48:58.138Z,1750193338.138 [DAT](INFO): publishing direction and range info
2025-06-17T20:48:58.454Z,1750193338.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 375.899994 m,
      deltaT: 15.121099 s,
      deltaX: -10.100006 m,
      approachRate: -0.667941 m/s,
      rangeRepo size: 4

2025-06-17T20:48:58.457Z,1750193338.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 372.461792 m,
      bearing: 328.954209 deg,
      lat: 36.905939 deg,
      lon: -122.116028 deg,
      deltaT: 23.189383 s,
      deltaX: -17.636261 m,
      approachRate: -0.760532 m/s,
      posRepo size: 4

2025-06-17T20:48:58.457Z,1750193338.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.46 m.
2025-06-17T20:48:58.460Z,1750193338.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.461792 m,
      nav range: 354.891479 m,
      bearing: 328.955281 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013805 deg/s,
      cmd heading: 334.062257 deg,
      new cmd heading: 334.042871 deg.

2025-06-17T20:48:58.461Z,1750193338.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830148 target range: 372.461792 and range: 375.90 m.
2025-06-17T20:48:58.800Z,1750193338.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:48:58.803Z,1750193338.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.46 m.
2025-06-17T20:48:58.805Z,1750193338.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.461792 m,
      nav range: 354.605560 m,
      bearing: 328.950106 deg,
      approach rate: -0.819241 m/s,
      LOS rate: -0.014841 deg/s,
      cmd heading: 334.042860 deg,
      new cmd heading: 334.027320 deg.

2025-06-17T20:48:58.806Z,1750193338.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829876 target range: 372.461792 and range: 375.90 m.
2025-06-17T20:48:59.037Z,1750193339.037 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:48:59.037Z,1750193339.037 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:48:59.038Z,1750193339.038 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:48:59.221Z,1750193339.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.46 m.
2025-06-17T20:48:59.224Z,1750193339.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.461792 m,
      nav range: 354.284912 m,
      bearing: 328.943308 deg,
      approach rate: -0.765530 m/s,
      LOS rate: -0.016244 deg/s,
      cmd heading: 334.027314 deg,
      new cmd heading: 334.006902 deg.

2025-06-17T20:48:59.225Z,1750193339.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829520 target range: 372.461792 and range: 375.90 m.
2025-06-17T20:48:59.290Z,1750193339.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.208262
2025-06-17T20:48:59.541Z,1750193339.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.459696
2025-06-17T20:48:59.607Z,1750193339.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.46 m.
2025-06-17T20:48:59.610Z,1750193339.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.461792 m,
      nav range: 353.989624 m,
      bearing: 328.937069 deg,
      approach rate: -0.765328 m/s,
      LOS rate: -0.016184 deg/s,
      cmd heading: 334.006906 deg,
      new cmd heading: 333.988173 deg.

2025-06-17T20:48:59.611Z,1750193339.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829193 target range: 372.461792 and range: 375.90 m.
2025-06-17T20:48:59.796Z,1750193339.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714277
2025-06-17T20:49:00.003Z,1750193340.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.46 m.
2025-06-17T20:49:00.007Z,1750193340.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.461792 m,
      nav range: 353.686737 m,
      bearing: 328.930621 deg,
      approach rate: -0.764903 m/s,
      LOS rate: -0.016298 deg/s,
      cmd heading: 333.988163 deg,
      new cmd heading: 333.968802 deg.

2025-06-17T20:49:00.008Z,1750193340.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828855 target range: 372.461792 and range: 375.90 m.
2025-06-17T20:49:00.045Z,1750193340.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963545
2025-06-17T20:49:00.297Z,1750193340.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215478
2025-06-17T20:49:00.441Z,1750193340.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.46 m.
2025-06-17T20:49:00.468Z,1750193340.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.461792 m,
      nav range: 353.360443 m,
      bearing: 328.923841 deg,
      approach rate: -0.745355 m/s,
      LOS rate: -0.015500 deg/s,
      cmd heading: 333.968793 deg,
      new cmd heading: 333.948436 deg.

2025-06-17T20:49:00.469Z,1750193340.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828500 target range: 372.461792 and range: 375.90 m.
2025-06-17T20:49:00.551Z,1750193340.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469708
2025-06-17T20:49:00.805Z,1750193340.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723524
2025-06-17T20:49:00.811Z,1750193340.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:00.814Z,1750193340.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.46 m.
2025-06-17T20:49:00.837Z,1750193340.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.461792 m,
      nav range: 353.075592 m,
      bearing: 328.917888 deg,
      approach rate: -0.764215 m/s,
      LOS rate: -0.015986 deg/s,
      cmd heading: 333.948439 deg,
      new cmd heading: 333.930563 deg.

2025-06-17T20:49:00.838Z,1750193340.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828188 target range: 372.461792 and range: 375.90 m.
2025-06-17T20:49:01.058Z,1750193341.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976755
2025-06-17T20:49:01.249Z,1750193341.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.46 m.
2025-06-17T20:49:01.258Z,1750193341.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.461792 m,
      nav range: 352.756042 m,
      bearing: 328.911014 deg,
      approach rate: -0.733462 m/s,
      LOS rate: -0.015792 deg/s,
      cmd heading: 333.930571 deg,
      new cmd heading: 333.909931 deg.

2025-06-17T20:49:01.259Z,1750193341.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827828 target range: 372.461792 and range: 375.90 m.
2025-06-17T20:49:01.309Z,1750193341.309 [DAT](INFO): DAT read: Rx Time:20:49:01.0358

2025-06-17T20:49:01.309Z,1750193341.309 [DAT](INFO): Rx dataTimestamp_ set to:1750193341.309154
2025-06-17T20:49:01.310Z,1750193341.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228638
2025-06-17T20:49:01.562Z,1750193341.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480703
2025-06-17T20:49:01.628Z,1750193341.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.46 m.
2025-06-17T20:49:01.630Z,1750193341.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.461792 m,
      nav range: 352.457306 m,
      bearing: 328.904532 deg,
      approach rate: -0.789964 m/s,
      LOS rate: -0.017155 deg/s,
      cmd heading: 333.909944 deg,
      new cmd heading: 333.890482 deg.

2025-06-17T20:49:01.631Z,1750193341.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827488 target range: 372.461792 and range: 375.90 m.
2025-06-17T20:49:01.838Z,1750193341.838 [DAT](INFO): DAT read: 20:49:01.0358 LVL= 23792, 21937, 16978, 32755, AGC= 70, IDX= 406,-0.15,-1.767, 3.064,-1.824,-2.432, PHS= 0.753,-0.740, 0.605, RAW= 144.8,  -8.7, CAL= 151.3, -17.6, ROT= 358.7,  17.6

2025-06-17T20:49:01.839Z,1750193341.839 [DAT](INFO): got valid direction response:
 20:49:01.0358 LVL= 23792, 21937, 16978, 32755, AGC= 70, IDX= 406,-0.15,-1.767, 3.064,-1.824,-2.432, PHS= 0.753,-0.740, 0.605, RAW= 144.8,  -8.7, CAL= 151.3, -17.6, ROT= 358.7,  17.6

2025-06-17T20:49:01.840Z,1750193341.840 [DAT](INFO): DAT read: Bearing 358.7,  17.6 (Local)

2025-06-17T20:49:01.840Z,1750193341.840 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.7,  17.6 (Local)

2025-06-17T20:49:01.842Z,1750193341.842 [DAT](INFO): DAT read: Range 10 to 50 : 373.3 m  (Round-trip  497.8 ms) speed  0.5 m/s

2025-06-17T20:49:01.843Z,1750193341.843 [DAT](INFO): DAT read: user:688>

2025-06-17T20:49:01.845Z,1750193341.845 [DAT](INFO): DAT read: Tx time:20:49:02.1338

2025-06-17T20:49:01.845Z,1750193341.845 [DAT](INFO): Ping request sent.
2025-06-17T20:49:01.845Z,1750193341.845 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:01.846Z,1750193341.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:49:01.847Z,1750193341.847 [DAT](INFO): direction in FSK: [0.952945,-0.021625,-0.302370]
2025-06-17T20:49:01.847Z,1750193341.847 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:01.849Z,1750193341.849 [DAT](INFO): publishing direction and range info
2025-06-17T20:49:01.852Z,1750193341.852 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:01.853Z,1750193341.853 [DAT](INFO): publishing direction and range info
2025-06-17T20:49:02.065Z,1750193342.065 [DAT](INFO): DAT read: TxSync time:20:49:02.1331

2025-06-17T20:49:02.067Z,1750193342.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 373.299988 m,
      deltaT: 3.786873 s,
      deltaX: -2.600006 m,
      approachRate: -0.686584 m/s,
      rangeRepo size: 4

2025-06-17T20:49:02.073Z,1750193342.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 369.884613 m,
      bearing: 334.331882 deg,
      lat: 36.905939 deg,
      lon: -122.116028 deg,
      deltaT: 3.786873 s,
      deltaX: -2.577179 m,
      approachRate: -0.680556 m/s,
      posRepo size: 4

2025-06-17T20:49:02.074Z,1750193342.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:02.081Z,1750193342.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 352.142090 m,
      bearing: 328.897656 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017155 deg/s,
      cmd heading: 333.890492 deg,
      new cmd heading: 333.868255 deg.

2025-06-17T20:49:02.082Z,1750193342.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827100 target range: 369.884613 and range: 373.30 m.
2025-06-17T20:49:02.479Z,1750193342.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:02.486Z,1750193342.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 351.831665 m,
      bearing: 328.891037 deg,
      approach rate: -0.739536 m/s,
      LOS rate: -0.015784 deg/s,
      cmd heading: 333.868253 deg,
      new cmd heading: 333.848376 deg.

2025-06-17T20:49:02.487Z,1750193342.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826753 target range: 369.884613 and range: 373.30 m.
2025-06-17T20:49:02.845Z,1750193342.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:02.848Z,1750193342.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:02.850Z,1750193342.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 351.541992 m,
      bearing: 328.884908 deg,
      approach rate: -0.786926 m/s,
      LOS rate: -0.016664 deg/s,
      cmd heading: 333.848363 deg,
      new cmd heading: 333.829961 deg.

2025-06-17T20:49:02.851Z,1750193342.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826432 target range: 369.884613 and range: 373.30 m.
2025-06-17T20:49:03.073Z,1750193343.073 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:03.073Z,1750193343.073 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:03.074Z,1750193343.074 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:03.287Z,1750193343.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:03.289Z,1750193343.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 351.212677 m,
      bearing: 328.877510 deg,
      approach rate: -0.750159 m/s,
      LOS rate: -0.016866 deg/s,
      cmd heading: 333.829949 deg,
      new cmd heading: 333.807736 deg.

2025-06-17T20:49:03.290Z,1750193343.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826044 target range: 369.884613 and range: 373.30 m.
2025-06-17T20:49:03.325Z,1750193343.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480388
2025-06-17T20:49:03.577Z,1750193343.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731958
2025-06-17T20:49:03.692Z,1750193343.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:03.695Z,1750193343.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 350.934418 m,
      bearing: 328.871232 deg,
      approach rate: -0.685631 m/s,
      LOS rate: -0.015481 deg/s,
      cmd heading: 333.807737 deg,
      new cmd heading: 333.788889 deg.

2025-06-17T20:49:03.701Z,1750193343.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825715 target range: 369.884613 and range: 373.30 m.
2025-06-17T20:49:03.829Z,1750193343.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984308
2025-06-17T20:49:04.081Z,1750193344.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236254
2025-06-17T20:49:04.084Z,1750193344.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:04.087Z,1750193344.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 350.633118 m,
      bearing: 328.864386 deg,
      approach rate: -0.777834 m/s,
      LOS rate: -0.017689 deg/s,
      cmd heading: 333.788886 deg,
      new cmd heading: 333.768330 deg.

2025-06-17T20:49:04.100Z,1750193344.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825356 target range: 369.884613 and range: 373.30 m.
2025-06-17T20:49:04.333Z,1750193344.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487806
2025-06-17T20:49:04.492Z,1750193344.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:04.495Z,1750193344.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 350.311310 m,
      bearing: 328.857761 deg,
      approach rate: -0.780702 m/s,
      LOS rate: -0.016088 deg/s,
      cmd heading: 333.768341 deg,
      new cmd heading: 333.748446 deg.

2025-06-17T20:49:04.496Z,1750193344.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825009 target range: 369.884613 and range: 373.30 m.
2025-06-17T20:49:04.585Z,1750193344.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739829
2025-06-17T20:49:04.837Z,1750193344.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991766
2025-06-17T20:49:04.869Z,1750193344.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:04.871Z,1750193344.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:04.874Z,1750193344.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 350.027802 m,
      bearing: 328.851922 deg,
      approach rate: -0.747052 m/s,
      LOS rate: -0.015398 deg/s,
      cmd heading: 333.748451 deg,
      new cmd heading: 333.730921 deg.

2025-06-17T20:49:04.875Z,1750193344.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824703 target range: 369.884613 and range: 373.30 m.
2025-06-17T20:49:05.090Z,1750193345.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245003
2025-06-17T20:49:05.311Z,1750193345.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:05.315Z,1750193345.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 349.694183 m,
      bearing: 328.844583 deg,
      approach rate: -0.758211 m/s,
      LOS rate: -0.016695 deg/s,
      cmd heading: 333.730911 deg,
      new cmd heading: 333.708874 deg.

2025-06-17T20:49:05.316Z,1750193345.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824318 target range: 369.884613 and range: 373.30 m.
2025-06-17T20:49:05.341Z,1750193345.341 [DAT](INFO): DAT read: Rx Time:20:49:05.0327

2025-06-17T20:49:05.341Z,1750193345.341 [DAT](INFO): Rx dataTimestamp_ set to:1750193345.340992
2025-06-17T20:49:05.342Z,1750193345.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497173
2025-06-17T20:49:05.593Z,1750193345.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747732
2025-06-17T20:49:05.700Z,1750193345.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:05.703Z,1750193345.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 349.412048 m,
      bearing: 328.838370 deg,
      approach rate: -0.734048 m/s,
      LOS rate: -0.016179 deg/s,
      cmd heading: 333.708863 deg,
      new cmd heading: 333.690208 deg.

2025-06-17T20:49:05.708Z,1750193345.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823993 target range: 369.884613 and range: 373.30 m.
2025-06-17T20:49:05.846Z,1750193345.846 [DAT](INFO): DAT read: Range 10 to 50 : 371.0 m  (Round-trip  494.7 ms) speed  0.3 m/s

2025-06-17T20:49:05.847Z,1750193345.847 [DAT](INFO): DAT read: user:689>

2025-06-17T20:49:05.847Z,1750193345.847 [DAT](INFO): DAT read: Tx time:20:49:06.1338

2025-06-17T20:49:05.848Z,1750193345.848 [DAT](INFO): Ping request sent.
2025-06-17T20:49:05.849Z,1750193345.849 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:05.849Z,1750193345.849 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:49:05.849Z,1750193345.849 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:05.850Z,1750193345.850 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:06.098Z,1750193346.098 [DAT](INFO): DAT read: TxSync time:20:49:06.1331

2025-06-17T20:49:06.161Z,1750193346.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 371.000000 m,
      deltaT: 4.028026 s,
      deltaX: -2.299988 m,
      approachRate: -0.570996 m/s,
      rangeRepo size: 4

2025-06-17T20:49:06.161Z,1750193346.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:06.168Z,1750193346.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 349.051971 m,
      bearing: 328.830457 deg,
      approach rate: -0.776284 m/s,
      LOS rate: -0.017077 deg/s,
      cmd heading: 333.690203 deg,
      new cmd heading: 333.666441 deg.

2025-06-17T20:49:06.169Z,1750193346.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823578 target range: 369.884613 and range: 371.00 m.
2025-06-17T20:49:06.584Z,1750193346.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:06.587Z,1750193346.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 348.732910 m,
      bearing: 328.824424 deg,
      approach rate: -0.751911 m/s,
      LOS rate: -0.014232 deg/s,
      cmd heading: 333.666434 deg,
      new cmd heading: 333.648317 deg.

2025-06-17T20:49:06.588Z,1750193346.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823262 target range: 369.884613 and range: 371.00 m.
2025-06-17T20:49:06.956Z,1750193346.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:06.958Z,1750193346.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:06.961Z,1750193346.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 348.452240 m,
      bearing: 328.819194 deg,
      approach rate: -0.750620 m/s,
      LOS rate: -0.013997 deg/s,
      cmd heading: 333.648321 deg,
      new cmd heading: 333.632619 deg.

2025-06-17T20:49:06.962Z,1750193346.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822988 target range: 369.884613 and range: 371.00 m.
2025-06-17T20:49:07.105Z,1750193347.105 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:07.105Z,1750193347.105 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:07.105Z,1750193347.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:07.357Z,1750193347.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508319
2025-06-17T20:49:07.391Z,1750193347.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:07.394Z,1750193347.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 348.132355 m,
      bearing: 328.812589 deg,
      approach rate: -0.740930 m/s,
      LOS rate: -0.015313 deg/s,
      cmd heading: 333.632611 deg,
      new cmd heading: 333.612778 deg.

2025-06-17T20:49:07.395Z,1750193347.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822641 target range: 369.884613 and range: 371.00 m.
2025-06-17T20:49:07.609Z,1750193347.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760929
2025-06-17T20:49:07.777Z,1750193347.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:07.782Z,1750193347.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 347.840271 m,
      bearing: 328.806526 deg,
      approach rate: -0.753315 m/s,
      LOS rate: -0.015651 deg/s,
      cmd heading: 333.612776 deg,
      new cmd heading: 333.594571 deg.

2025-06-17T20:49:07.786Z,1750193347.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822324 target range: 369.884613 and range: 371.00 m.
2025-06-17T20:49:07.862Z,1750193347.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013067
2025-06-17T20:49:08.113Z,1750193348.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264278
2025-06-17T20:49:08.202Z,1750193348.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:08.209Z,1750193348.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 347.543152 m,
      bearing: 328.800269 deg,
      approach rate: -0.699474 m/s,
      LOS rate: -0.014742 deg/s,
      cmd heading: 333.594581 deg,
      new cmd heading: 333.575795 deg.

2025-06-17T20:49:08.210Z,1750193348.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821996 target range: 369.884613 and range: 371.00 m.
2025-06-17T20:49:08.368Z,1750193348.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519637
2025-06-17T20:49:08.606Z,1750193348.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:08.609Z,1750193348.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 347.221252 m,
      bearing: 328.794294 deg,
      approach rate: -0.797199 m/s,
      LOS rate: -0.014812 deg/s,
      cmd heading: 333.575784 deg,
      new cmd heading: 333.557841 deg.

2025-06-17T20:49:08.610Z,1750193348.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821682 target range: 369.884613 and range: 371.00 m.
2025-06-17T20:49:08.621Z,1750193348.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772328
2025-06-17T20:49:08.873Z,1750193348.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024681
2025-06-17T20:49:09.009Z,1750193349.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:09.011Z,1750193349.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:09.030Z,1750193349.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 346.936554 m,
      bearing: 328.788975 deg,
      approach rate: -0.703069 m/s,
      LOS rate: -0.013146 deg/s,
      cmd heading: 333.557834 deg,
      new cmd heading: 333.541865 deg.

2025-06-17T20:49:09.031Z,1750193349.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821404 target range: 369.884613 and range: 371.00 m.
2025-06-17T20:49:09.126Z,1750193349.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277050
2025-06-17T20:49:09.377Z,1750193349.377 [DAT](INFO): DAT read: Rx Time:20:49:09.0304

2025-06-17T20:49:09.377Z,1750193349.377 [DAT](INFO): Rx dataTimestamp_ set to:1750193349.377077
2025-06-17T20:49:09.378Z,1750193349.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529362
2025-06-17T20:49:09.434Z,1750193349.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:09.448Z,1750193349.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 346.619751 m,
      bearing: 328.782607 deg,
      approach rate: -0.748126 m/s,
      LOS rate: -0.015052 deg/s,
      cmd heading: 333.541852 deg,
      new cmd heading: 333.522729 deg.

2025-06-17T20:49:09.449Z,1750193349.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821070 target range: 369.884613 and range: 371.00 m.
2025-06-17T20:49:09.629Z,1750193349.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780200
2025-06-17T20:49:09.838Z,1750193349.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.88 m.
2025-06-17T20:49:09.840Z,1750193349.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.884613 m,
      nav range: 346.296539 m,
      bearing: 328.776129 deg,
      approach rate: -0.801608 m/s,
      LOS rate: -0.016081 deg/s,
      cmd heading: 333.522727 deg,
      new cmd heading: 333.503276 deg.

2025-06-17T20:49:09.841Z,1750193349.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820730 target range: 369.884613 and range: 371.00 m.
2025-06-17T20:49:09.887Z,1750193349.887 [DAT](INFO): DAT read: 20:49:09.0304 LVL= 30848, 32753, 24770, 32755, AGC= 71, IDX= 397, 0.01,-1.340,-2.961,-1.237,-2.041, PHS= 0.789,-0.873, 0.801, RAW= 150.3,  -8.6, CAL= 156.3, -16.7, ROT= 353.7,  16.7

2025-06-17T20:49:09.889Z,1750193349.889 [DAT](INFO): got valid direction response:
 20:49:09.0304 LVL= 30848, 32753, 24770, 32755, AGC= 71, IDX= 397, 0.01,-1.340,-2.961,-1.237,-2.041, PHS= 0.789,-0.873, 0.801, RAW= 150.3,  -8.6, CAL= 156.3, -16.7, ROT= 353.7,  16.7

2025-06-17T20:49:09.890Z,1750193349.890 [DAT](INFO): DAT read: Bearing 353.7,  16.7 (Local)

2025-06-17T20:49:09.890Z,1750193349.890 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.7,  16.7 (Local)

2025-06-17T20:49:09.893Z,1750193349.893 [DAT](INFO): DAT read: Range 10 to 50 : 369.3 m  (Round-trip  492.4 ms) speed  0.7 m/s

2025-06-17T20:49:09.894Z,1750193349.894 [DAT](INFO): DAT read: user:690>

2025-06-17T20:49:09.895Z,1750193349.895 [DAT](INFO): DAT read: Tx time:20:49:10.1338

2025-06-17T20:49:09.896Z,1750193349.896 [DAT](INFO): Ping request sent.
2025-06-17T20:49:09.896Z,1750193349.896 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:09.897Z,1750193349.897 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:49:09.898Z,1750193349.898 [DAT](INFO): direction in FSK: [0.952038,-0.105106,-0.287361]
2025-06-17T20:49:09.898Z,1750193349.898 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:09.899Z,1750193349.899 [DAT](INFO): publishing direction and range info
2025-06-17T20:49:09.904Z,1750193349.904 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:09.904Z,1750193349.904 [DAT](INFO): publishing direction and range info
2025-06-17T20:49:10.133Z,1750193350.133 [DAT](INFO): DAT read: TxSync time:20:49:10.1331

2025-06-17T20:49:10.237Z,1750193350.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 369.299988 m,
      deltaT: 4.036134 s,
      deltaX: -1.700012 m,
      approachRate: -0.421198 m/s,
      rangeRepo size: 4

2025-06-17T20:49:10.239Z,1750193350.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 365.921082 m,
      bearing: 329.026107 deg,
      lat: 36.905964 deg,
      lon: -122.116026 deg,
      deltaT: 8.064160 s,
      deltaX: -3.963531 m,
      approachRate: -0.491500 m/s,
      posRepo size: 4

2025-06-17T20:49:10.254Z,1750193350.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.92 m.
2025-06-17T20:49:10.272Z,1750193350.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.921082 m,
      nav range: 348.255707 m,
      bearing: 329.027157 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016081 deg/s,
      cmd heading: 333.503275 deg,
      new cmd heading: 333.484024 deg.

2025-06-17T20:49:10.276Z,1750193350.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820394 target range: 365.921082 and range: 369.30 m.
2025-06-17T20:49:10.647Z,1750193350.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.92 m.
2025-06-17T20:49:10.650Z,1750193350.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.921082 m,
      nav range: 347.921478 m,
      bearing: 329.020462 deg,
      approach rate: -0.814262 m/s,
      LOS rate: -0.016325 deg/s,
      cmd heading: 333.484014 deg,
      new cmd heading: 333.463911 deg.

2025-06-17T20:49:10.651Z,1750193350.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820043 target range: 365.921082 and range: 369.30 m.
2025-06-17T20:49:10.996Z,1750193350.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.92 m.
2025-06-17T20:49:10.999Z,1750193350.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.921082 m,
      nav range: 347.652405 m,
      bearing: 329.015077 deg,
      approach rate: -0.771404 m/s,
      LOS rate: -0.015450 deg/s,
      cmd heading: 333.463905 deg,
      new cmd heading: 333.447738 deg.

2025-06-17T20:49:10.000Z,1750193351.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819761 target range: 365.921082 and range: 369.30 m.
2025-06-17T20:49:11.420Z,1750193351.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:11.422Z,1750193351.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.92 m.
2025-06-17T20:49:11.425Z,1750193351.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.921082 m,
      nav range: 347.327942 m,
      bearing: 329.009161 deg,
      approach rate: -0.761350 m/s,
      LOS rate: -0.013895 deg/s,
      cmd heading: 333.447732 deg,
      new cmd heading: 333.429967 deg.

2025-06-17T20:49:11.426Z,1750193351.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819451 target range: 365.921082 and range: 369.30 m.
2025-06-17T20:49:11.653Z,1750193351.653 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:11.653Z,1750193351.653 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:11.653Z,1750193351.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:11.820Z,1750193351.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.92 m.
2025-06-17T20:49:11.823Z,1750193351.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.921082 m,
      nav range: 347.036407 m,
      bearing: 329.003947 deg,
      approach rate: -0.733383 m/s,
      LOS rate: -0.013129 deg/s,
      cmd heading: 333.429973 deg,
      new cmd heading: 333.414316 deg.

2025-06-17T20:49:11.824Z,1750193351.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819178 target range: 365.921082 and range: 369.30 m.
2025-06-17T20:49:11.906Z,1750193351.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010592
2025-06-17T20:49:12.157Z,1750193352.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261102
2025-06-17T20:49:12.207Z,1750193352.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.92 m.
2025-06-17T20:49:12.210Z,1750193352.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.921082 m,
      nav range: 346.728271 m,
      bearing: 328.998513 deg,
      approach rate: -0.794568 m/s,
      LOS rate: -0.014023 deg/s,
      cmd heading: 333.414318 deg,
      new cmd heading: 333.398004 deg.

2025-06-17T20:49:12.211Z,1750193352.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818893 target range: 365.921082 and range: 369.30 m.
2025-06-17T20:49:12.409Z,1750193352.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513111
2025-06-17T20:49:12.636Z,1750193352.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.92 m.
2025-06-17T20:49:12.639Z,1750193352.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.921082 m,
      nav range: 346.402069 m,
      bearing: 328.992794 deg,
      approach rate: -0.761534 m/s,
      LOS rate: -0.013365 deg/s,
      cmd heading: 333.398008 deg,
      new cmd heading: 333.380833 deg.

2025-06-17T20:49:12.640Z,1750193352.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818593 target range: 365.921082 and range: 369.30 m.
2025-06-17T20:49:12.661Z,1750193352.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765249
2025-06-17T20:49:12.917Z,1750193352.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020660
2025-06-17T20:49:13.018Z,1750193353.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.92 m.
2025-06-17T20:49:13.020Z,1750193353.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.921082 m,
      nav range: 346.110107 m,
      bearing: 328.987694 deg,
      approach rate: -0.764526 m/s,
      LOS rate: -0.013366 deg/s,
      cmd heading: 333.380823 deg,
      new cmd heading: 333.365511 deg.

2025-06-17T20:49:13.021Z,1750193353.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818326 target range: 365.921082 and range: 369.30 m.
2025-06-17T20:49:13.165Z,1750193353.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269051
2025-06-17T20:49:13.417Z,1750193353.417 [DAT](INFO): DAT read: Rx Time:20:49:13.0224

2025-06-17T20:49:13.417Z,1750193353.417 [DAT](INFO): Rx dataTimestamp_ set to:1750193353.417190
2025-06-17T20:49:13.418Z,1750193353.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522350
2025-06-17T20:49:13.485Z,1750193353.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:13.487Z,1750193353.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.92 m.
2025-06-17T20:49:13.490Z,1750193353.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.921082 m,
      nav range: 345.754944 m,
      bearing: 328.981321 deg,
      approach rate: -0.756037 m/s,
      LOS rate: -0.013581 deg/s,
      cmd heading: 333.365523 deg,
      new cmd heading: 333.346383 deg.

2025-06-17T20:49:13.491Z,1750193353.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817992 target range: 365.921082 and range: 369.30 m.
2025-06-17T20:49:13.669Z,1750193353.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773068
2025-06-17T20:49:13.853Z,1750193353.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.92 m.
2025-06-17T20:49:13.856Z,1750193353.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.921082 m,
      nav range: 345.477600 m,
      bearing: 328.976357 deg,
      approach rate: -0.758197 m/s,
      LOS rate: -0.013580 deg/s,
      cmd heading: 333.346372 deg,
      new cmd heading: 333.331469 deg.

2025-06-17T20:49:13.857Z,1750193353.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817732 target range: 365.921082 and range: 369.30 m.
2025-06-17T20:49:13.927Z,1750193353.927 [DAT](INFO): DAT read: 20:49:13.0224 LVL= 24768, 22593, 22962, 32755, AGC= 72, IDX= 363, 0.39,-3.128, 1.720,-3.071, 2.530, PHS= 0.713,-0.762, 0.679, RAW= 148.8,  -8.7, CAL= 154.9, -16.9, ROT= 355.1,  16.9

2025-06-17T20:49:13.929Z,1750193353.929 [DAT](INFO): got valid direction response:
 20:49:13.0224 LVL= 24768, 22593, 22962, 32755, AGC= 72, IDX= 363, 0.39,-3.128, 1.720,-3.071, 2.530, PHS= 0.713,-0.762, 0.679, RAW= 148.8,  -8.7, CAL= 154.9, -16.9, ROT= 355.1,  16.9

2025-06-17T20:49:13.930Z,1750193353.930 [DAT](INFO): DAT read: Bearing 355.1,  16.9 (Local)

2025-06-17T20:49:13.930Z,1750193353.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  16.9 (Local)

2025-06-17T20:49:13.932Z,1750193353.932 [DAT](INFO): DAT read: Range 10 to 50 : 363.2 m  (Round-trip  484.3 ms) speed  0.3 m/s

2025-06-17T20:49:13.933Z,1750193353.933 [DAT](INFO): DAT read: user:691>

2025-06-17T20:49:13.934Z,1750193353.934 [DAT](INFO): DAT read: Tx time:20:49:14.1355

2025-06-17T20:49:13.934Z,1750193353.934 [DAT](INFO): Ping request sent.
2025-06-17T20:49:13.934Z,1750193353.934 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:13.934Z,1750193353.934 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:49:13.935Z,1750193353.935 [DAT](INFO): direction in FSK: [0.953317,-0.081728,-0.290702]
2025-06-17T20:49:13.935Z,1750193353.935 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:13.936Z,1750193353.936 [DAT](INFO): publishing direction and range info
2025-06-17T20:49:13.939Z,1750193353.939 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:13.939Z,1750193353.939 [DAT](INFO): publishing direction and range info
2025-06-17T20:49:14.173Z,1750193354.173 [DAT](INFO): DAT read: TxSync time:20:49:14.1347

2025-06-17T20:49:14.274Z,1750193354.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 363.200012 m,
      deltaT: 4.040324 s,
      deltaX: -6.099976 m,
      approachRate: -1.509774 m/s,
      rangeRepo size: 4

2025-06-17T20:49:14.276Z,1750193354.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 359.876709 m,
      bearing: 329.870536 deg,
      lat: 36.905964 deg,
      lon: -122.116024 deg,
      deltaT: 4.040324 s,
      deltaX: -6.044373 m,
      approachRate: -1.496012 m/s,
      posRepo size: 4

2025-06-17T20:49:14.277Z,1750193354.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.88 m.
2025-06-17T20:49:14.279Z,1750193354.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.876709 m,
      nav range: 345.046326 m,
      bearing: 329.003549 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013580 deg/s,
      cmd heading: 333.331482 deg,
      new cmd heading: 333.314375 deg.

2025-06-17T20:49:14.280Z,1750193354.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817433 target range: 359.876709 and range: 363.20 m.
2025-06-17T20:49:14.691Z,1750193354.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.88 m.
2025-06-17T20:49:14.694Z,1750193354.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.876709 m,
      nav range: 344.722321 m,
      bearing: 328.997481 deg,
      approach rate: -0.775026 m/s,
      LOS rate: -0.014528 deg/s,
      cmd heading: 333.314379 deg,
      new cmd heading: 333.296158 deg.

2025-06-17T20:49:14.695Z,1750193354.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817115 target range: 359.876709 and range: 363.20 m.
2025-06-17T20:49:15.060Z,1750193355.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.88 m.
2025-06-17T20:49:15.063Z,1750193355.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.876709 m,
      nav range: 344.440491 m,
      bearing: 328.992248 deg,
      approach rate: -0.763092 m/s,
      LOS rate: -0.014180 deg/s,
      cmd heading: 333.296156 deg,
      new cmd heading: 333.280444 deg.

2025-06-17T20:49:15.080Z,1750193355.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816841 target range: 359.876709 and range: 363.20 m.
2025-06-17T20:49:15.488Z,1750193355.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:15.491Z,1750193355.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.88 m.
2025-06-17T20:49:15.493Z,1750193355.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.876709 m,
      nav range: 344.116638 m,
      bearing: 328.985555 deg,
      approach rate: -0.752906 m/s,
      LOS rate: -0.015575 deg/s,
      cmd heading: 333.280447 deg,
      new cmd heading: 333.260348 deg.

2025-06-17T20:49:15.494Z,1750193355.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816490 target range: 359.876709 and range: 363.20 m.
2025-06-17T20:49:15.686Z,1750193355.686 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:15.687Z,1750193355.687 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:15.687Z,1750193355.687 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:15.870Z,1750193355.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.88 m.
2025-06-17T20:49:15.873Z,1750193355.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.876709 m,
      nav range: 343.830902 m,
      bearing: 328.979606 deg,
      approach rate: -0.753551 m/s,
      LOS rate: -0.015701 deg/s,
      cmd heading: 333.260339 deg,
      new cmd heading: 333.242477 deg.

2025-06-17T20:49:15.874Z,1750193355.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816178 target range: 359.876709 and range: 363.20 m.
2025-06-17T20:49:15.937Z,1750193355.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002945
2025-06-17T20:49:16.189Z,1750193356.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254999
2025-06-17T20:49:16.295Z,1750193356.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.88 m.
2025-06-17T20:49:16.298Z,1750193356.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.876709 m,
      nav range: 343.521881 m,
      bearing: 328.973174 deg,
      approach rate: -0.726611 m/s,
      LOS rate: -0.015138 deg/s,
      cmd heading: 333.242471 deg,
      new cmd heading: 333.223157 deg.

2025-06-17T20:49:16.299Z,1750193356.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815841 target range: 359.876709 and range: 363.20 m.
2025-06-17T20:49:16.441Z,1750193356.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506994
2025-06-17T20:49:16.516Z,1750193356.516 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:49:16.693Z,1750193356.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758892
2025-06-17T20:49:16.711Z,1750193356.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.88 m.
2025-06-17T20:49:16.718Z,1750193356.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.876709 m,
      nav range: 343.205658 m,
      bearing: 328.967681 deg,
      approach rate: -0.760874 m/s,
      LOS rate: -0.013229 deg/s,
      cmd heading: 333.223155 deg,
      new cmd heading: 333.206660 deg.

2025-06-17T20:49:16.719Z,1750193356.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815553 target range: 359.876709 and range: 363.20 m.
2025-06-17T20:49:16.945Z,1750193356.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011149
2025-06-17T20:49:17.091Z,1750193357.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.88 m.
2025-06-17T20:49:17.094Z,1750193357.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.876709 m,
      nav range: 342.912384 m,
      bearing: 328.962618 deg,
      approach rate: -0.771073 m/s,
      LOS rate: -0.013323 deg/s,
      cmd heading: 333.206653 deg,
      new cmd heading: 333.191451 deg.

2025-06-17T20:49:17.095Z,1750193357.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815288 target range: 359.876709 and range: 363.20 m.
2025-06-17T20:49:17.197Z,1750193357.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262948
2025-06-17T20:49:17.449Z,1750193357.449 [DAT](INFO): DAT read: Rx Time:20:49:17.0221

2025-06-17T20:49:17.449Z,1750193357.449 [DAT](INFO): Rx dataTimestamp_ set to:1750193357.449004
2025-06-17T20:49:17.450Z,1750193357.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515862
2025-06-17T20:49:17.520Z,1750193357.520 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:49:17.523Z,1750193357.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:17.529Z,1750193357.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.88 m.
2025-06-17T20:49:17.536Z,1750193357.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.876709 m,
      nav range: 342.581177 m,
      bearing: 328.956152 deg,
      approach rate: -0.755400 m/s,
      LOS rate: -0.014761 deg/s,
      cmd heading: 333.191463 deg,
      new cmd heading: 333.172046 deg.

2025-06-17T20:49:17.537Z,1750193357.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814949 target range: 359.876709 and range: 363.20 m.
2025-06-17T20:49:17.701Z,1750193357.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766913
2025-06-17T20:49:17.890Z,1750193357.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.88 m.
2025-06-17T20:49:17.893Z,1750193357.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.876709 m,
      nav range: 342.296143 m,
      bearing: 328.950608 deg,
      approach rate: -0.789485 m/s,
      LOS rate: -0.015369 deg/s,
      cmd heading: 333.172038 deg,
      new cmd heading: 333.155392 deg.

2025-06-17T20:49:17.894Z,1750193357.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814659 target range: 359.876709 and range: 363.20 m.
2025-06-17T20:49:17.959Z,1750193357.959 [DAT](INFO): DAT read: 20:49:17.0221 LVL= 32752, 32753, 28450, 32755, AGC= 70, IDX= 420,-0.04, 1.211,-0.185, 1.148, 0.452, PHS= 0.847,-0.590, 0.693, RAW= 144.4, -13.8, CAL= 151.1, -22.3, ROT= 358.9,  22.3

2025-06-17T20:49:17.965Z,1750193357.965 [DAT](INFO): got valid direction response:
 20:49:17.0221 LVL= 32752, 32753, 28450, 32755, AGC= 70, IDX= 420,-0.04, 1.211,-0.185, 1.148, 0.452, PHS= 0.847,-0.590, 0.693, RAW= 144.4, -13.8, CAL= 151.1, -22.3, ROT= 358.9,  22.3

2025-06-17T20:49:17.966Z,1750193357.966 [DAT](INFO): DAT read: Bearing 358.9,  22.3 (Local)

2025-06-17T20:49:17.967Z,1750193357.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.9,  22.3 (Local)

2025-06-17T20:49:17.969Z,1750193357.969 [DAT](INFO): DAT read: Range 10 to 50 : 361.8 m  (Round-trip  482.5 ms) speed  0.8 m/s

2025-06-17T20:49:17.970Z,1750193357.970 [DAT](INFO): DAT read: user:692>

2025-06-17T20:49:17.971Z,1750193357.971 [DAT](INFO): DAT read: Tx time:20:49:18.1355

2025-06-17T20:49:17.971Z,1750193357.971 [DAT](INFO): Ping request sent.
2025-06-17T20:49:17.971Z,1750193357.971 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:17.971Z,1750193357.971 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:49:17.977Z,1750193357.977 [DAT](INFO): direction in FSK: [0.925039,-0.017762,-0.379456]
2025-06-17T20:49:17.978Z,1750193357.978 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:17.978Z,1750193357.978 [DAT](INFO): publishing direction and range info
2025-06-17T20:49:17.987Z,1750193357.987 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:17.987Z,1750193357.987 [DAT](INFO): publishing direction and range info
2025-06-17T20:49:18.205Z,1750193358.205 [DAT](INFO): DAT read: TxSync time:20:49:18.1347

2025-06-17T20:49:18.309Z,1750193358.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 361.799988 m,
      deltaT: 4.032030 s,
      deltaX: -1.400024 m,
      approachRate: -0.347226 m/s,
      rangeRepo size: 4

2025-06-17T20:49:18.311Z,1750193358.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 358.489441 m,
      bearing: 333.703436 deg,
      lat: 36.905981 deg,
      lon: -122.115968 deg,
      deltaT: 4.032030 s,
      deltaX: -1.387268 m,
      approachRate: -0.344062 m/s,
      posRepo size: 4

2025-06-17T20:49:18.312Z,1750193358.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:18.315Z,1750193358.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 341.135132 m,
      bearing: 329.820176 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015369 deg/s,
      cmd heading: 333.155399 deg,
      new cmd heading: 333.136114 deg.

2025-06-17T20:49:18.316Z,1750193358.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814322 target range: 358.489441 and range: 361.80 m.
2025-06-17T20:49:18.720Z,1750193358.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:18.723Z,1750193358.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 340.820709 m,
      bearing: 329.815363 deg,
      approach rate: -0.765207 m/s,
      LOS rate: -0.011722 deg/s,
      cmd heading: 333.136111 deg,
      new cmd heading: 333.121661 deg.

2025-06-17T20:49:18.740Z,1750193358.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814070 target range: 358.489441 and range: 361.80 m.
2025-06-17T20:49:19.103Z,1750193359.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:19.105Z,1750193359.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 340.531281 m,
      bearing: 329.810903 deg,
      approach rate: -0.755941 m/s,
      LOS rate: -0.011659 deg/s,
      cmd heading: 333.121658 deg,
      new cmd heading: 333.108267 deg.

2025-06-17T20:49:19.106Z,1750193359.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813836 target range: 358.489441 and range: 361.80 m.
2025-06-17T20:49:19.537Z,1750193359.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:19.539Z,1750193359.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:19.542Z,1750193359.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 340.203247 m,
      bearing: 329.806146 deg,
      approach rate: -0.751044 m/s,
      LOS rate: -0.010903 deg/s,
      cmd heading: 333.108271 deg,
      new cmd heading: 333.093985 deg.

2025-06-17T20:49:19.543Z,1750193359.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813587 target range: 358.489441 and range: 361.80 m.
2025-06-17T20:49:19.716Z,1750193359.716 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:19.717Z,1750193359.717 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:19.717Z,1750193359.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:19.909Z,1750193359.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:19.911Z,1750193359.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 339.925629 m,
      bearing: 329.802068 deg,
      approach rate: -0.753051 m/s,
      LOS rate: -0.011071 deg/s,
      cmd heading: 333.093982 deg,
      new cmd heading: 333.081738 deg.

2025-06-17T20:49:19.925Z,1750193359.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813373 target range: 358.489441 and range: 361.80 m.
2025-06-17T20:49:19.969Z,1750193359.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998219
2025-06-17T20:49:20.221Z,1750193360.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249844
2025-06-17T20:49:20.317Z,1750193360.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:20.320Z,1750193360.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 339.619110 m,
      bearing: 329.797554 deg,
      approach rate: -0.751676 m/s,
      LOS rate: -0.011079 deg/s,
      cmd heading: 333.081743 deg,
      new cmd heading: 333.068189 deg.

2025-06-17T20:49:20.321Z,1750193360.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813137 target range: 358.489441 and range: 361.80 m.
2025-06-17T20:49:20.473Z,1750193360.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501861
2025-06-17T20:49:20.725Z,1750193360.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753892
2025-06-17T20:49:20.768Z,1750193360.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:20.771Z,1750193360.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 339.297394 m,
      bearing: 329.792589 deg,
      approach rate: -0.744507 m/s,
      LOS rate: -0.011501 deg/s,
      cmd heading: 333.068192 deg,
      new cmd heading: 333.053282 deg.

2025-06-17T20:49:20.772Z,1750193360.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812876 target range: 358.489441 and range: 361.80 m.
2025-06-17T20:49:20.977Z,1750193360.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005809
2025-06-17T20:49:21.120Z,1750193361.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:21.123Z,1750193361.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 339.006683 m,
      bearing: 329.788129 deg,
      approach rate: -0.781209 m/s,
      LOS rate: -0.011996 deg/s,
      cmd heading: 333.053274 deg,
      new cmd heading: 333.039883 deg.

2025-06-17T20:49:21.124Z,1750193361.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812643 target range: 358.489441 and range: 361.80 m.
2025-06-17T20:49:21.229Z,1750193361.229 [DAT](INFO): DAT read: Rx Time:20:49:21.0002

2025-06-17T20:49:21.230Z,1750193361.230 [DAT](INFO): Rx dataTimestamp_ set to:1750193361.229507
2025-06-17T20:49:21.231Z,1750193361.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259717
2025-06-17T20:49:21.481Z,1750193361.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509789
2025-06-17T20:49:21.556Z,1750193361.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:21.558Z,1750193361.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:21.561Z,1750193361.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 338.676636 m,
      bearing: 329.783764 deg,
      approach rate: -0.753408 m/s,
      LOS rate: -0.009974 deg/s,
      cmd heading: 333.039887 deg,
      new cmd heading: 333.026780 deg.

2025-06-17T20:49:21.562Z,1750193361.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812414 target range: 358.489441 and range: 361.80 m.
2025-06-17T20:49:21.737Z,1750193361.737 [DAT](INFO): DAT read: Range 10 to 50 : 345.4 m  (Round-trip  460.6 ms) speed  0.4 m/s

2025-06-17T20:49:21.738Z,1750193361.738 [DAT](INFO): DAT read: user:693>

2025-06-17T20:49:21.739Z,1750193361.739 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:49:21.741Z,1750193361.741 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:21.741Z,1750193361.741 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:21.741Z,1750193361.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:21.930Z,1750193361.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 345.399994 m,
      deltaT: 3.781642 s,
      deltaX: -16.399994 m,
      approachRate: -4.336739 m/s,
      rangeRepo size: 4

2025-06-17T20:49:21.930Z,1750193361.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:21.933Z,1750193361.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 338.396515 m,
      bearing: 329.780107 deg,
      approach rate: -0.755153 m/s,
      LOS rate: -0.009866 deg/s,
      cmd heading: 333.026773 deg,
      new cmd heading: 333.015795 deg.

2025-06-17T20:49:21.934Z,1750193361.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812222 target range: 358.489441 and range: 345.40 m.
2025-06-17T20:49:21.985Z,1750193361.985 [DAT](INFO): DAT read: Tx time:20:49:22.0839

2025-06-17T20:49:21.985Z,1750193361.985 [DAT](INFO): Ping request sent.
2025-06-17T20:49:21.986Z,1750193361.986 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:21.986Z,1750193361.986 [DAT](INFO): DAT read: TxSync time:20:49:22.0832

2025-06-17T20:49:21.987Z,1750193361.987 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:21.987Z,1750193361.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001577
2025-06-17T20:49:22.237Z,1750193362.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251415
2025-06-17T20:49:22.354Z,1750193362.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:22.361Z,1750193362.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 338.079803 m,
      bearing: 329.776036 deg,
      approach rate: -0.745919 m/s,
      LOS rate: -0.009599 deg/s,
      cmd heading: 333.015790 deg,
      new cmd heading: 333.003564 deg.

2025-06-17T20:49:22.362Z,1750193362.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812008 target range: 358.489441 and range: 345.40 m.
2025-06-17T20:49:22.491Z,1750193362.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505421
2025-06-17T20:49:22.742Z,1750193362.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755626
2025-06-17T20:49:22.798Z,1750193362.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:22.805Z,1750193362.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 337.753632 m,
      bearing: 329.772287 deg,
      approach rate: -0.733815 m/s,
      LOS rate: -0.008441 deg/s,
      cmd heading: 333.003551 deg,
      new cmd heading: 332.992294 deg.

2025-06-17T20:49:22.806Z,1750193362.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811812 target range: 358.489441 and range: 345.40 m.
2025-06-17T20:49:22.994Z,1750193362.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008320
2025-06-17T20:49:23.140Z,1750193363.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:23.142Z,1750193363.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 337.478333 m,
      bearing: 329.769147 deg,
      approach rate: -0.806321 m/s,
      LOS rate: -0.009205 deg/s,
      cmd heading: 332.992295 deg,
      new cmd heading: 332.982866 deg.

2025-06-17T20:49:23.143Z,1750193363.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811647 target range: 358.489441 and range: 345.40 m.
2025-06-17T20:49:23.246Z,1750193363.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259670
2025-06-17T20:49:23.497Z,1750193363.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511148
2025-06-17T20:49:23.579Z,1750193363.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:23.582Z,1750193363.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:23.585Z,1750193363.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 337.147430 m,
      bearing: 329.766155 deg,
      approach rate: -0.748275 m/s,
      LOS rate: -0.006771 deg/s,
      cmd heading: 332.982869 deg,
      new cmd heading: 332.973886 deg.

2025-06-17T20:49:23.586Z,1750193363.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811491 target range: 358.489441 and range: 345.40 m.
2025-06-17T20:49:23.749Z,1750193363.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763765
2025-06-17T20:49:23.948Z,1750193363.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:23.951Z,1750193363.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 336.864594 m,
      bearing: 329.763594 deg,
      approach rate: -0.772897 m/s,
      LOS rate: -0.007006 deg/s,
      cmd heading: 332.973880 deg,
      new cmd heading: 332.966189 deg.

2025-06-17T20:49:23.968Z,1750193363.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811356 target range: 358.489441 and range: 345.40 m.
2025-06-17T20:49:24.002Z,1750193364.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016182
2025-06-17T20:49:24.253Z,1750193364.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267090
2025-06-17T20:49:24.379Z,1750193364.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:24.386Z,1750193364.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 336.554382 m,
      bearing: 329.760796 deg,
      approach rate: -0.719202 m/s,
      LOS rate: -0.006491 deg/s,
      cmd heading: 332.966176 deg,
      new cmd heading: 332.957776 deg.

2025-06-17T20:49:24.387Z,1750193364.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811210 target range: 358.489441 and range: 345.40 m.
2025-06-17T20:49:24.507Z,1750193364.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521377
2025-06-17T20:49:24.760Z,1750193364.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773926
2025-06-17T20:49:24.841Z,1750193364.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:24.844Z,1750193364.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 336.187744 m,
      bearing: 329.756304 deg,
      approach rate: -0.793174 m/s,
      LOS rate: -0.009728 deg/s,
      cmd heading: 332.957788 deg,
      new cmd heading: 332.944298 deg.

2025-06-17T20:49:24.845Z,1750193364.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810974 target range: 358.489441 and range: 345.40 m.
2025-06-17T20:49:25.009Z,1750193365.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023080
2025-06-17T20:49:25.219Z,1750193365.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:25.222Z,1750193365.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 335.900818 m,
      bearing: 329.752816 deg,
      approach rate: -0.758611 m/s,
      LOS rate: -0.009231 deg/s,
      cmd heading: 332.944292 deg,
      new cmd heading: 332.933818 deg.

2025-06-17T20:49:25.223Z,1750193365.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810791 target range: 358.489441 and range: 345.40 m.
2025-06-17T20:49:25.262Z,1750193365.262 [DAT](INFO): DAT read: Rx Time:20:49:24.9446

2025-06-17T20:49:25.263Z,1750193365.263 [DAT](INFO): Rx dataTimestamp_ set to:1750193365.262295
2025-06-17T20:49:25.267Z,1750193365.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281611
2025-06-17T20:49:25.515Z,1750193365.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529237
2025-06-17T20:49:25.662Z,1750193365.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:25.664Z,1750193365.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.49 m.
2025-06-17T20:49:25.667Z,1750193365.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.489441 m,
      nav range: 335.564453 m,
      bearing: 329.748428 deg,
      approach rate: -0.756586 m/s,
      LOS rate: -0.009880 deg/s,
      cmd heading: 332.933828 deg,
      new cmd heading: 332.920651 deg.

2025-06-17T20:49:25.670Z,1750193365.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810562 target range: 358.489441 and range: 345.40 m.
2025-06-17T20:49:25.771Z,1750193365.771 [DAT](INFO): DAT read: 20:49:24.9447 LVL= 32752, 32753, 28978, 32755, AGC= 69, IDX= 399,-0.13,-0.865,-2.195,-0.987,-1.376, PHS= 0.599,-0.772, 0.386, RAW= 141.7,  -3.4, CAL= 146.8, -12.6, ROT=   3.2,  12.6

2025-06-17T20:49:25.773Z,1750193365.773 [DAT](INFO): got valid direction response:
 20:49:24.9447 LVL= 32752, 32753, 28978, 32755, AGC= 69, IDX= 399,-0.13,-0.865,-2.195,-0.987,-1.376, PHS= 0.599,-0.772, 0.386, RAW= 141.7,  -3.4, CAL= 146.8, -12.6, ROT=   3.2,  12.6

2025-06-17T20:49:25.774Z,1750193365.774 [DAT](INFO): DAT read: Bearing   3.2,  12.6 (Local)

2025-06-17T20:49:25.774Z,1750193365.774 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.2,  12.6 (Local)

2025-06-17T20:49:25.776Z,1750193365.776 [DAT](INFO): DAT read: Range 10 to 50 : 342.3 m  (Round-trip  456.5 ms) speed  0.4 m/s

2025-06-17T20:49:25.777Z,1750193365.777 [DAT](INFO): DAT read: user:694>

2025-06-17T20:49:25.777Z,1750193365.777 [DAT](INFO): DAT read: Tx time:20:49:26.0340

2025-06-17T20:49:25.778Z,1750193365.778 [DAT](INFO): Ping request sent.
2025-06-17T20:49:25.778Z,1750193365.778 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:25.778Z,1750193365.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:49:25.779Z,1750193365.779 [DAT](INFO): direction in FSK: [0.974395,0.054477,-0.218143]
2025-06-17T20:49:25.779Z,1750193365.779 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:25.779Z,1750193365.779 [DAT](INFO): publishing direction and range info
2025-06-17T20:49:25.783Z,1750193365.783 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:25.783Z,1750193365.783 [DAT](INFO): publishing direction and range info
2025-06-17T20:49:26.017Z,1750193366.017 [DAT](INFO): DAT read: TxSync time:20:49:26.0333

2025-06-17T20:49:26.139Z,1750193366.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 342.299988 m,
      deltaT: 4.030278 s,
      deltaX: -3.100006 m,
      approachRate: -0.769179 m/s,
      rangeRepo size: 4

2025-06-17T20:49:26.141Z,1750193366.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 339.168060 m,
      bearing: 336.739616 deg,
      lat: 36.906030 deg,
      lon: -122.115708 deg,
      deltaT: 7.811920 s,
      deltaX: -19.321381 m,
      approachRate: -2.473320 m/s,
      posRepo size: 4

2025-06-17T20:49:26.142Z,1750193366.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.17 m.
2025-06-17T20:49:26.145Z,1750193366.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.168060 m,
      nav range: 329.012054 m,
      bearing: 333.696575 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009880 deg/s,
      cmd heading: 332.920660 deg,
      new cmd heading: 332.906610 deg.

2025-06-17T20:49:26.146Z,1750193366.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810317 target range: 339.168060 and range: 342.30 m.
2025-06-17T20:49:26.587Z,1750193366.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.17 m.
2025-06-17T20:49:26.590Z,1750193366.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.168060 m,
      nav range: 328.669342 m,
      bearing: 333.695679 deg,
      approach rate: -0.763824 m/s,
      LOS rate: -0.001998 deg/s,
      cmd heading: 332.906617 deg,
      new cmd heading: 332.903927 deg.

2025-06-17T20:49:26.591Z,1750193366.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810270 target range: 339.168060 and range: 342.30 m.
2025-06-17T20:49:26.935Z,1750193366.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.17 m.
2025-06-17T20:49:26.938Z,1750193366.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.168060 m,
      nav range: 328.405243 m,
      bearing: 333.694959 deg,
      approach rate: -0.757554 m/s,
      LOS rate: -0.002066 deg/s,
      cmd heading: 332.903939 deg,
      new cmd heading: 332.901778 deg.

2025-06-17T20:49:26.939Z,1750193366.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810232 target range: 339.168060 and range: 342.30 m.
2025-06-17T20:49:27.350Z,1750193367.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.17 m.
2025-06-17T20:49:27.352Z,1750193367.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.168060 m,
      nav range: 328.093262 m,
      bearing: 333.694102 deg,
      approach rate: -0.753299 m/s,
      LOS rate: -0.002073 deg/s,
      cmd heading: 332.901781 deg,
      new cmd heading: 332.899206 deg.

2025-06-17T20:49:27.353Z,1750193367.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810187 target range: 339.168060 and range: 342.30 m.
2025-06-17T20:49:27.781Z,1750193367.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:27.783Z,1750193367.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.17 m.
2025-06-17T20:49:27.786Z,1750193367.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.168060 m,
      nav range: 327.762268 m,
      bearing: 333.692444 deg,
      approach rate: -0.763566 m/s,
      LOS rate: -0.003828 deg/s,
      cmd heading: 332.899213 deg,
      new cmd heading: 332.894234 deg.

2025-06-17T20:49:27.787Z,1750193367.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810101 target range: 339.168060 and range: 342.30 m.
2025-06-17T20:49:28.032Z,1750193368.032 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:28.033Z,1750193368.033 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:28.033Z,1750193368.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:28.159Z,1750193368.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.17 m.
2025-06-17T20:49:28.162Z,1750193368.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.168060 m,
      nav range: 327.474304 m,
      bearing: 333.690993 deg,
      approach rate: -0.765835 m/s,
      LOS rate: -0.003862 deg/s,
      cmd heading: 332.894240 deg,
      new cmd heading: 332.889884 deg.

2025-06-17T20:49:28.163Z,1750193368.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810025 target range: 339.168060 and range: 342.30 m.
2025-06-17T20:49:28.285Z,1750193368.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507279
2025-06-17T20:49:28.540Z,1750193368.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761497
2025-06-17T20:49:28.671Z,1750193368.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.17 m.
2025-06-17T20:49:28.678Z,1750193368.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.168060 m,
      nav range: 327.096771 m,
      bearing: 333.688793 deg,
      approach rate: -0.737203 m/s,
      LOS rate: -0.004301 deg/s,
      cmd heading: 332.889896 deg,
      new cmd heading: 332.883289 deg.

2025-06-17T20:49:28.679Z,1750193368.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809909 target range: 339.168060 and range: 342.30 m.
2025-06-17T20:49:28.789Z,1750193368.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011106
2025-06-17T20:49:28.989Z,1750193368.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.17 m.
2025-06-17T20:49:28.998Z,1750193368.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.168060 m,
      nav range: 326.852051 m,
      bearing: 333.687417 deg,
      approach rate: -0.769496 m/s,
      LOS rate: -0.004330 deg/s,
      cmd heading: 332.883285 deg,
      new cmd heading: 332.879154 deg.

2025-06-17T20:49:29.015Z,1750193369.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809837 target range: 339.168060 and range: 342.30 m.
2025-06-17T20:49:29.041Z,1750193369.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263313
2025-06-17T20:49:29.293Z,1750193369.293 [DAT](INFO): DAT read: Rx Time:20:49:28.9092

2025-06-17T20:49:29.293Z,1750193369.293 [DAT](INFO): Rx dataTimestamp_ set to:1750193369.293216
2025-06-17T20:49:29.294Z,1750193369.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516353
2025-06-17T20:49:29.378Z,1750193369.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.17 m.
2025-06-17T20:49:29.380Z,1750193369.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.168060 m,
      nav range: 326.543091 m,
      bearing: 333.685737 deg,
      approach rate: -0.795569 m/s,
      LOS rate: -0.004331 deg/s,
      cmd heading: 332.879159 deg,
      new cmd heading: 332.874114 deg.

2025-06-17T20:49:29.381Z,1750193369.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809749 target range: 339.168060 and range: 342.30 m.
2025-06-17T20:49:29.547Z,1750193369.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769150
2025-06-17T20:49:29.803Z,1750193369.803 [DAT](INFO): DAT read: 20:49:28.9092 LVL= 20208, 25473, 18930, 29619, AGC= 71, IDX=  84,-0.48, 2.181, 0.911, 2.264, 1.564, PHS= 0.705,-0.606, 0.697, RAW= 149.7, -12.2, CAL= 156.8, -20.0, ROT= 353.2,  20.0

2025-06-17T20:49:29.804Z,1750193369.804 [DAT](INFO): got valid direction response:
 20:49:28.9092 LVL= 20208, 25473, 18930, 29619, AGC= 71, IDX=  84,-0.48, 2.181, 0.911, 2.264, 1.564, PHS= 0.705,-0.606, 0.697, RAW= 149.7, -12.2, CAL= 156.8, -20.0, ROT= 353.2,  20.0

2025-06-17T20:49:29.805Z,1750193369.805 [DAT](INFO): DAT read: Bearing 353.2,  20.0 (Local)

2025-06-17T20:49:29.805Z,1750193369.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.2,  20.0 (Local)

2025-06-17T20:49:29.807Z,1750193369.807 [DAT](INFO): DAT read: Range 10 to 50 : 353.2 m  (Round-trip  471.0 ms) speed  0.8 m/s

2025-06-17T20:49:29.808Z,1750193369.808 [DAT](INFO): DAT read: user:695>

2025-06-17T20:49:29.808Z,1750193369.808 [DAT](INFO): DAT read: Tx time:20:49:30.0340

2025-06-17T20:49:29.809Z,1750193369.809 [DAT](INFO): Ping request sent.
2025-06-17T20:49:29.809Z,1750193369.809 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:29.809Z,1750193369.809 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:49:29.810Z,1750193369.810 [DAT](INFO): direction in FSK: [0.933082,-0.111263,-0.342020]
2025-06-17T20:49:29.810Z,1750193369.810 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:29.811Z,1750193369.811 [DAT](INFO): publishing direction and range info
2025-06-17T20:49:29.818Z,1750193369.818 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:29.819Z,1750193369.819 [DAT](INFO): publishing direction and range info
2025-06-17T20:49:29.907Z,1750193369.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 353.200012 m,
      deltaT: 4.031672 s,
      deltaX: 10.900024 m,
      approachRate: 2.703599 m/s,
      rangeRepo size: 4

2025-06-17T20:49:29.922Z,1750193369.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 349.969482 m,
      bearing: 327.473845 deg,
      lat: 36.905981 deg,
      lon: -122.115968 deg,
      deltaT: 4.031672 s,
      deltaX: 10.801422 m,
      approachRate: 2.679142 m/s,
      posRepo size: 4

2025-06-17T20:49:29.923Z,1750193369.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:29.930Z,1750193369.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 332.371613 m,
      bearing: 329.697397 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004331 deg/s,
      cmd heading: 332.874105 deg,
      new cmd heading: 332.867376 deg.

2025-06-17T20:49:29.931Z,1750193369.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809632 target range: 349.969482 and range: 353.20 m.
2025-06-17T20:49:30.049Z,1750193370.049 [DAT](INFO): DAT read: TxSync time:20:49:30.0333

2025-06-17T20:49:30.417Z,1750193370.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:30.453Z,1750193370.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:30.496Z,1750193370.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 331.981964 m,
      bearing: 329.690805 deg,
      approach rate: -0.698406 m/s,
      LOS rate: -0.011829 deg/s,
      cmd heading: 332.867384 deg,
      new cmd heading: 332.847586 deg.

2025-06-17T20:49:30.497Z,1750193370.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809286 target range: 349.969482 and range: 353.20 m.
2025-06-17T20:49:30.557Z,1750193370.557 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:30.557Z,1750193370.557 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:30.558Z,1750193370.558 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:30.805Z,1750193370.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995892
2025-06-17T20:49:30.858Z,1750193370.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:30.861Z,1750193370.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 331.623016 m,
      bearing: 329.684653 deg,
      approach rate: -0.886632 m/s,
      LOS rate: -0.015213 deg/s,
      cmd heading: 332.847577 deg,
      new cmd heading: 332.829100 deg.

2025-06-17T20:49:30.862Z,1750193370.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808964 target range: 349.969482 and range: 353.20 m.
2025-06-17T20:49:31.060Z,1750193371.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250836
2025-06-17T20:49:31.247Z,1750193371.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:31.250Z,1750193371.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 331.339111 m,
      bearing: 329.679881 deg,
      approach rate: -0.730682 m/s,
      LOS rate: -0.012293 deg/s,
      cmd heading: 332.829108 deg,
      new cmd heading: 332.814779 deg.

2025-06-17T20:49:31.251Z,1750193371.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808714 target range: 349.969482 and range: 353.20 m.
2025-06-17T20:49:31.310Z,1750193371.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500672
2025-06-17T20:49:31.564Z,1750193371.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754093
2025-06-17T20:49:31.675Z,1750193371.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:31.678Z,1750193371.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 330.992981 m,
      bearing: 329.674029 deg,
      approach rate: -0.808374 m/s,
      LOS rate: -0.013681 deg/s,
      cmd heading: 332.814792 deg,
      new cmd heading: 332.797218 deg.

2025-06-17T20:49:31.679Z,1750193371.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808407 target range: 349.969482 and range: 353.20 m.
2025-06-17T20:49:31.813Z,1750193371.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003912
2025-06-17T20:49:32.054Z,1750193372.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:32.057Z,1750193372.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 330.702271 m,
      bearing: 329.669116 deg,
      approach rate: -0.766904 m/s,
      LOS rate: -0.012970 deg/s,
      cmd heading: 332.797224 deg,
      new cmd heading: 332.782474 deg.

2025-06-17T20:49:32.058Z,1750193372.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808150 target range: 349.969482 and range: 353.20 m.
2025-06-17T20:49:32.065Z,1750193372.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256032
2025-06-17T20:49:32.317Z,1750193372.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508069
2025-06-17T20:49:32.465Z,1750193372.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:32.467Z,1750193372.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:32.470Z,1750193372.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 330.380463 m,
      bearing: 329.663668 deg,
      approach rate: -0.779717 m/s,
      LOS rate: -0.013213 deg/s,
      cmd heading: 332.782471 deg,
      new cmd heading: 332.766111 deg.

2025-06-17T20:49:32.471Z,1750193372.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807864 target range: 349.969482 and range: 353.20 m.
2025-06-17T20:49:32.569Z,1750193372.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760110
2025-06-17T20:49:32.821Z,1750193372.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012297
2025-06-17T20:49:32.871Z,1750193372.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:32.874Z,1750193372.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 330.075531 m,
      bearing: 329.658605 deg,
      approach rate: -0.754404 m/s,
      LOS rate: -0.012539 deg/s,
      cmd heading: 332.766106 deg,
      new cmd heading: 332.750901 deg.

2025-06-17T20:49:32.875Z,1750193372.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807599 target range: 349.969482 and range: 353.20 m.
2025-06-17T20:49:33.073Z,1750193373.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263992
2025-06-17T20:49:33.250Z,1750193373.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:33.253Z,1750193373.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 329.790497 m,
      bearing: 329.653869 deg,
      approach rate: -0.752178 m/s,
      LOS rate: -0.012507 deg/s,
      cmd heading: 332.750888 deg,
      new cmd heading: 332.736670 deg.

2025-06-17T20:49:33.254Z,1750193373.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807351 target range: 349.969482 and range: 353.20 m.
2025-06-17T20:49:33.325Z,1750193373.325 [DAT](INFO): DAT read: Rx Time:20:49:32.9028

2025-06-17T20:49:33.325Z,1750193373.325 [DAT](INFO): Rx dataTimestamp_ set to:1750193373.325202
2025-06-17T20:49:33.326Z,1750193373.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517189
2025-06-17T20:49:33.579Z,1750193373.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769840
2025-06-17T20:49:33.703Z,1750193373.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:33.726Z,1750193373.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 329.444427 m,
      bearing: 329.649427 deg,
      approach rate: -0.764191 m/s,
      LOS rate: -0.009820 deg/s,
      cmd heading: 332.736682 deg,
      new cmd heading: 332.723340 deg.

2025-06-17T20:49:33.727Z,1750193373.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807118 target range: 349.969482 and range: 353.20 m.
2025-06-17T20:49:33.830Z,1750193373.830 [DAT](INFO): DAT read: Range 10 to 50 : 348.4 m  (Round-trip  464.6 ms) speed  0.8 m/s

2025-06-17T20:49:33.833Z,1750193373.833 [DAT](INFO): DAT read: user:696>

2025-06-17T20:49:33.839Z,1750193373.839 [DAT](INFO): DAT read: Tx time:20:49:33.9840

2025-06-17T20:49:33.841Z,1750193373.841 [DAT](INFO): Ping request sent.
2025-06-17T20:49:33.841Z,1750193373.841 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:33.842Z,1750193373.842 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:49:33.842Z,1750193373.842 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:33.843Z,1750193373.843 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:34.069Z,1750193374.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 348.399994 m,
      deltaT: 4.031989 s,
      deltaX: -4.800018 m,
      approachRate: -1.190484 m/s,
      rangeRepo size: 4

2025-06-17T20:49:34.070Z,1750193374.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:34.073Z,1750193374.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 329.165497 m,
      bearing: 329.645843 deg,
      approach rate: -0.762635 m/s,
      LOS rate: -0.009808 deg/s,
      cmd heading: 332.723349 deg,
      new cmd heading: 332.712588 deg.

2025-06-17T20:49:34.074Z,1750193374.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806930 target range: 349.969482 and range: 348.40 m.
2025-06-17T20:49:34.081Z,1750193374.081 [DAT](INFO): DAT read: TxSync time:20:49:33.9833

2025-06-17T20:49:34.482Z,1750193374.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:34.484Z,1750193374.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:34.486Z,1750193374.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 328.848907 m,
      bearing: 329.641757 deg,
      approach rate: -0.762684 m/s,
      LOS rate: -0.009854 deg/s,
      cmd heading: 332.712585 deg,
      new cmd heading: 332.700314 deg.

2025-06-17T20:49:34.487Z,1750193374.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806716 target range: 349.969482 and range: 348.40 m.
2025-06-17T20:49:34.587Z,1750193374.587 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:34.587Z,1750193374.587 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:34.589Z,1750193374.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:34.837Z,1750193374.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996011
2025-06-17T20:49:34.910Z,1750193374.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:34.917Z,1750193374.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 328.544708 m,
      bearing: 329.637888 deg,
      approach rate: -0.713286 m/s,
      LOS rate: -0.009079 deg/s,
      cmd heading: 332.700318 deg,
      new cmd heading: 332.688701 deg.

2025-06-17T20:49:34.918Z,1750193374.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806513 target range: 349.969482 and range: 348.40 m.
2025-06-17T20:49:35.089Z,1750193375.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248401
2025-06-17T20:49:35.287Z,1750193375.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:35.290Z,1750193375.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 328.247498 m,
      bearing: 329.634161 deg,
      approach rate: -0.787701 m/s,
      LOS rate: -0.009886 deg/s,
      cmd heading: 332.688706 deg,
      new cmd heading: 332.677516 deg.

2025-06-17T20:49:35.291Z,1750193375.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806318 target range: 349.969482 and range: 348.40 m.
2025-06-17T20:49:35.342Z,1750193375.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500874
2025-06-17T20:49:35.593Z,1750193375.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751947
2025-06-17T20:49:35.797Z,1750193375.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:35.806Z,1750193375.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 327.874115 m,
      bearing: 329.630863 deg,
      approach rate: -0.732475 m/s,
      LOS rate: -0.006478 deg/s,
      cmd heading: 332.677505 deg,
      new cmd heading: 332.667599 deg.

2025-06-17T20:49:35.816Z,1750193375.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806145 target range: 349.969482 and range: 348.40 m.
2025-06-17T20:49:35.845Z,1750193375.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004081
2025-06-17T20:49:36.097Z,1750193376.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256239
2025-06-17T20:49:36.110Z,1750193376.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:36.113Z,1750193376.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 327.628754 m,
      bearing: 329.628644 deg,
      approach rate: -0.783557 m/s,
      LOS rate: -0.007091 deg/s,
      cmd heading: 332.667587 deg,
      new cmd heading: 332.660926 deg.

2025-06-17T20:49:36.114Z,1750193376.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806028 target range: 349.969482 and range: 348.40 m.
2025-06-17T20:49:36.349Z,1750193376.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508168
2025-06-17T20:49:36.511Z,1750193376.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:36.513Z,1750193376.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:36.516Z,1750193376.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 327.327026 m,
      bearing: 329.625833 deg,
      approach rate: -0.749056 m/s,
      LOS rate: -0.006986 deg/s,
      cmd heading: 332.660921 deg,
      new cmd heading: 332.652479 deg.

2025-06-17T20:49:36.517Z,1750193376.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805881 target range: 349.969482 and range: 348.40 m.
2025-06-17T20:49:36.602Z,1750193376.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761178
2025-06-17T20:49:36.853Z,1750193376.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011994
2025-06-17T20:49:36.941Z,1750193376.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:36.943Z,1750193376.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 327.010132 m,
      bearing: 329.622480 deg,
      approach rate: -0.741447 m/s,
      LOS rate: -0.007852 deg/s,
      cmd heading: 332.652479 deg,
      new cmd heading: 332.642411 deg.

2025-06-17T20:49:36.960Z,1750193376.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805705 target range: 349.969482 and range: 348.40 m.
2025-06-17T20:49:37.105Z,1750193377.105 [DAT](INFO): DAT read: Rx Time:20:49:36.8499

2025-06-17T20:49:37.105Z,1750193377.105 [DAT](INFO): Rx dataTimestamp_ set to:1750193377.105140
2025-06-17T20:49:37.106Z,1750193377.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265193
2025-06-17T20:49:37.336Z,1750193377.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:37.339Z,1750193377.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 326.729462 m,
      bearing: 329.619486 deg,
      approach rate: -0.740066 m/s,
      LOS rate: -0.007901 deg/s,
      cmd heading: 332.642398 deg,
      new cmd heading: 332.633408 deg.

2025-06-17T20:49:37.340Z,1750193377.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805548 target range: 349.969482 and range: 348.40 m.
2025-06-17T20:49:37.357Z,1750193377.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516095
2025-06-17T20:49:37.611Z,1750193377.611 [DAT](INFO): DAT read: Range 10 to 50 : 346.2 m  (Round-trip  461.7 ms) speed  0.4 m/s

2025-06-17T20:49:37.611Z,1750193377.611 [DAT](INFO): DAT read: user:697>

2025-06-17T20:49:37.613Z,1750193377.613 [DAT](INFO): DAT read: Tx time:20:49:37.9340

2025-06-17T20:49:37.614Z,1750193377.614 [DAT](INFO): Ping request sent.
2025-06-17T20:49:37.614Z,1750193377.614 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:37.615Z,1750193377.615 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:49:37.616Z,1750193377.616 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:37.618Z,1750193377.618 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:37.818Z,1750193377.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 346.200012 m,
      deltaT: 3.780595 s,
      deltaX: -2.199982 m,
      approachRate: -0.581914 m/s,
      rangeRepo size: 4

2025-06-17T20:49:37.819Z,1750193377.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:37.821Z,1750193377.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 326.366425 m,
      bearing: 329.615235 deg,
      approach rate: -0.729751 m/s,
      LOS rate: -0.008554 deg/s,
      cmd heading: 332.633409 deg,
      new cmd heading: 332.620642 deg.

2025-06-17T20:49:37.822Z,1750193377.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805326 target range: 349.969482 and range: 346.20 m.
2025-06-17T20:49:37.861Z,1750193377.861 [DAT](INFO): DAT read: TxSync time:20:49:37.9333

2025-06-17T20:49:38.131Z,1750193378.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:38.134Z,1750193378.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 326.130707 m,
      bearing: 329.612444 deg,
      approach rate: -0.750426 m/s,
      LOS rate: -0.008894 deg/s,
      cmd heading: 332.620650 deg,
      new cmd heading: 332.612269 deg.

2025-06-17T20:49:38.135Z,1750193378.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805179 target range: 349.969482 and range: 346.20 m.
2025-06-17T20:49:38.530Z,1750193378.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:38.533Z,1750193378.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:38.535Z,1750193378.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 325.835388 m,
      bearing: 329.608957 deg,
      approach rate: -0.736130 m/s,
      LOS rate: -0.008700 deg/s,
      cmd heading: 332.612263 deg,
      new cmd heading: 332.601792 deg.

2025-06-17T20:49:38.552Z,1750193378.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804996 target range: 349.969482 and range: 346.20 m.
2025-06-17T20:49:38.617Z,1750193378.617 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:38.617Z,1750193378.617 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:38.618Z,1750193378.618 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:38.869Z,1750193378.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255008
2025-06-17T20:49:38.994Z,1750193378.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:39.003Z,1750193379.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 325.516388 m,
      bearing: 329.604631 deg,
      approach rate: -0.691153 m/s,
      LOS rate: -0.009381 deg/s,
      cmd heading: 332.601799 deg,
      new cmd heading: 332.588810 deg.

2025-06-17T20:49:39.020Z,1750193379.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804770 target range: 349.969482 and range: 346.20 m.
2025-06-17T20:49:39.121Z,1750193379.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506922
2025-06-17T20:49:39.340Z,1750193379.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:39.343Z,1750193379.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 325.240875 m,
      bearing: 329.600886 deg,
      approach rate: -0.796369 m/s,
      LOS rate: -0.010834 deg/s,
      cmd heading: 332.588822 deg,
      new cmd heading: 332.577577 deg.

2025-06-17T20:49:39.362Z,1750193379.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804574 target range: 349.969482 and range: 346.20 m.
2025-06-17T20:49:39.373Z,1750193379.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758848
2025-06-17T20:49:39.625Z,1750193379.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011443
2025-06-17T20:49:39.817Z,1750193379.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:39.824Z,1750193379.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 324.911438 m,
      bearing: 329.595834 deg,
      approach rate: -0.690358 m/s,
      LOS rate: -0.010598 deg/s,
      cmd heading: 332.577565 deg,
      new cmd heading: 332.562394 deg.

2025-06-17T20:49:39.825Z,1750193379.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804309 target range: 349.969482 and range: 346.20 m.
2025-06-17T20:49:39.877Z,1750193379.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262955
2025-06-17T20:49:40.129Z,1750193380.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514771
2025-06-17T20:49:40.171Z,1750193380.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:40.174Z,1750193380.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 324.649475 m,
      bearing: 329.591758 deg,
      approach rate: -0.740071 m/s,
      LOS rate: -0.011524 deg/s,
      cmd heading: 332.562402 deg,
      new cmd heading: 332.550165 deg.

2025-06-17T20:49:40.175Z,1750193380.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804095 target range: 349.969482 and range: 346.20 m.
2025-06-17T20:49:40.381Z,1750193380.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766795
2025-06-17T20:49:40.578Z,1750193380.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:40.581Z,1750193380.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:40.583Z,1750193380.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 324.341278 m,
      bearing: 329.586954 deg,
      approach rate: -0.752953 m/s,
      LOS rate: -0.011748 deg/s,
      cmd heading: 332.550163 deg,
      new cmd heading: 332.535737 deg.

2025-06-17T20:49:40.584Z,1750193380.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803843 target range: 349.969482 and range: 346.20 m.
2025-06-17T20:49:40.633Z,1750193380.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019414
2025-06-17T20:49:40.885Z,1750193380.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270722
2025-06-17T20:49:40.987Z,1750193380.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:40.990Z,1750193380.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 324.028625 m,
      bearing: 329.580732 deg,
      approach rate: -0.768281 m/s,
      LOS rate: -0.015305 deg/s,
      cmd heading: 332.535737 deg,
      new cmd heading: 332.517052 deg.

2025-06-17T20:49:40.991Z,1750193380.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803517 target range: 349.969482 and range: 346.20 m.
2025-06-17T20:49:41.137Z,1750193381.137 [DAT](INFO): DAT read: Rx Time:20:49:40.7963

2025-06-17T20:49:41.138Z,1750193381.138 [DAT](INFO): Rx dataTimestamp_ set to:1750193381.137427
2025-06-17T20:49:41.138Z,1750193381.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524233
2025-06-17T20:49:41.379Z,1750193381.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:41.389Z,1750193381.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774827
2025-06-17T20:49:41.391Z,1750193381.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 323.740906 m,
      bearing: 329.575007 deg,
      approach rate: -0.734967 m/s,
      LOS rate: -0.014636 deg/s,
      cmd heading: 332.517050 deg,
      new cmd heading: 332.499861 deg.

2025-06-17T20:49:41.397Z,1750193381.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803217 target range: 349.969482 and range: 346.20 m.
2025-06-17T20:49:41.642Z,1750193381.642 [DAT](INFO): DAT read: Range 10 to 50 : 343.6 m  (Round-trip  458.2 ms) speed  0.6 m/s

2025-06-17T20:49:41.643Z,1750193381.643 [DAT](INFO): DAT read: user:698>

2025-06-17T20:49:41.643Z,1750193381.643 [DAT](INFO): DAT read: Tx time:20:49:41.8840

2025-06-17T20:49:41.644Z,1750193381.644 [DAT](INFO): Ping request sent.
2025-06-17T20:49:41.644Z,1750193381.644 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:41.644Z,1750193381.644 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:49:41.644Z,1750193381.644 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:41.645Z,1750193381.645 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:41.847Z,1750193381.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 343.600006 m,
      deltaT: 4.031223 s,
      deltaX: -2.600006 m,
      approachRate: -0.644967 m/s,
      rangeRepo size: 4

2025-06-17T20:49:41.847Z,1750193381.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:41.850Z,1750193381.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 323.381866 m,
      bearing: 329.568008 deg,
      approach rate: -0.768704 m/s,
      LOS rate: -0.015001 deg/s,
      cmd heading: 332.499865 deg,
      new cmd heading: 332.478845 deg.

2025-06-17T20:49:41.851Z,1750193381.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802851 target range: 349.969482 and range: 343.60 m.
2025-06-17T20:49:41.894Z,1750193381.894 [DAT](INFO): DAT read: TxSync time:20:49:41.8833

2025-06-17T20:49:42.182Z,1750193382.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:42.187Z,1750193382.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 323.132416 m,
      bearing: 329.563220 deg,
      approach rate: -0.744387 m/s,
      LOS rate: -0.014299 deg/s,
      cmd heading: 332.478856 deg,
      new cmd heading: 332.464480 deg.

2025-06-17T20:49:42.189Z,1750193382.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802600 target range: 349.969482 and range: 343.60 m.
2025-06-17T20:49:42.573Z,1750193382.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:42.576Z,1750193382.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 322.830109 m,
      bearing: 329.557476 deg,
      approach rate: -0.771286 m/s,
      LOS rate: -0.014669 deg/s,
      cmd heading: 332.464485 deg,
      new cmd heading: 332.447236 deg.

2025-06-17T20:49:42.577Z,1750193382.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802299 target range: 349.969482 and range: 343.60 m.
2025-06-17T20:49:42.999Z,1750193382.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:43.002Z,1750193383.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:43.005Z,1750193383.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 322.507721 m,
      bearing: 329.550394 deg,
      approach rate: -0.752156 m/s,
      LOS rate: -0.016540 deg/s,
      cmd heading: 332.447245 deg,
      new cmd heading: 332.425977 deg.

2025-06-17T20:49:43.006Z,1750193383.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801928 target range: 349.969482 and range: 343.60 m.
2025-06-17T20:49:43.157Z,1750193383.157 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:43.157Z,1750193383.157 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:43.157Z,1750193383.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:43.380Z,1750193383.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:43.383Z,1750193383.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 322.223083 m,
      bearing: 329.544081 deg,
      approach rate: -0.751828 m/s,
      LOS rate: -0.016689 deg/s,
      cmd heading: 332.425990 deg,
      new cmd heading: 332.407035 deg.

2025-06-17T20:49:43.385Z,1750193383.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801597 target range: 349.969482 and range: 343.60 m.
2025-06-17T20:49:43.409Z,1750193383.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765057
2025-06-17T20:49:43.661Z,1750193383.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017133
2025-06-17T20:49:43.858Z,1750193383.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:43.865Z,1750193383.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 321.880005 m,
      bearing: 329.536446 deg,
      approach rate: -0.727679 m/s,
      LOS rate: -0.016212 deg/s,
      cmd heading: 332.407029 deg,
      new cmd heading: 332.384099 deg.

2025-06-17T20:49:43.866Z,1750193383.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801197 target range: 349.969482 and range: 343.60 m.
2025-06-17T20:49:43.913Z,1750193383.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269185
2025-06-17T20:49:44.165Z,1750193384.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521144
2025-06-17T20:49:44.212Z,1750193384.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:44.215Z,1750193384.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 321.603668 m,
      bearing: 329.530291 deg,
      approach rate: -0.767482 m/s,
      LOS rate: -0.017110 deg/s,
      cmd heading: 332.384107 deg,
      new cmd heading: 332.365626 deg.

2025-06-17T20:49:44.216Z,1750193384.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800875 target range: 349.969482 and range: 343.60 m.
2025-06-17T20:49:44.417Z,1750193384.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773778
2025-06-17T20:49:44.598Z,1750193384.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:44.601Z,1750193384.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 321.297974 m,
      bearing: 329.523531 deg,
      approach rate: -0.791334 m/s,
      LOS rate: -0.017516 deg/s,
      cmd heading: 332.365638 deg,
      new cmd heading: 332.345339 deg.

2025-06-17T20:49:44.602Z,1750193384.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800520 target range: 349.969482 and range: 343.60 m.
2025-06-17T20:49:44.669Z,1750193384.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025085
2025-06-17T20:49:44.921Z,1750193384.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277324
2025-06-17T20:49:45.036Z,1750193385.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:45.038Z,1750193385.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:45.045Z,1750193385.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 320.968475 m,
      bearing: 329.516988 deg,
      approach rate: -0.748715 m/s,
      LOS rate: -0.014881 deg/s,
      cmd heading: 332.345339 deg,
      new cmd heading: 332.325692 deg.

2025-06-17T20:49:45.046Z,1750193385.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800178 target range: 349.969482 and range: 343.60 m.
2025-06-17T20:49:45.173Z,1750193385.173 [DAT](INFO): DAT read: Rx Time:20:49:44.7424

2025-06-17T20:49:45.174Z,1750193385.174 [DAT](INFO): Rx dataTimestamp_ set to:1750193385.173481
2025-06-17T20:49:45.174Z,1750193385.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530618
2025-06-17T20:49:45.419Z,1750193385.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:45.425Z,1750193385.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781488
2025-06-17T20:49:45.448Z,1750193385.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 320.670746 m,
      bearing: 329.511066 deg,
      approach rate: -0.781149 m/s,
      LOS rate: -0.015554 deg/s,
      cmd heading: 332.325695 deg,
      new cmd heading: 332.307910 deg.

2025-06-17T20:49:45.449Z,1750193385.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799867 target range: 349.969482 and range: 343.60 m.
2025-06-17T20:49:45.679Z,1750193385.679 [DAT](INFO): DAT read: Range 10 to 50 : 340.5 m  (Round-trip  454.1 ms) speed  0.5 m/s

2025-06-17T20:49:45.680Z,1750193385.680 [DAT](INFO): DAT read: user:699>

2025-06-17T20:49:45.681Z,1750193385.681 [DAT](INFO): DAT read: Tx time:20:49:45.8340

2025-06-17T20:49:45.681Z,1750193385.681 [DAT](INFO): Ping request sent.
2025-06-17T20:49:45.681Z,1750193385.681 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:45.682Z,1750193385.682 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:49:45.682Z,1750193385.682 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:45.682Z,1750193385.682 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:45.881Z,1750193385.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 340.500000 m,
      deltaT: 4.037672 s,
      deltaX: -3.100006 m,
      approachRate: -0.767771 m/s,
      rangeRepo size: 4

2025-06-17T20:49:45.882Z,1750193385.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:45.893Z,1750193385.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 320.335052 m,
      bearing: 329.504152 deg,
      approach rate: -0.728005 m/s,
      LOS rate: -0.015008 deg/s,
      cmd heading: 332.307910 deg,
      new cmd heading: 332.287148 deg.

2025-06-17T20:49:45.894Z,1750193385.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799505 target range: 349.969482 and range: 340.50 m.
2025-06-17T20:49:45.929Z,1750193385.929 [DAT](INFO): DAT read: TxSync time:20:49:45.8333

2025-06-17T20:49:46.223Z,1750193386.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:46.230Z,1750193386.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 320.064331 m,
      bearing: 329.498649 deg,
      approach rate: -0.790933 m/s,
      LOS rate: -0.016092 deg/s,
      cmd heading: 332.287146 deg,
      new cmd heading: 332.270622 deg.

2025-06-17T20:49:46.231Z,1750193386.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799216 target range: 349.969482 and range: 340.50 m.
2025-06-17T20:49:46.614Z,1750193386.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:46.617Z,1750193386.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 319.759460 m,
      bearing: 329.492559 deg,
      approach rate: -0.778251 m/s,
      LOS rate: -0.015562 deg/s,
      cmd heading: 332.270617 deg,
      new cmd heading: 332.252328 deg.

2025-06-17T20:49:46.618Z,1750193386.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798897 target range: 349.969482 and range: 340.50 m.
2025-06-17T20:49:47.043Z,1750193387.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:47.045Z,1750193387.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:47.051Z,1750193387.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 319.432220 m,
      bearing: 329.486531 deg,
      approach rate: -0.760102 m/s,
      LOS rate: -0.014015 deg/s,
      cmd heading: 332.252339 deg,
      new cmd heading: 332.234238 deg.

2025-06-17T20:49:47.052Z,1750193387.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798581 target range: 349.969482 and range: 340.50 m.
2025-06-17T20:49:47.197Z,1750193387.197 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:47.197Z,1750193387.197 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:47.197Z,1750193387.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:47.415Z,1750193387.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:47.418Z,1750193387.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 319.148590 m,
      bearing: 329.481251 deg,
      approach rate: -0.765534 m/s,
      LOS rate: -0.014265 deg/s,
      cmd heading: 332.234226 deg,
      new cmd heading: 332.218370 deg.

2025-06-17T20:49:47.419Z,1750193387.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798305 target range: 349.969482 and range: 340.50 m.
2025-06-17T20:49:47.449Z,1750193387.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767597
2025-06-17T20:49:47.661Z,1750193387.661 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:49:47.701Z,1750193387.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019337
2025-06-17T20:49:47.891Z,1750193387.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:47.894Z,1750193387.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 318.794281 m,
      bearing: 329.476215 deg,
      approach rate: -0.745578 m/s,
      LOS rate: -0.010609 deg/s,
      cmd heading: 332.218379 deg,
      new cmd heading: 332.203255 deg.

2025-06-17T20:49:47.895Z,1750193387.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798040 target range: 349.969482 and range: 340.50 m.
2025-06-17T20:49:47.954Z,1750193387.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272089
2025-06-17T20:49:48.205Z,1750193388.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523351
2025-06-17T20:49:48.244Z,1750193388.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:48.247Z,1750193388.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 318.530884 m,
      bearing: 329.472464 deg,
      approach rate: -0.745870 m/s,
      LOS rate: -0.010631 deg/s,
      cmd heading: 332.203244 deg,
      new cmd heading: 332.191981 deg.

2025-06-17T20:49:48.248Z,1750193388.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797844 target range: 349.969482 and range: 340.50 m.
2025-06-17T20:49:48.457Z,1750193388.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775422
2025-06-17T20:49:48.628Z,1750193388.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:48.631Z,1750193388.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 318.244324 m,
      bearing: 329.468293 deg,
      approach rate: -0.745893 m/s,
      LOS rate: -0.010867 deg/s,
      cmd heading: 332.191988 deg,
      new cmd heading: 332.179463 deg.

2025-06-17T20:49:48.632Z,1750193388.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797626 target range: 349.969482 and range: 340.50 m.
2025-06-17T20:49:48.666Z,1750193388.666 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:49:48.709Z,1750193388.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027539
2025-06-17T20:49:48.962Z,1750193388.962 [DAT](INFO): DAT read: Rx Time:20:49:48.6891

2025-06-17T20:49:48.963Z,1750193388.963 [DAT](INFO): Rx dataTimestamp_ set to:1750193388.962132
2025-06-17T20:49:48.964Z,1750193388.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282493
2025-06-17T20:49:49.094Z,1750193389.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:49.097Z,1750193389.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:49.099Z,1750193389.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 317.900696 m,
      bearing: 329.463416 deg,
      approach rate: -0.733098 m/s,
      LOS rate: -0.010415 deg/s,
      cmd heading: 332.179475 deg,
      new cmd heading: 332.164830 deg.

2025-06-17T20:49:49.101Z,1750193389.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797370 target range: 349.969482 and range: 340.50 m.
2025-06-17T20:49:49.213Z,1750193389.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531497
2025-06-17T20:49:49.466Z,1750193389.466 [DAT](INFO): DAT read: Range 10 to 50 : 338.1 m  (Round-trip  450.8 ms) speed  0.5 m/s

2025-06-17T20:49:49.467Z,1750193389.467 [DAT](INFO): DAT read: user:700>

2025-06-17T20:49:49.467Z,1750193389.467 [DAT](INFO): DAT read: Tx time:20:49:49.7841

2025-06-17T20:49:49.468Z,1750193389.468 [DAT](INFO): Ping request sent.
2025-06-17T20:49:49.468Z,1750193389.468 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:49.468Z,1750193389.468 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:49:49.468Z,1750193389.468 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:49.469Z,1750193389.469 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:49.472Z,1750193389.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 338.100006 m,
      deltaT: 3.786473 s,
      deltaX: -2.399994 m,
      approachRate: -0.633834 m/s,
      rangeRepo size: 4

2025-06-17T20:49:49.472Z,1750193389.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:49.475Z,1750193389.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 317.632812 m,
      bearing: 329.459608 deg,
      approach rate: -0.715952 m/s,
      LOS rate: -0.010188 deg/s,
      cmd heading: 332.164831 deg,
      new cmd heading: 332.153395 deg.

2025-06-17T20:49:49.476Z,1750193389.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797170 target range: 349.969482 and range: 338.10 m.
2025-06-17T20:49:49.717Z,1750193389.717 [DAT](INFO): DAT read: TxSync time:20:49:49.7833

2025-06-17T20:49:49.923Z,1750193389.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:49.930Z,1750193389.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 317.303833 m,
      bearing: 329.454589 deg,
      approach rate: -0.727964 m/s,
      LOS rate: -0.011116 deg/s,
      cmd heading: 332.153383 deg,
      new cmd heading: 332.138313 deg.

2025-06-17T20:49:49.931Z,1750193389.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796907 target range: 349.969482 and range: 338.10 m.
2025-06-17T20:49:50.250Z,1750193390.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:50.253Z,1750193390.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 317.060150 m,
      bearing: 329.450934 deg,
      approach rate: -0.744556 m/s,
      LOS rate: -0.011177 deg/s,
      cmd heading: 332.138302 deg,
      new cmd heading: 332.127328 deg.

2025-06-17T20:49:50.254Z,1750193390.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796715 target range: 349.969482 and range: 338.10 m.
2025-06-17T20:49:50.648Z,1750193390.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:50.651Z,1750193390.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 316.771637 m,
      bearing: 329.446560 deg,
      approach rate: -0.725474 m/s,
      LOS rate: -0.011008 deg/s,
      cmd heading: 332.127319 deg,
      new cmd heading: 332.114187 deg.

2025-06-17T20:49:50.652Z,1750193390.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796486 target range: 349.969482 and range: 338.10 m.
2025-06-17T20:49:51.072Z,1750193391.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:51.074Z,1750193391.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 316.472168 m,
      bearing: 329.442889 deg,
      approach rate: -0.706763 m/s,
      LOS rate: -0.008674 deg/s,
      cmd heading: 332.114178 deg,
      new cmd heading: 332.103152 deg.

2025-06-17T20:49:51.075Z,1750193391.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796293 target range: 349.969482 and range: 338.10 m.
2025-06-17T20:49:51.454Z,1750193391.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:51.456Z,1750193391.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:51.459Z,1750193391.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 316.200775 m,
      bearing: 329.439529 deg,
      approach rate: -0.706105 m/s,
      LOS rate: -0.008749 deg/s,
      cmd heading: 332.103141 deg,
      new cmd heading: 332.093053 deg.

2025-06-17T20:49:51.460Z,1750193391.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796117 target range: 349.969482 and range: 338.10 m.
2025-06-17T20:49:51.481Z,1750193391.481 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:51.481Z,1750193391.481 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:51.481Z,1750193391.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:51.734Z,1750193391.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265694
2025-06-17T20:49:51.927Z,1750193391.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:51.930Z,1750193391.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 315.873657 m,
      bearing: 329.435505 deg,
      approach rate: -0.694935 m/s,
      LOS rate: -0.008558 deg/s,
      cmd heading: 332.093059 deg,
      new cmd heading: 332.080974 deg.

2025-06-17T20:49:51.931Z,1750193391.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795907 target range: 349.969482 and range: 338.10 m.
2025-06-17T20:49:51.986Z,1750193391.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518413
2025-06-17T20:49:52.237Z,1750193392.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768922
2025-06-17T20:49:52.312Z,1750193392.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:52.315Z,1750193392.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 315.613190 m,
      bearing: 329.432230 deg,
      approach rate: -0.683226 m/s,
      LOS rate: -0.008598 deg/s,
      cmd heading: 332.080983 deg,
      new cmd heading: 332.071150 deg.

2025-06-17T20:49:52.320Z,1750193392.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795735 target range: 349.969482 and range: 338.10 m.
2025-06-17T20:49:52.489Z,1750193392.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020794
2025-06-17T20:49:52.688Z,1750193392.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:52.691Z,1750193392.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 315.325562 m,
      bearing: 329.428607 deg,
      approach rate: -0.756685 m/s,
      LOS rate: -0.009539 deg/s,
      cmd heading: 332.071148 deg,
      new cmd heading: 332.060270 deg.

2025-06-17T20:49:52.692Z,1750193392.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795545 target range: 349.969482 and range: 338.10 m.
2025-06-17T20:49:52.742Z,1750193392.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273865
2025-06-17T20:49:52.993Z,1750193392.993 [DAT](INFO): DAT read: Rx Time:20:49:52.6355

2025-06-17T20:49:52.993Z,1750193392.993 [DAT](INFO): Rx dataTimestamp_ set to:1750193392.993118
2025-06-17T20:49:52.994Z,1750193392.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525983
2025-06-17T20:49:53.119Z,1750193393.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:53.122Z,1750193393.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 315.015076 m,
      bearing: 329.423792 deg,
      approach rate: -0.719957 m/s,
      LOS rate: -0.011175 deg/s,
      cmd heading: 332.060274 deg,
      new cmd heading: 332.045816 deg.

2025-06-17T20:49:53.123Z,1750193393.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795293 target range: 349.969482 and range: 338.10 m.
2025-06-17T20:49:53.245Z,1750193393.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776854
2025-06-17T20:49:53.491Z,1750193393.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:53.494Z,1750193393.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:53.498Z,1750193393.498 [DAT](INFO): DAT read: Range 10 to 50 : 335.4 m  (Round-trip  447.2 ms) speed  0.6 m/s

2025-06-17T20:49:53.499Z,1750193393.499 [DAT](INFO): DAT read: user:701>

2025-06-17T20:49:53.499Z,1750193393.499 [DAT](INFO): DAT read: Tx time:20:49:53.7341

2025-06-17T20:49:53.500Z,1750193393.500 [DAT](INFO): Ping request sent.
2025-06-17T20:49:53.500Z,1750193393.500 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:53.500Z,1750193393.500 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:49:53.500Z,1750193393.500 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:53.501Z,1750193393.501 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:53.503Z,1750193393.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 314.746490 m,
      bearing: 329.419655 deg,
      approach rate: -0.717193 m/s,
      LOS rate: -0.011057 deg/s,
      cmd heading: 332.045822 deg,
      new cmd heading: 332.033399 deg.

2025-06-17T20:49:53.504Z,1750193393.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795076 target range: 349.969482 and range: 338.10 m.
2025-06-17T20:49:53.750Z,1750193393.750 [DAT](INFO): DAT read: TxSync time:20:49:53.7333

2025-06-17T20:49:53.953Z,1750193393.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 335.399994 m,
      deltaT: 4.032050 s,
      deltaX: -2.700012 m,
      approachRate: -0.669638 m/s,
      rangeRepo size: 4

2025-06-17T20:49:53.953Z,1750193393.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:53.962Z,1750193393.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 314.438141 m,
      bearing: 329.414916 deg,
      approach rate: -0.679325 m/s,
      LOS rate: -0.010451 deg/s,
      cmd heading: 332.033391 deg,
      new cmd heading: 332.019159 deg.

2025-06-17T20:49:53.968Z,1750193393.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794827 target range: 349.969482 and range: 335.40 m.
2025-06-17T20:49:54.311Z,1750193394.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:54.314Z,1750193394.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 314.157440 m,
      bearing: 329.410644 deg,
      approach rate: -0.773210 m/s,
      LOS rate: -0.011779 deg/s,
      cmd heading: 332.019157 deg,
      new cmd heading: 332.006329 deg.

2025-06-17T20:49:54.315Z,1750193394.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794603 target range: 349.969482 and range: 335.40 m.
2025-06-17T20:49:54.699Z,1750193394.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:54.702Z,1750193394.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 313.877350 m,
      bearing: 329.406425 deg,
      approach rate: -0.721239 m/s,
      LOS rate: -0.010873 deg/s,
      cmd heading: 332.006316 deg,
      new cmd heading: 331.993649 deg.

2025-06-17T20:49:54.703Z,1750193394.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794382 target range: 349.969482 and range: 335.40 m.
2025-06-17T20:49:55.117Z,1750193395.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:55.119Z,1750193395.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 313.571960 m,
      bearing: 329.402113 deg,
      approach rate: -0.731130 m/s,
      LOS rate: -0.010333 deg/s,
      cmd heading: 331.993639 deg,
      new cmd heading: 331.980691 deg.

2025-06-17T20:49:55.121Z,1750193395.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794156 target range: 349.969482 and range: 335.40 m.
2025-06-17T20:49:55.495Z,1750193395.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:55.497Z,1750193395.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:55.500Z,1750193395.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 313.293060 m,
      bearing: 329.398122 deg,
      approach rate: -0.733022 m/s,
      LOS rate: -0.010499 deg/s,
      cmd heading: 331.980689 deg,
      new cmd heading: 331.968705 deg.

2025-06-17T20:49:55.501Z,1750193395.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793947 target range: 349.969482 and range: 335.40 m.
2025-06-17T20:49:55.517Z,1750193395.517 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:55.517Z,1750193395.517 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:55.517Z,1750193395.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:55.769Z,1750193395.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269107
2025-06-17T20:49:55.982Z,1750193395.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:55.989Z,1750193395.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 312.969055 m,
      bearing: 329.393476 deg,
      approach rate: -0.668940 m/s,
      LOS rate: -0.009602 deg/s,
      cmd heading: 331.968695 deg,
      new cmd heading: 331.954743 deg.

2025-06-17T20:49:55.990Z,1750193395.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793703 target range: 349.969482 and range: 335.40 m.
2025-06-17T20:49:56.021Z,1750193396.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520957
2025-06-17T20:49:56.273Z,1750193396.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772716
2025-06-17T20:49:56.340Z,1750193396.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:56.343Z,1750193396.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 312.671600 m,
      bearing: 329.388024 deg,
      approach rate: -0.830399 m/s,
      LOS rate: -0.015235 deg/s,
      cmd heading: 331.954734 deg,
      new cmd heading: 331.938363 deg.

2025-06-17T20:49:56.344Z,1750193396.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793417 target range: 349.969482 and range: 335.40 m.
2025-06-17T20:49:56.525Z,1750193396.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024782
2025-06-17T20:49:56.710Z,1750193396.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:56.713Z,1750193396.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 312.389648 m,
      bearing: 329.382860 deg,
      approach rate: -0.761777 m/s,
      LOS rate: -0.013966 deg/s,
      cmd heading: 331.938369 deg,
      new cmd heading: 331.922862 deg.

2025-06-17T20:49:56.714Z,1750193396.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793147 target range: 349.969482 and range: 335.40 m.
2025-06-17T20:49:56.777Z,1750193396.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276978
2025-06-17T20:49:57.029Z,1750193397.029 [DAT](INFO): DAT read: Rx Time:20:49:56.5826

2025-06-17T20:49:57.029Z,1750193397.029 [DAT](INFO): Rx dataTimestamp_ set to:1750193397.028971
2025-06-17T20:49:57.030Z,1750193397.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529816
2025-06-17T20:49:57.175Z,1750193397.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:57.181Z,1750193397.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 312.044006 m,
      bearing: 329.377236 deg,
      approach rate: -0.743875 m/s,
      LOS rate: -0.012117 deg/s,
      cmd heading: 331.922851 deg,
      new cmd heading: 331.905960 deg.

2025-06-17T20:49:57.182Z,1750193397.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792852 target range: 349.969482 and range: 335.40 m.
2025-06-17T20:49:57.282Z,1750193397.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781894
2025-06-17T20:49:57.525Z,1750193397.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:57.527Z,1750193397.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:57.530Z,1750193397.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 311.773682 m,
      bearing: 329.372852 deg,
      approach rate: -0.766650 m/s,
      LOS rate: -0.012443 deg/s,
      cmd heading: 331.905967 deg,
      new cmd heading: 331.892804 deg.

2025-06-17T20:49:57.531Z,1750193397.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792622 target range: 349.969482 and range: 335.40 m.
2025-06-17T20:49:57.534Z,1750193397.534 [DAT](INFO): DAT read: Range 10 to 50 : 333.2 m  (Round-trip  444.3 ms) speed  0.3 m/s

2025-06-17T20:49:57.535Z,1750193397.535 [DAT](INFO): DAT read: user:702>

2025-06-17T20:49:57.535Z,1750193397.535 [DAT](INFO): DAT read: Tx time:20:49:57.6841

2025-06-17T20:49:57.536Z,1750193397.536 [DAT](INFO): Ping request sent.
2025-06-17T20:49:57.536Z,1750193397.536 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:49:57.536Z,1750193397.536 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:49:57.536Z,1750193397.536 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:57.537Z,1750193397.537 [DAT](INFO): publishing transmit ping time
2025-06-17T20:49:57.785Z,1750193397.785 [DAT](INFO): DAT read: TxSync time:20:49:57.6833

2025-06-17T20:49:58.012Z,1750193398.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 333.200012 m,
      deltaT: 4.036002 s,
      deltaX: -2.199982 m,
      approachRate: -0.545089 m/s,
      rangeRepo size: 4

2025-06-17T20:49:58.013Z,1750193398.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:58.016Z,1750193398.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 311.456940 m,
      bearing: 329.367707 deg,
      approach rate: -0.659548 m/s,
      LOS rate: -0.010725 deg/s,
      cmd heading: 331.892798 deg,
      new cmd heading: 331.877346 deg.

2025-06-17T20:49:58.017Z,1750193398.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792352 target range: 349.969482 and range: 333.20 m.
2025-06-17T20:49:58.356Z,1750193398.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:58.359Z,1750193398.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 311.140228 m,
      bearing: 329.361900 deg,
      approach rate: -0.908323 m/s,
      LOS rate: -0.016670 deg/s,
      cmd heading: 331.877334 deg,
      new cmd heading: 331.859897 deg.

2025-06-17T20:49:58.360Z,1750193398.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792048 target range: 349.969482 and range: 333.20 m.
2025-06-17T20:49:58.742Z,1750193398.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:58.747Z,1750193398.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 310.849823 m,
      bearing: 329.356544 deg,
      approach rate: -0.752390 m/s,
      LOS rate: -0.013891 deg/s,
      cmd heading: 331.859904 deg,
      new cmd heading: 331.843819 deg.

2025-06-17T20:49:58.749Z,1750193398.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791767 target range: 349.969482 and range: 333.20 m.
2025-06-17T20:49:59.166Z,1750193399.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:59.184Z,1750193399.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 310.524811 m,
      bearing: 329.349240 deg,
      approach rate: -0.767362 m/s,
      LOS rate: -0.017263 deg/s,
      cmd heading: 331.843812 deg,
      new cmd heading: 331.821878 deg.

2025-06-17T20:49:59.189Z,1750193399.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791384 target range: 349.969482 and range: 333.20 m.
2025-06-17T20:49:59.546Z,1750193399.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:49:59.549Z,1750193399.549 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:49:59.549Z,1750193399.549 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:49:59.549Z,1750193399.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:49:59.552Z,1750193399.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:59.555Z,1750193399.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 310.244202 m,
      bearing: 329.342984 deg,
      approach rate: -0.734269 m/s,
      LOS rate: -0.016383 deg/s,
      cmd heading: 331.821873 deg,
      new cmd heading: 331.803090 deg.

2025-06-17T20:49:59.556Z,1750193399.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791056 target range: 349.969482 and range: 333.20 m.
2025-06-17T20:49:59.801Z,1750193399.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264802
2025-06-17T20:49:59.940Z,1750193399.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:49:59.962Z,1750193399.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 309.938843 m,
      bearing: 329.336176 deg,
      approach rate: -0.778343 m/s,
      LOS rate: -0.017371 deg/s,
      cmd heading: 331.803077 deg,
      new cmd heading: 331.782632 deg.

2025-06-17T20:49:59.973Z,1750193399.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790699 target range: 349.969482 and range: 333.20 m.
2025-06-17T20:50:00.053Z,1750193400.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517002
2025-06-17T20:50:00.305Z,1750193400.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769026
2025-06-17T20:50:00.385Z,1750193400.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:50:00.388Z,1750193400.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 309.601868 m,
      bearing: 329.329082 deg,
      approach rate: -0.757474 m/s,
      LOS rate: -0.015963 deg/s,
      cmd heading: 331.782641 deg,
      new cmd heading: 331.761337 deg.

2025-06-17T20:50:00.389Z,1750193400.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790328 target range: 349.969482 and range: 333.20 m.
2025-06-17T20:50:00.558Z,1750193400.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021935
2025-06-17T20:50:00.767Z,1750193400.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:50:00.770Z,1750193400.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 309.315033 m,
      bearing: 329.323006 deg,
      approach rate: -0.751274 m/s,
      LOS rate: -0.015929 deg/s,
      cmd heading: 331.761331 deg,
      new cmd heading: 331.743085 deg.

2025-06-17T20:50:00.771Z,1750193400.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790009 target range: 349.969482 and range: 333.20 m.
2025-06-17T20:50:00.813Z,1750193400.813 [DAT](INFO): DAT read: Rx Time:20:50:00.5285

2025-06-17T20:50:00.814Z,1750193400.814 [DAT](INFO): Rx dataTimestamp_ set to:1750193400.813265
2025-06-17T20:50:00.814Z,1750193400.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278067
2025-06-17T20:50:01.065Z,1750193401.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528809
2025-06-17T20:50:01.183Z,1750193401.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.97 m.
2025-06-17T20:50:01.186Z,1750193401.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.969482 m,
      nav range: 309.003082 m,
      bearing: 329.316123 deg,
      approach rate: -0.748873 m/s,
      LOS rate: -0.016541 deg/s,
      cmd heading: 331.743080 deg,
      new cmd heading: 331.722409 deg.

2025-06-17T20:50:01.187Z,1750193401.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789648 target range: 349.969482 and range: 333.20 m.
2025-06-17T20:50:01.326Z,1750193401.326 [DAT](INFO): DAT read: 20:50:00.5285 LVL= 25056, 32753, 21362, 32755, AGC= 68, IDX= 389, 0.07, 1.105,-0.305, 1.094, 0.118, PHS= 1.075,-0.376, 0.974, RAW= 146.4, -22.9, CAL= 151.3, -29.7, ROT= 358.7,  29.7

2025-06-17T20:50:01.327Z,1750193401.327 [DAT](INFO): got valid direction response:
 20:50:00.5285 LVL= 25056, 32753, 21362, 32755, AGC= 68, IDX= 389, 0.07, 1.105,-0.305, 1.094, 0.118, PHS= 1.075,-0.376, 0.974, RAW= 146.4, -22.9, CAL= 151.3, -29.7, ROT= 358.7,  29.7

2025-06-17T20:50:01.328Z,1750193401.328 [DAT](INFO): DAT read: Bearing 358.7,  29.7 (Local)

2025-06-17T20:50:01.329Z,1750193401.329 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.7,  29.7 (Local)

2025-06-17T20:50:01.330Z,1750193401.330 [DAT](INFO): DAT read: Range 10 to 50 : 330.1 m  (Round-trip  440.2 ms) speed  0.4 m/s

2025-06-17T20:50:01.331Z,1750193401.331 [DAT](INFO): DAT read: user:703>

2025-06-17T20:50:01.332Z,1750193401.332 [DAT](INFO): DAT read: Tx time:20:50:01.6341

2025-06-17T20:50:01.332Z,1750193401.332 [DAT](INFO): Ping request sent.
2025-06-17T20:50:01.332Z,1750193401.332 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:01.332Z,1750193401.332 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:50:01.333Z,1750193401.333 [DAT](INFO): direction in FSK: [0.868408,-0.019707,-0.495459]
2025-06-17T20:50:01.334Z,1750193401.334 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:01.334Z,1750193401.334 [DAT](INFO): publishing direction and range info
2025-06-17T20:50:01.338Z,1750193401.338 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:01.338Z,1750193401.338 [DAT](INFO): publishing direction and range info
2025-06-17T20:50:01.566Z,1750193401.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 330.100006 m,
      deltaT: 3.785976 s,
      deltaX: -3.100006 m,
      approachRate: -0.818813 m/s,
      rangeRepo size: 4

2025-06-17T20:50:01.569Z,1750193401.569 [DAT](INFO): DAT read: TxSync time:20:50:01.6333

2025-06-17T20:50:01.571Z,1750193401.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 327.091339 m,
      bearing: 332.695816 deg,
      lat: 36.906030 deg,
      lon: -122.115774 deg,
      deltaT: 31.521980 s,
      deltaX: -22.878143 m,
      approachRate: -0.725784 m/s,
      posRepo size: 4

2025-06-17T20:50:01.571Z,1750193401.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:01.582Z,1750193401.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 305.075043 m,
      bearing: 332.613476 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016541 deg/s,
      cmd heading: 331.722398 deg,
      new cmd heading: 331.703438 deg.

2025-06-17T20:50:01.583Z,1750193401.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789317 target range: 327.091339 and range: 330.10 m.
2025-06-17T20:50:01.963Z,1750193401.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:01.985Z,1750193401.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:01.988Z,1750193401.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 304.775513 m,
      bearing: 332.610087 deg,
      approach rate: -0.713688 m/s,
      LOS rate: -0.008083 deg/s,
      cmd heading: 331.703438 deg,
      new cmd heading: 331.693261 deg.

2025-06-17T20:50:01.989Z,1750193401.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789139 target range: 327.091339 and range: 330.10 m.
2025-06-17T20:50:02.073Z,1750193402.073 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:02.073Z,1750193402.073 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:02.073Z,1750193402.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:02.325Z,1750193402.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992471
2025-06-17T20:50:02.399Z,1750193402.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:02.406Z,1750193402.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 304.469025 m,
      bearing: 332.607243 deg,
      approach rate: -0.740651 m/s,
      LOS rate: -0.006881 deg/s,
      cmd heading: 331.693247 deg,
      new cmd heading: 331.684705 deg.

2025-06-17T20:50:02.407Z,1750193402.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788990 target range: 327.091339 and range: 330.10 m.
2025-06-17T20:50:02.577Z,1750193402.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244572
2025-06-17T20:50:02.801Z,1750193402.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:02.820Z,1750193402.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 304.163910 m,
      bearing: 332.604405 deg,
      approach rate: -0.760405 m/s,
      LOS rate: -0.007078 deg/s,
      cmd heading: 331.684696 deg,
      new cmd heading: 331.676175 deg.

2025-06-17T20:50:02.821Z,1750193402.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788841 target range: 327.091339 and range: 330.10 m.
2025-06-17T20:50:02.829Z,1750193402.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496730
2025-06-17T20:50:03.084Z,1750193403.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751130
2025-06-17T20:50:03.193Z,1750193403.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:03.195Z,1750193403.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 303.875183 m,
      bearing: 332.600604 deg,
      approach rate: -0.735565 m/s,
      LOS rate: -0.009692 deg/s,
      cmd heading: 331.676172 deg,
      new cmd heading: 331.664758 deg.

2025-06-17T20:50:03.217Z,1750193403.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788642 target range: 327.091339 and range: 330.10 m.
2025-06-17T20:50:03.333Z,1750193403.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000561
2025-06-17T20:50:03.585Z,1750193403.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252808
2025-06-17T20:50:03.649Z,1750193403.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:03.652Z,1750193403.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 303.538940 m,
      bearing: 332.596041 deg,
      approach rate: -0.736104 m/s,
      LOS rate: -0.010002 deg/s,
      cmd heading: 331.664752 deg,
      new cmd heading: 331.651046 deg.

2025-06-17T20:50:03.653Z,1750193403.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788403 target range: 327.091339 and range: 330.10 m.
2025-06-17T20:50:03.837Z,1750193403.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504619
2025-06-17T20:50:04.090Z,1750193404.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758159
2025-06-17T20:50:04.106Z,1750193404.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:04.112Z,1750193404.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:04.115Z,1750193404.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 303.261108 m,
      bearing: 332.592198 deg,
      approach rate: -0.605716 m/s,
      LOS rate: -0.008386 deg/s,
      cmd heading: 331.651037 deg,
      new cmd heading: 331.639497 deg.

2025-06-17T20:50:04.120Z,1750193404.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788201 target range: 327.091339 and range: 330.10 m.
2025-06-17T20:50:04.341Z,1750193404.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009023
2025-06-17T20:50:04.509Z,1750193404.509 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  86.52,  78.38,  75.66,
2025-06-17T20:50:04.549Z,1750193404.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:04.551Z,1750193404.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 302.880310 m,
      bearing: 332.586932 deg,
      approach rate: -0.864496 m/s,
      LOS rate: -0.011969 deg/s,
      cmd heading: 331.639507 deg,
      new cmd heading: 331.623690 deg.

2025-06-17T20:50:04.557Z,1750193404.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787925 target range: 327.091339 and range: 330.10 m.
2025-06-17T20:50:04.593Z,1750193404.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260788
2025-06-17T20:50:04.845Z,1750193404.845 [DAT](INFO): DAT read: Rx Time:20:50:04.4749

2025-06-17T20:50:04.845Z,1750193404.845 [DAT](INFO): Rx dataTimestamp_ set to:1750193404.845022
2025-06-17T20:50:04.846Z,1750193404.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513661
2025-06-17T20:50:04.952Z,1750193404.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:04.955Z,1750193404.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 302.580475 m,
      bearing: 332.582776 deg,
      approach rate: -0.743224 m/s,
      LOS rate: -0.010311 deg/s,
      cmd heading: 331.623689 deg,
      new cmd heading: 331.611210 deg.

2025-06-17T20:50:04.956Z,1750193404.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787707 target range: 327.091339 and range: 330.10 m.
2025-06-17T20:50:05.102Z,1750193405.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767153
2025-06-17T20:50:05.350Z,1750193405.350 [DAT](INFO): DAT read: Range 10 to 50 : 327.3 m  (Round-trip  436.5 ms) speed  0.4 m/s

2025-06-17T20:50:05.351Z,1750193405.351 [DAT](INFO): DAT read: user:704>

2025-06-17T20:50:05.351Z,1750193405.351 [DAT](INFO): DAT read: Tx time:20:50:05.5842

2025-06-17T20:50:05.356Z,1750193405.356 [DAT](INFO): Ping request sent.
2025-06-17T20:50:05.356Z,1750193405.356 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:05.356Z,1750193405.356 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:50:05.356Z,1750193405.356 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:05.357Z,1750193405.357 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:05.461Z,1750193405.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 327.299988 m,
      deltaT: 4.029908 s,
      deltaX: -2.800018 m,
      approachRate: -0.694809 m/s,
      rangeRepo size: 4

2025-06-17T20:50:05.462Z,1750193405.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:05.469Z,1750193405.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 302.217926 m,
      bearing: 332.581059 deg,
      approach rate: -0.720481 m/s,
      LOS rate: -0.003416 deg/s,
      cmd heading: 331.611203 deg,
      new cmd heading: 331.606046 deg.

2025-06-17T20:50:05.470Z,1750193405.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787617 target range: 327.091339 and range: 327.30 m.
2025-06-17T20:50:05.601Z,1750193405.601 [DAT](INFO): DAT read: TxSync time:20:50:05.5834

2025-06-17T20:50:05.780Z,1750193405.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:05.782Z,1750193405.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 301.975006 m,
      bearing: 332.579953 deg,
      approach rate: -0.748905 m/s,
      LOS rate: -0.003414 deg/s,
      cmd heading: 331.606039 deg,
      new cmd heading: 331.602717 deg.

2025-06-17T20:50:05.783Z,1750193405.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787559 target range: 327.091339 and range: 327.30 m.
2025-06-17T20:50:06.183Z,1750193406.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:06.185Z,1750193406.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:06.188Z,1750193406.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 301.678253 m,
      bearing: 332.578528 deg,
      approach rate: -0.731389 m/s,
      LOS rate: -0.003514 deg/s,
      cmd heading: 331.602706 deg,
      new cmd heading: 331.598429 deg.

2025-06-17T20:50:06.189Z,1750193406.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787484 target range: 327.091339 and range: 327.30 m.
2025-06-17T20:50:06.357Z,1750193406.357 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:06.357Z,1750193406.357 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:06.357Z,1750193406.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:06.585Z,1750193406.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:06.594Z,1750193406.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 301.392731 m,
      bearing: 332.577213 deg,
      approach rate: -0.714029 m/s,
      LOS rate: -0.003292 deg/s,
      cmd heading: 331.598417 deg,
      new cmd heading: 331.594468 deg.

2025-06-17T20:50:06.609Z,1750193406.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252756
2025-06-17T20:50:06.616Z,1750193406.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787415 target range: 327.091339 and range: 327.30 m.
2025-06-17T20:50:06.861Z,1750193406.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505346
2025-06-17T20:50:06.970Z,1750193406.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:06.973Z,1750193406.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 301.106964 m,
      bearing: 332.575925 deg,
      approach rate: -0.742897 m/s,
      LOS rate: -0.003353 deg/s,
      cmd heading: 331.594455 deg,
      new cmd heading: 331.590586 deg.

2025-06-17T20:50:06.974Z,1750193406.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787347 target range: 327.091339 and range: 327.30 m.
2025-06-17T20:50:07.116Z,1750193407.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759250
2025-06-17T20:50:07.365Z,1750193407.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008669
2025-06-17T20:50:07.416Z,1750193407.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:07.419Z,1750193407.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 300.784149 m,
      bearing: 332.574208 deg,
      approach rate: -0.724093 m/s,
      LOS rate: -0.003855 deg/s,
      cmd heading: 331.590576 deg,
      new cmd heading: 331.585419 deg.

2025-06-17T20:50:07.420Z,1750193407.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787257 target range: 327.091339 and range: 327.30 m.
2025-06-17T20:50:07.617Z,1750193407.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261250
2025-06-17T20:50:07.794Z,1750193407.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:07.797Z,1750193407.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 300.510132 m,
      bearing: 332.572705 deg,
      approach rate: -0.724570 m/s,
      LOS rate: -0.003977 deg/s,
      cmd heading: 331.585412 deg,
      new cmd heading: 331.580900 deg.

2025-06-17T20:50:07.798Z,1750193407.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787179 target range: 327.091339 and range: 327.30 m.
2025-06-17T20:50:07.869Z,1750193407.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513108
2025-06-17T20:50:08.123Z,1750193408.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766893
2025-06-17T20:50:08.234Z,1750193408.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:08.249Z,1750193408.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:08.251Z,1750193408.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 300.208679 m,
      bearing: 332.571483 deg,
      approach rate: -0.663037 m/s,
      LOS rate: -0.002691 deg/s,
      cmd heading: 331.580904 deg,
      new cmd heading: 331.577234 deg.

2025-06-17T20:50:08.261Z,1750193408.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787115 target range: 327.091339 and range: 327.30 m.
2025-06-17T20:50:08.373Z,1750193408.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017091
2025-06-17T20:50:08.611Z,1750193408.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:08.614Z,1750193408.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 299.918274 m,
      bearing: 332.570418 deg,
      approach rate: -0.800522 m/s,
      LOS rate: -0.002938 deg/s,
      cmd heading: 331.577243 deg,
      new cmd heading: 331.574046 deg.

2025-06-17T20:50:08.615Z,1750193408.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787059 target range: 327.091339 and range: 327.30 m.
2025-06-17T20:50:08.625Z,1750193408.625 [DAT](INFO): DAT read: Rx Time:20:50:08.4213

2025-06-17T20:50:08.625Z,1750193408.625 [DAT](INFO): Rx dataTimestamp_ set to:1750193408.625131
2025-06-17T20:50:08.626Z,1750193408.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269969
2025-06-17T20:50:08.877Z,1750193408.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521015
2025-06-17T20:50:09.008Z,1750193409.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:09.011Z,1750193409.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 299.626251 m,
      bearing: 332.569392 deg,
      approach rate: -0.735396 m/s,
      LOS rate: -0.002585 deg/s,
      cmd heading: 331.574047 deg,
      new cmd heading: 331.570967 deg.

2025-06-17T20:50:09.012Z,1750193409.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787005 target range: 327.091339 and range: 327.30 m.
2025-06-17T20:50:09.131Z,1750193409.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774970
2025-06-17T20:50:09.382Z,1750193409.382 [DAT](INFO): DAT read: Range 10 to 50 : 324.7 m  (Round-trip  433.0 ms) speed  0.6 m/s

2025-06-17T20:50:09.383Z,1750193409.383 [DAT](INFO): DAT read: user:705>

2025-06-17T20:50:09.384Z,1750193409.384 [DAT](INFO): DAT read: Tx time:20:50:09.5342

2025-06-17T20:50:09.384Z,1750193409.384 [DAT](INFO): Ping request sent.
2025-06-17T20:50:09.384Z,1750193409.384 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:09.384Z,1750193409.384 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:50:09.385Z,1750193409.385 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:09.385Z,1750193409.385 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:09.493Z,1750193409.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 324.700012 m,
      deltaT: 4.032314 s,
      deltaX: -2.599976 m,
      approachRate: -0.644785 m/s,
      rangeRepo size: 4

2025-06-17T20:50:09.494Z,1750193409.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:09.501Z,1750193409.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 299.280609 m,
      bearing: 332.568810 deg,
      approach rate: -0.713865 m/s,
      LOS rate: -0.001204 deg/s,
      cmd heading: 331.570960 deg,
      new cmd heading: 331.569211 deg.

2025-06-17T20:50:09.502Z,1750193409.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786974 target range: 327.091339 and range: 324.70 m.
2025-06-17T20:50:09.633Z,1750193409.633 [DAT](INFO): DAT read: TxSync time:20:50:09.5334

2025-06-17T20:50:09.808Z,1750193409.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:09.811Z,1750193409.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 299.045135 m,
      bearing: 332.568544 deg,
      approach rate: -0.747516 m/s,
      LOS rate: -0.000847 deg/s,
      cmd heading: 331.569211 deg,
      new cmd heading: 331.568410 deg.

2025-06-17T20:50:09.828Z,1750193409.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786961 target range: 327.091339 and range: 324.70 m.
2025-06-17T20:50:10.236Z,1750193410.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:10.239Z,1750193410.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 298.734314 m,
      bearing: 332.567691 deg,
      approach rate: -0.725983 m/s,
      LOS rate: -0.001994 deg/s,
      cmd heading: 331.568419 deg,
      new cmd heading: 331.565858 deg.

2025-06-17T20:50:10.240Z,1750193410.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786916 target range: 327.091339 and range: 324.70 m.
2025-06-17T20:50:10.606Z,1750193410.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:10.609Z,1750193410.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:10.611Z,1750193410.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 298.464081 m,
      bearing: 332.566958 deg,
      approach rate: -0.724643 m/s,
      LOS rate: -0.001968 deg/s,
      cmd heading: 331.565851 deg,
      new cmd heading: 331.563649 deg.

2025-06-17T20:50:10.613Z,1750193410.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786877 target range: 327.091339 and range: 324.70 m.
2025-06-17T20:50:10.641Z,1750193410.641 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:10.641Z,1750193410.641 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:10.641Z,1750193410.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:10.893Z,1750193410.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508549
2025-06-17T20:50:11.011Z,1750193411.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:11.014Z,1750193411.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 298.171112 m,
      bearing: 332.566110 deg,
      approach rate: -0.727450 m/s,
      LOS rate: -0.002106 deg/s,
      cmd heading: 331.563638 deg,
      new cmd heading: 331.561094 deg.

2025-06-17T20:50:11.015Z,1750193411.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786833 target range: 327.091339 and range: 324.70 m.
2025-06-17T20:50:11.147Z,1750193411.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762472
2025-06-17T20:50:11.397Z,1750193411.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012527
2025-06-17T20:50:11.441Z,1750193411.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:11.444Z,1750193411.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 297.858185 m,
      bearing: 332.564705 deg,
      approach rate: -0.728112 m/s,
      LOS rate: -0.003273 deg/s,
      cmd heading: 331.561097 deg,
      new cmd heading: 331.556876 deg.

2025-06-17T20:50:11.445Z,1750193411.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786759 target range: 327.091339 and range: 324.70 m.
2025-06-17T20:50:11.652Z,1750193411.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267921
2025-06-17T20:50:11.832Z,1750193411.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:11.835Z,1750193411.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 297.573669 m,
      bearing: 332.563399 deg,
      approach rate: -0.728648 m/s,
      LOS rate: -0.003348 deg/s,
      cmd heading: 331.556889 deg,
      new cmd heading: 331.552967 deg.

2025-06-17T20:50:11.836Z,1750193411.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786691 target range: 327.091339 and range: 324.70 m.
2025-06-17T20:50:11.901Z,1750193411.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516766
2025-06-17T20:50:12.155Z,1750193412.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770450
2025-06-17T20:50:12.266Z,1750193412.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:12.269Z,1750193412.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 297.249786 m,
      bearing: 332.561941 deg,
      approach rate: -0.745582 m/s,
      LOS rate: -0.003360 deg/s,
      cmd heading: 331.552955 deg,
      new cmd heading: 331.548577 deg.

2025-06-17T20:50:12.270Z,1750193412.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786614 target range: 327.091339 and range: 324.70 m.
2025-06-17T20:50:12.405Z,1750193412.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020510
2025-06-17T20:50:12.640Z,1750193412.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:12.645Z,1750193412.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:12.650Z,1750193412.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 296.974152 m,
      bearing: 332.560733 deg,
      approach rate: -0.729507 m/s,
      LOS rate: -0.003201 deg/s,
      cmd heading: 331.548584 deg,
      new cmd heading: 331.544956 deg.

2025-06-17T20:50:12.651Z,1750193412.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786551 target range: 327.091339 and range: 324.70 m.
2025-06-17T20:50:12.658Z,1750193412.658 [DAT](INFO): DAT read: Rx Time:20:50:12.3687

2025-06-17T20:50:12.658Z,1750193412.658 [DAT](INFO): Rx dataTimestamp_ set to:1750193412.658094
2025-06-17T20:50:12.659Z,1750193412.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274717
2025-06-17T20:50:12.912Z,1750193412.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528177
2025-06-17T20:50:13.056Z,1750193413.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:13.059Z,1750193413.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 296.660095 m,
      bearing: 332.559353 deg,
      approach rate: -0.761827 m/s,
      LOS rate: -0.003350 deg/s,
      cmd heading: 331.544950 deg,
      new cmd heading: 331.540807 deg.

2025-06-17T20:50:13.060Z,1750193413.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786479 target range: 327.091339 and range: 324.70 m.
2025-06-17T20:50:13.162Z,1750193413.162 [DAT](INFO): DAT read: Range 10 to 50 : 322.7 m  (Round-trip  430.3 ms) speed  0.8 m/s

2025-06-17T20:50:13.163Z,1750193413.163 [DAT](INFO): DAT read: user:706>

2025-06-17T20:50:13.164Z,1750193413.164 [DAT](INFO): DAT read: Tx time:20:50:13.4842

2025-06-17T20:50:13.164Z,1750193413.164 [DAT](INFO): Ping request sent.
2025-06-17T20:50:13.164Z,1750193413.164 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:13.165Z,1750193413.165 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:50:13.165Z,1750193413.165 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:13.165Z,1750193413.165 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:13.413Z,1750193413.413 [DAT](INFO): DAT read: TxSync time:20:50:13.4834

2025-06-17T20:50:13.473Z,1750193413.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 322.700012 m,
      deltaT: 3.780155 s,
      deltaX: -2.000000 m,
      approachRate: -0.529079 m/s,
      rangeRepo size: 4

2025-06-17T20:50:13.473Z,1750193413.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:13.476Z,1750193413.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 296.354370 m,
      bearing: 332.558024 deg,
      approach rate: -0.735864 m/s,
      LOS rate: -0.003203 deg/s,
      cmd heading: 331.540797 deg,
      new cmd heading: 331.536805 deg.

2025-06-17T20:50:13.477Z,1750193413.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786409 target range: 327.091339 and range: 322.70 m.
2025-06-17T20:50:13.865Z,1750193413.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:13.872Z,1750193413.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 296.074036 m,
      bearing: 332.556928 deg,
      approach rate: -0.712554 m/s,
      LOS rate: -0.002789 deg/s,
      cmd heading: 331.536809 deg,
      new cmd heading: 331.533517 deg.

2025-06-17T20:50:13.873Z,1750193413.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786352 target range: 327.091339 and range: 322.70 m.
2025-06-17T20:50:14.332Z,1750193414.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:14.335Z,1750193414.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 295.713257 m,
      bearing: 332.553542 deg,
      approach rate: -0.772337 m/s,
      LOS rate: -0.007256 deg/s,
      cmd heading: 331.533530 deg,
      new cmd heading: 331.523362 deg.

2025-06-17T20:50:14.337Z,1750193414.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786174 target range: 327.091339 and range: 322.70 m.
2025-06-17T20:50:14.700Z,1750193414.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:14.702Z,1750193414.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:14.705Z,1750193414.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 295.435211 m,
      bearing: 332.550974 deg,
      approach rate: -0.751077 m/s,
      LOS rate: -0.006944 deg/s,
      cmd heading: 331.523367 deg,
      new cmd heading: 331.515655 deg.

2025-06-17T20:50:14.706Z,1750193414.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786040 target range: 327.091339 and range: 322.70 m.
2025-06-17T20:50:14.925Z,1750193414.925 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:14.925Z,1750193414.925 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:14.925Z,1750193414.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:15.119Z,1750193415.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:15.122Z,1750193415.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 295.133331 m,
      bearing: 332.548121 deg,
      approach rate: -0.723929 m/s,
      LOS rate: -0.006848 deg/s,
      cmd heading: 331.515662 deg,
      new cmd heading: 331.507095 deg.

2025-06-17T20:50:15.123Z,1750193415.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785890 target range: 327.091339 and range: 322.70 m.
2025-06-17T20:50:15.177Z,1750193415.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012566
2025-06-17T20:50:15.429Z,1750193415.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264636
2025-06-17T20:50:15.535Z,1750193415.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:15.538Z,1750193415.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 294.811188 m,
      bearing: 332.545316 deg,
      approach rate: -0.775623 m/s,
      LOS rate: -0.006761 deg/s,
      cmd heading: 331.507084 deg,
      new cmd heading: 331.498660 deg.

2025-06-17T20:50:15.539Z,1750193415.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785743 target range: 327.091339 and range: 322.70 m.
2025-06-17T20:50:15.681Z,1750193415.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516468
2025-06-17T20:50:15.915Z,1750193415.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:15.918Z,1750193415.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 294.526489 m,
      bearing: 332.542793 deg,
      approach rate: -0.747509 m/s,
      LOS rate: -0.006631 deg/s,
      cmd heading: 331.498669 deg,
      new cmd heading: 331.491092 deg.

2025-06-17T20:50:15.919Z,1750193415.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785611 target range: 327.091339 and range: 322.70 m.
2025-06-17T20:50:15.933Z,1750193415.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768455
2025-06-17T20:50:16.187Z,1750193416.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022320
2025-06-17T20:50:16.350Z,1750193416.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:16.353Z,1750193416.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 294.195435 m,
      bearing: 332.539397 deg,
      approach rate: -0.761663 m/s,
      LOS rate: -0.007824 deg/s,
      cmd heading: 331.491101 deg,
      new cmd heading: 331.480899 deg.

2025-06-17T20:50:16.354Z,1750193416.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785433 target range: 327.091339 and range: 322.70 m.
2025-06-17T20:50:16.438Z,1750193416.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273239
2025-06-17T20:50:16.689Z,1750193416.689 [DAT](INFO): DAT read: Rx Time:20:50:16.3145

2025-06-17T20:50:16.689Z,1750193416.689 [DAT](INFO): Rx dataTimestamp_ set to:1750193416.688974
2025-06-17T20:50:16.690Z,1750193416.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525431
2025-06-17T20:50:16.721Z,1750193416.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:16.723Z,1750193416.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:16.726Z,1750193416.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 293.910980 m,
      bearing: 332.536452 deg,
      approach rate: -0.763433 m/s,
      LOS rate: -0.007912 deg/s,
      cmd heading: 331.480910 deg,
      new cmd heading: 331.472067 deg.

2025-06-17T20:50:16.727Z,1750193416.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785279 target range: 327.091339 and range: 322.70 m.
2025-06-17T20:50:16.943Z,1750193416.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779115
2025-06-17T20:50:17.153Z,1750193417.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:17.158Z,1750193417.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 293.589691 m,
      bearing: 332.533119 deg,
      approach rate: -0.748732 m/s,
      LOS rate: -0.007776 deg/s,
      cmd heading: 331.472058 deg,
      new cmd heading: 331.462049 deg.

2025-06-17T20:50:17.160Z,1750193417.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785104 target range: 327.091339 and range: 322.70 m.
2025-06-17T20:50:17.194Z,1750193417.194 [DAT](INFO): DAT read: Range 10 to 50 : 319.5 m  (Round-trip  426.1 ms) speed  0.7 m/s

2025-06-17T20:50:17.195Z,1750193417.195 [DAT](INFO): DAT read: user:707>

2025-06-17T20:50:17.196Z,1750193417.196 [DAT](INFO): DAT read: Tx time:20:50:17.4342

2025-06-17T20:50:17.196Z,1750193417.196 [DAT](INFO): Ping request sent.
2025-06-17T20:50:17.196Z,1750193417.196 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:17.197Z,1750193417.197 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:50:17.197Z,1750193417.197 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:17.197Z,1750193417.197 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:17.445Z,1750193417.445 [DAT](INFO): DAT read: TxSync time:20:50:17.4334

2025-06-17T20:50:17.563Z,1750193417.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 319.500000 m,
      deltaT: 4.031788 s,
      deltaX: -3.200012 m,
      approachRate: -0.793696 m/s,
      rangeRepo size: 4

2025-06-17T20:50:17.564Z,1750193417.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:17.566Z,1750193417.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 293.272247 m,
      bearing: 332.529341 deg,
      approach rate: -0.773612 m/s,
      LOS rate: -0.009217 deg/s,
      cmd heading: 331.462059 deg,
      new cmd heading: 331.450713 deg.

2025-06-17T20:50:17.567Z,1750193417.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784906 target range: 327.091339 and range: 319.50 m.
2025-06-17T20:50:17.933Z,1750193417.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:17.935Z,1750193417.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 292.991577 m,
      bearing: 332.526128 deg,
      approach rate: -0.759186 m/s,
      LOS rate: -0.008698 deg/s,
      cmd heading: 331.450721 deg,
      new cmd heading: 331.441074 deg.

2025-06-17T20:50:17.937Z,1750193417.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784738 target range: 327.091339 and range: 319.50 m.
2025-06-17T20:50:18.372Z,1750193418.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:18.375Z,1750193418.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 292.656647 m,
      bearing: 332.522444 deg,
      approach rate: -0.761000 m/s,
      LOS rate: -0.008381 deg/s,
      cmd heading: 331.441077 deg,
      new cmd heading: 331.430011 deg.

2025-06-17T20:50:18.376Z,1750193418.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784545 target range: 327.091339 and range: 319.50 m.
2025-06-17T20:50:18.753Z,1750193418.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:18.757Z,1750193418.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:18.761Z,1750193418.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 292.368195 m,
      bearing: 332.519262 deg,
      approach rate: -0.751099 m/s,
      LOS rate: -0.008292 deg/s,
      cmd heading: 331.430012 deg,
      new cmd heading: 331.420458 deg.

2025-06-17T20:50:18.763Z,1750193418.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784378 target range: 327.091339 and range: 319.50 m.
2025-06-17T20:50:18.784Z,1750193418.784 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:50:18.957Z,1750193418.957 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:18.957Z,1750193418.957 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:18.957Z,1750193418.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:19.148Z,1750193419.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:19.151Z,1750193419.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 292.065674 m,
      bearing: 332.515853 deg,
      approach rate: -0.771772 m/s,
      LOS rate: -0.008707 deg/s,
      cmd heading: 331.420449 deg,
      new cmd heading: 331.410210 deg.

2025-06-17T20:50:19.152Z,1750193419.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784199 target range: 327.091339 and range: 319.50 m.
2025-06-17T20:50:19.211Z,1750193419.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014190
2025-06-17T20:50:19.461Z,1750193419.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264468
2025-06-17T20:50:19.583Z,1750193419.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:19.586Z,1750193419.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 291.739136 m,
      bearing: 332.513102 deg,
      approach rate: -0.750835 m/s,
      LOS rate: -0.006333 deg/s,
      cmd heading: 331.410204 deg,
      new cmd heading: 331.401942 deg.

2025-06-17T20:50:19.587Z,1750193419.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784055 target range: 327.091339 and range: 319.50 m.
2025-06-17T20:50:19.713Z,1750193419.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516398
2025-06-17T20:50:19.789Z,1750193419.789 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:50:19.954Z,1750193419.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:19.957Z,1750193419.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 291.460754 m,
      bearing: 332.510683 deg,
      approach rate: -0.750544 m/s,
      LOS rate: -0.006527 deg/s,
      cmd heading: 331.401953 deg,
      new cmd heading: 331.394691 deg.

2025-06-17T20:50:19.958Z,1750193419.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783928 target range: 327.091339 and range: 319.50 m.
2025-06-17T20:50:19.965Z,1750193419.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768684
2025-06-17T20:50:20.217Z,1750193420.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020447
2025-06-17T20:50:20.387Z,1750193420.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:20.390Z,1750193420.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 291.133759 m,
      bearing: 332.508185 deg,
      approach rate: -0.754389 m/s,
      LOS rate: -0.005769 deg/s,
      cmd heading: 331.394686 deg,
      new cmd heading: 331.387184 deg.

2025-06-17T20:50:20.391Z,1750193420.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783797 target range: 327.091339 and range: 319.50 m.
2025-06-17T20:50:20.469Z,1750193420.469 [DAT](INFO): DAT read: Rx Time:20:50:20.2612

2025-06-17T20:50:20.470Z,1750193420.470 [DAT](INFO): Rx dataTimestamp_ set to:1750193420.469259
2025-06-17T20:50:20.470Z,1750193420.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273751
2025-06-17T20:50:20.721Z,1750193420.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524420
2025-06-17T20:50:20.787Z,1750193420.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:20.794Z,1750193420.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:20.803Z,1750193420.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 290.834137 m,
      bearing: 332.505854 deg,
      approach rate: -0.737149 m/s,
      LOS rate: -0.005742 deg/s,
      cmd heading: 331.387173 deg,
      new cmd heading: 331.380171 deg.

2025-06-17T20:50:20.809Z,1750193420.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783675 target range: 327.091339 and range: 319.50 m.
2025-06-17T20:50:20.973Z,1750193420.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776584
2025-06-17T20:50:21.164Z,1750193421.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:21.167Z,1750193421.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 290.548248 m,
      bearing: 332.503590 deg,
      approach rate: -0.772280 m/s,
      LOS rate: -0.006122 deg/s,
      cmd heading: 331.380179 deg,
      new cmd heading: 331.373380 deg.

2025-06-17T20:50:21.168Z,1750193421.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783556 target range: 327.091339 and range: 319.50 m.
2025-06-17T20:50:21.227Z,1750193421.227 [DAT](INFO): DAT read: Range 10 to 50 : 317.0 m  (Round-trip  422.7 ms) speed  0.6 m/s

2025-06-17T20:50:21.228Z,1750193421.228 [DAT](INFO): DAT read: user:708>

2025-06-17T20:50:21.229Z,1750193421.229 [DAT](INFO): DAT read: Tx time:20:50:21.3343

2025-06-17T20:50:21.229Z,1750193421.229 [DAT](INFO): Ping request sent.
2025-06-17T20:50:21.230Z,1750193421.230 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:21.230Z,1750193421.230 [DAT](INFO): DAT read: TxSync time:20:50:21.3335

2025-06-17T20:50:21.231Z,1750193421.231 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:50:21.231Z,1750193421.231 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:21.231Z,1750193421.231 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:21.648Z,1750193421.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 317.000000 m,
      deltaT: 4.032292 s,
      deltaX: -2.500000 m,
      approachRate: -0.619995 m/s,
      rangeRepo size: 4

2025-06-17T20:50:21.650Z,1750193421.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:21.664Z,1750193421.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 290.205780 m,
      bearing: 332.500913 deg,
      approach rate: -0.714546 m/s,
      LOS rate: -0.005591 deg/s,
      cmd heading: 331.373376 deg,
      new cmd heading: 331.365337 deg.

2025-06-17T20:50:21.666Z,1750193421.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783416 target range: 327.091339 and range: 317.00 m.
2025-06-17T20:50:22.012Z,1750193422.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:22.015Z,1750193422.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 289.921448 m,
      bearing: 332.498873 deg,
      approach rate: -0.771108 m/s,
      LOS rate: -0.005539 deg/s,
      cmd heading: 331.365344 deg,
      new cmd heading: 331.359217 deg.

2025-06-17T20:50:22.016Z,1750193422.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783309 target range: 327.091339 and range: 317.00 m.
2025-06-17T20:50:22.468Z,1750193422.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:22.471Z,1750193422.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 289.604279 m,
      bearing: 332.497153 deg,
      approach rate: -0.694763 m/s,
      LOS rate: -0.003772 deg/s,
      cmd heading: 331.359224 deg,
      new cmd heading: 331.354057 deg.

2025-06-17T20:50:22.476Z,1750193422.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783219 target range: 327.091339 and range: 317.00 m.
2025-06-17T20:50:22.873Z,1750193422.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:22.875Z,1750193422.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:22.882Z,1750193422.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 289.305573 m,
      bearing: 332.495529 deg,
      approach rate: -0.734091 m/s,
      LOS rate: -0.003994 deg/s,
      cmd heading: 331.354060 deg,
      new cmd heading: 331.349184 deg.

2025-06-17T20:50:22.883Z,1750193422.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783134 target range: 327.091339 and range: 317.00 m.
2025-06-17T20:50:22.989Z,1750193422.989 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:22.989Z,1750193422.989 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:22.989Z,1750193422.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:23.241Z,1750193423.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011288
2025-06-17T20:50:23.256Z,1750193423.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:23.259Z,1750193423.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 289.034424 m,
      bearing: 332.493938 deg,
      approach rate: -0.720383 m/s,
      LOS rate: -0.004230 deg/s,
      cmd heading: 331.349197 deg,
      new cmd heading: 331.344420 deg.

2025-06-17T20:50:23.266Z,1750193423.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783051 target range: 327.091339 and range: 317.00 m.
2025-06-17T20:50:23.493Z,1750193423.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263199
2025-06-17T20:50:23.656Z,1750193423.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:23.659Z,1750193423.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 288.729980 m,
      bearing: 332.492898 deg,
      approach rate: -0.753058 m/s,
      LOS rate: -0.002576 deg/s,
      cmd heading: 331.344416 deg,
      new cmd heading: 331.341292 deg.

2025-06-17T20:50:23.660Z,1750193423.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782997 target range: 327.091339 and range: 317.00 m.
2025-06-17T20:50:23.746Z,1750193423.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516054
2025-06-17T20:50:23.997Z,1750193423.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767159
2025-06-17T20:50:24.089Z,1750193424.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:24.096Z,1750193424.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 288.450470 m,
      bearing: 332.491835 deg,
      approach rate: -0.645001 m/s,
      LOS rate: -0.002455 deg/s,
      cmd heading: 331.341301 deg,
      new cmd heading: 331.338110 deg.

2025-06-17T20:50:24.097Z,1750193424.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782941 target range: 327.091339 and range: 317.00 m.
2025-06-17T20:50:24.249Z,1750193424.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019119
2025-06-17T20:50:24.501Z,1750193424.501 [DAT](INFO): DAT read: Rx Time:20:50:24.1577

2025-06-17T20:50:24.501Z,1750193424.501 [DAT](INFO): Rx dataTimestamp_ set to:1750193424.501116
2025-06-17T20:50:24.502Z,1750193424.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272331
2025-06-17T20:50:24.508Z,1750193424.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:24.511Z,1750193424.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 288.135132 m,
      bearing: 332.490221 deg,
      approach rate: -0.752593 m/s,
      LOS rate: -0.003857 deg/s,
      cmd heading: 331.338105 deg,
      new cmd heading: 331.333256 deg.

2025-06-17T20:50:24.516Z,1750193424.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782856 target range: 327.091339 and range: 317.00 m.
2025-06-17T20:50:24.754Z,1750193424.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524780
2025-06-17T20:50:24.864Z,1750193424.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:24.867Z,1750193424.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 287.859497 m,
      bearing: 332.488705 deg,
      approach rate: -0.775436 m/s,
      LOS rate: -0.004269 deg/s,
      cmd heading: 331.333269 deg,
      new cmd heading: 331.328717 deg.

2025-06-17T20:50:24.868Z,1750193424.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782777 target range: 327.091339 and range: 317.00 m.
2025-06-17T20:50:25.006Z,1750193425.006 [DAT](INFO): DAT read: Range 10 to 50 : 314.4 m  (Round-trip  419.2 ms) speed  0.7 m/s

2025-06-17T20:50:25.007Z,1750193425.007 [DAT](INFO): DAT read: user:709>

2025-06-17T20:50:25.007Z,1750193425.007 [DAT](INFO): DAT read: Tx time:20:50:25.2343

2025-06-17T20:50:25.008Z,1750193425.008 [DAT](INFO): Ping request sent.
2025-06-17T20:50:25.008Z,1750193425.008 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:25.008Z,1750193425.008 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:50:25.008Z,1750193425.008 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:25.009Z,1750193425.009 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:25.252Z,1750193425.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:25.255Z,1750193425.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 314.399994 m,
      deltaT: 3.779360 s,
      deltaX: -2.600006 m,
      approachRate: -0.687949 m/s,
      rangeRepo size: 4

2025-06-17T20:50:25.255Z,1750193425.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:25.257Z,1750193425.257 [DAT](INFO): DAT read: TxSync time:20:50:25.2335

2025-06-17T20:50:25.258Z,1750193425.258 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:25.258Z,1750193425.258 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:25.258Z,1750193425.258 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:25.263Z,1750193425.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 287.577850 m,
      bearing: 332.487128 deg,
      approach rate: -0.722141 m/s,
      LOS rate: -0.004049 deg/s,
      cmd heading: 331.328706 deg,
      new cmd heading: 331.323969 deg.

2025-06-17T20:50:25.265Z,1750193425.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782694 target range: 327.091339 and range: 314.40 m.
2025-06-17T20:50:25.509Z,1750193425.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501200
2025-06-17T20:50:25.706Z,1750193425.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:25.713Z,1750193425.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 287.253998 m,
      bearing: 332.486219 deg,
      approach rate: -0.716014 m/s,
      LOS rate: -0.002010 deg/s,
      cmd heading: 331.323980 deg,
      new cmd heading: 331.321252 deg.

2025-06-17T20:50:25.714Z,1750193425.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782647 target range: 327.091339 and range: 314.40 m.
2025-06-17T20:50:25.762Z,1750193425.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753589
2025-06-17T20:50:26.013Z,1750193426.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005028
2025-06-17T20:50:26.080Z,1750193426.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:26.083Z,1750193426.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 286.987122 m,
      bearing: 332.485534 deg,
      approach rate: -0.745789 m/s,
      LOS rate: -0.001916 deg/s,
      cmd heading: 331.321248 deg,
      new cmd heading: 331.319191 deg.

2025-06-17T20:50:26.088Z,1750193426.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782611 target range: 327.091339 and range: 314.40 m.
2025-06-17T20:50:26.265Z,1750193426.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257145
2025-06-17T20:50:26.492Z,1750193426.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:26.495Z,1750193426.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 286.673553 m,
      bearing: 332.484510 deg,
      approach rate: -0.733235 m/s,
      LOS rate: -0.002397 deg/s,
      cmd heading: 331.319199 deg,
      new cmd heading: 331.316123 deg.

2025-06-17T20:50:26.496Z,1750193426.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782557 target range: 327.091339 and range: 314.40 m.
2025-06-17T20:50:26.517Z,1750193426.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508954
2025-06-17T20:50:26.769Z,1750193426.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761137
2025-06-17T20:50:26.871Z,1750193426.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:26.875Z,1750193426.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 286.394806 m,
      bearing: 332.483583 deg,
      approach rate: -0.733878 m/s,
      LOS rate: -0.002444 deg/s,
      cmd heading: 331.316112 deg,
      new cmd heading: 331.313327 deg.

2025-06-17T20:50:26.876Z,1750193426.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782508 target range: 327.091339 and range: 314.40 m.
2025-06-17T20:50:27.021Z,1750193427.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013229
2025-06-17T20:50:27.277Z,1750193427.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269119
2025-06-17T20:50:27.286Z,1750193427.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:27.294Z,1750193427.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:27.303Z,1750193427.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 286.101349 m,
      bearing: 332.482596 deg,
      approach rate: -0.696209 m/s,
      LOS rate: -0.002344 deg/s,
      cmd heading: 331.313325 deg,
      new cmd heading: 331.310361 deg.

2025-06-17T20:50:27.310Z,1750193427.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782457 target range: 327.091339 and range: 314.40 m.
2025-06-17T20:50:27.529Z,1750193427.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521336
2025-06-17T20:50:27.715Z,1750193427.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:27.722Z,1750193427.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 285.785767 m,
      bearing: 332.480661 deg,
      approach rate: -0.748338 m/s,
      LOS rate: -0.004593 deg/s,
      cmd heading: 331.310374 deg,
      new cmd heading: 331.304564 deg.

2025-06-17T20:50:27.723Z,1750193427.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782355 target range: 327.091339 and range: 314.40 m.
2025-06-17T20:50:27.781Z,1750193427.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773208
2025-06-17T20:50:28.033Z,1750193428.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025075
2025-06-17T20:50:28.085Z,1750193428.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:28.087Z,1750193428.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 285.493134 m,
      bearing: 332.478854 deg,
      approach rate: -0.790721 m/s,
      LOS rate: -0.004889 deg/s,
      cmd heading: 331.304555 deg,
      new cmd heading: 331.299127 deg.

2025-06-17T20:50:28.089Z,1750193428.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782260 target range: 327.091339 and range: 314.40 m.
2025-06-17T20:50:28.288Z,1750193428.288 [DAT](INFO): DAT read: Rx Time:20:50:28.0554

2025-06-17T20:50:28.288Z,1750193428.288 [DAT](INFO): Rx dataTimestamp_ set to:1750193428.287911
2025-06-17T20:50:28.289Z,1750193428.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281057
2025-06-17T20:50:28.511Z,1750193428.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:28.514Z,1750193428.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 285.170227 m,
      bearing: 332.477297 deg,
      approach rate: -0.757765 m/s,
      LOS rate: -0.003657 deg/s,
      cmd heading: 331.299118 deg,
      new cmd heading: 331.294443 deg.

2025-06-17T20:50:28.515Z,1750193428.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782179 target range: 327.091339 and range: 314.40 m.
2025-06-17T20:50:28.537Z,1750193428.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529036
2025-06-17T20:50:28.792Z,1750193428.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784233
2025-06-17T20:50:28.920Z,1750193428.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:28.923Z,1750193428.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 284.866302 m,
      bearing: 332.475809 deg,
      approach rate: -0.750813 m/s,
      LOS rate: -0.003680 deg/s,
      cmd heading: 331.294446 deg,
      new cmd heading: 331.289977 deg.

2025-06-17T20:50:28.928Z,1750193428.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782101 target range: 327.091339 and range: 314.40 m.
2025-06-17T20:50:29.042Z,1750193429.042 [DAT](INFO): DAT read: Range 10 to 50 : 312.6 m  (Round-trip  416.9 ms) speed  0.6 m/s

2025-06-17T20:50:29.043Z,1750193429.043 [DAT](INFO): DAT read: user:710>

2025-06-17T20:50:29.044Z,1750193429.044 [DAT](INFO): DAT read: Tx time:20:50:29.1343

2025-06-17T20:50:29.046Z,1750193429.046 [DAT](INFO): Ping request sent.
2025-06-17T20:50:29.046Z,1750193429.046 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:29.051Z,1750193429.051 [DAT](INFO): DAT read: TxSync time:20:50:29.1335

2025-06-17T20:50:29.055Z,1750193429.055 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:50:29.058Z,1750193429.058 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:29.065Z,1750193429.065 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:29.305Z,1750193429.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:29.307Z,1750193429.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 312.600006 m,
      deltaT: 4.036119 s,
      deltaX: -1.799988 m,
      approachRate: -0.445970 m/s,
      rangeRepo size: 4

2025-06-17T20:50:29.324Z,1750193429.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:29.327Z,1750193429.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 284.567139 m,
      bearing: 332.474323 deg,
      approach rate: -0.765209 m/s,
      LOS rate: -0.003806 deg/s,
      cmd heading: 331.289966 deg,
      new cmd heading: 331.285501 deg.

2025-06-17T20:50:29.332Z,1750193429.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782023 target range: 327.091339 and range: 312.60 m.
2025-06-17T20:50:29.547Z,1750193429.547 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:29.547Z,1750193429.547 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:29.549Z,1750193429.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:29.738Z,1750193429.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:29.762Z,1750193429.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 284.238770 m,
      bearing: 332.471533 deg,
      approach rate: -0.762213 m/s,
      LOS rate: -0.006483 deg/s,
      cmd heading: 331.285512 deg,
      new cmd heading: 331.277134 deg.

2025-06-17T20:50:29.768Z,1750193429.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781877 target range: 327.091339 and range: 312.60 m.
2025-06-17T20:50:29.799Z,1750193429.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754100
2025-06-17T20:50:30.049Z,1750193430.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004077
2025-06-17T20:50:30.107Z,1750193430.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:30.130Z,1750193430.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 283.951263 m,
      bearing: 332.469308 deg,
      approach rate: -0.777046 m/s,
      LOS rate: -0.006020 deg/s,
      cmd heading: 331.277125 deg,
      new cmd heading: 331.270442 deg.

2025-06-17T20:50:30.131Z,1750193430.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781760 target range: 327.091339 and range: 312.60 m.
2025-06-17T20:50:30.301Z,1750193430.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256014
2025-06-17T20:50:30.553Z,1750193430.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508126
2025-06-17T20:50:30.554Z,1750193430.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:30.561Z,1750193430.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 283.627411 m,
      bearing: 332.466344 deg,
      approach rate: -0.725541 m/s,
      LOS rate: -0.006648 deg/s,
      cmd heading: 331.270431 deg,
      new cmd heading: 331.261529 deg.

2025-06-17T20:50:30.562Z,1750193430.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781604 target range: 327.091339 and range: 312.60 m.
2025-06-17T20:50:30.806Z,1750193430.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761325
2025-06-17T20:50:30.921Z,1750193430.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:30.924Z,1750193430.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 283.324921 m,
      bearing: 332.463489 deg,
      approach rate: -0.824074 m/s,
      LOS rate: -0.007786 deg/s,
      cmd heading: 331.261525 deg,
      new cmd heading: 331.252951 deg.

2025-06-17T20:50:30.925Z,1750193430.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781455 target range: 327.091339 and range: 312.60 m.
2025-06-17T20:50:31.057Z,1750193431.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011973
2025-06-17T20:50:31.309Z,1750193431.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264397
2025-06-17T20:50:31.315Z,1750193431.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:31.318Z,1750193431.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:31.321Z,1750193431.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 283.021210 m,
      bearing: 332.460532 deg,
      approach rate: -0.765578 m/s,
      LOS rate: -0.007462 deg/s,
      cmd heading: 331.252946 deg,
      new cmd heading: 331.244065 deg.

2025-06-17T20:50:31.322Z,1750193431.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781300 target range: 327.091339 and range: 312.60 m.
2025-06-17T20:50:31.561Z,1750193431.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516122
2025-06-17T20:50:31.747Z,1750193431.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:31.766Z,1750193431.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 282.694153 m,
      bearing: 332.457025 deg,
      approach rate: -0.762543 m/s,
      LOS rate: -0.008185 deg/s,
      cmd heading: 331.244067 deg,
      new cmd heading: 331.233534 deg.

2025-06-17T20:50:31.767Z,1750193431.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781116 target range: 327.091339 and range: 312.60 m.
2025-06-17T20:50:31.814Z,1750193431.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768899
2025-06-17T20:50:32.065Z,1750193432.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020024
2025-06-17T20:50:32.143Z,1750193432.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:32.147Z,1750193432.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 282.394714 m,
      bearing: 332.453732 deg,
      approach rate: -0.754424 m/s,
      LOS rate: -0.008305 deg/s,
      cmd heading: 331.233521 deg,
      new cmd heading: 331.223631 deg.

2025-06-17T20:50:32.148Z,1750193432.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780943 target range: 327.091339 and range: 312.60 m.
2025-06-17T20:50:32.317Z,1750193432.317 [DAT](INFO): DAT read: Rx Time:20:50:31.9514

2025-06-17T20:50:32.317Z,1750193432.317 [DAT](INFO): Rx dataTimestamp_ set to:1750193432.317169
2025-06-17T20:50:32.318Z,1750193432.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273258
2025-06-17T20:50:32.563Z,1750193432.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:32.566Z,1750193432.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 282.064667 m,
      bearing: 332.448532 deg,
      approach rate: -0.786588 m/s,
      LOS rate: -0.012406 deg/s,
      cmd heading: 331.223631 deg,
      new cmd heading: 331.208014 deg.

2025-06-17T20:50:32.567Z,1750193432.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780670 target range: 327.091339 and range: 312.60 m.
2025-06-17T20:50:32.569Z,1750193432.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524141
2025-06-17T20:50:32.822Z,1750193432.822 [DAT](INFO): DAT read: Range 10 to 50 : 309.6 m  (Round-trip  412.9 ms) speed  0.7 m/s

2025-06-17T20:50:32.823Z,1750193432.823 [DAT](INFO): DAT read: user:711>

2025-06-17T20:50:32.823Z,1750193432.823 [DAT](INFO): DAT read: Tx time:20:50:33.0343

2025-06-17T20:50:32.824Z,1750193432.824 [DAT](INFO): Ping request sent.
2025-06-17T20:50:32.824Z,1750193432.824 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:32.824Z,1750193432.824 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:50:32.824Z,1750193432.824 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:32.825Z,1750193432.825 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:32.969Z,1750193432.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 309.600006 m,
      deltaT: 3.779944 s,
      deltaX: -3.000000 m,
      approachRate: -0.793663 m/s,
      rangeRepo size: 4

2025-06-17T20:50:32.969Z,1750193432.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:32.972Z,1750193432.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 281.756256 m,
      bearing: 332.443663 deg,
      approach rate: -0.762023 m/s,
      LOS rate: -0.012045 deg/s,
      cmd heading: 331.208003 deg,
      new cmd heading: 331.193379 deg.

2025-06-17T20:50:32.973Z,1750193432.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780415 target range: 327.091339 and range: 309.60 m.
2025-06-17T20:50:33.074Z,1750193433.074 [DAT](INFO): DAT read: TxSync time:20:50:33.0335

2025-06-17T20:50:33.335Z,1750193433.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:33.337Z,1750193433.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:33.340Z,1750193433.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 281.472565 m,
      bearing: 332.439181 deg,
      approach rate: -0.767894 m/s,
      LOS rate: -0.012144 deg/s,
      cmd heading: 331.193387 deg,
      new cmd heading: 331.179927 deg.

2025-06-17T20:50:33.341Z,1750193433.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780180 target range: 327.091339 and range: 309.60 m.
2025-06-17T20:50:33.577Z,1750193433.577 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:33.578Z,1750193433.578 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:33.578Z,1750193433.578 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:33.798Z,1750193433.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:33.805Z,1750193433.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 281.132507 m,
      bearing: 332.434021 deg,
      approach rate: -0.737386 m/s,
      LOS rate: -0.011202 deg/s,
      cmd heading: 331.179918 deg,
      new cmd heading: 331.164420 deg.

2025-06-17T20:50:33.809Z,1750193433.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779910 target range: 327.091339 and range: 309.60 m.
2025-06-17T20:50:33.832Z,1750193433.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008451
2025-06-17T20:50:34.082Z,1750193434.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257815
2025-06-17T20:50:34.153Z,1750193434.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:34.155Z,1750193434.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 280.849670 m,
      bearing: 332.430138 deg,
      approach rate: -0.798390 m/s,
      LOS rate: -0.010972 deg/s,
      cmd heading: 331.164427 deg,
      new cmd heading: 331.152766 deg.

2025-06-17T20:50:34.156Z,1750193434.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779706 target range: 327.091339 and range: 309.60 m.
2025-06-17T20:50:34.333Z,1750193434.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508858
2025-06-17T20:50:34.585Z,1750193434.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761017
2025-06-17T20:50:34.590Z,1750193434.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:34.593Z,1750193434.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 280.521423 m,
      bearing: 332.425311 deg,
      approach rate: -0.750341 m/s,
      LOS rate: -0.011048 deg/s,
      cmd heading: 331.152761 deg,
      new cmd heading: 331.138261 deg.

2025-06-17T20:50:34.594Z,1750193434.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779453 target range: 327.091339 and range: 309.60 m.
2025-06-17T20:50:34.837Z,1750193434.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012859
2025-06-17T20:50:34.960Z,1750193434.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:34.962Z,1750193434.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 280.241882 m,
      bearing: 332.421140 deg,
      approach rate: -0.756686 m/s,
      LOS rate: -0.011302 deg/s,
      cmd heading: 331.138253 deg,
      new cmd heading: 331.125728 deg.

2025-06-17T20:50:34.963Z,1750193434.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779234 target range: 327.091339 and range: 309.60 m.
2025-06-17T20:50:35.089Z,1750193435.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264863
2025-06-17T20:50:35.341Z,1750193435.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516993
2025-06-17T20:50:35.357Z,1750193435.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:35.359Z,1750193435.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:35.362Z,1750193435.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 279.941467 m,
      bearing: 332.416579 deg,
      approach rate: -0.752497 m/s,
      LOS rate: -0.011437 deg/s,
      cmd heading: 331.125740 deg,
      new cmd heading: 331.112043 deg.

2025-06-17T20:50:35.363Z,1750193435.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778996 target range: 327.091339 and range: 309.60 m.
2025-06-17T20:50:35.594Z,1750193435.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769885
2025-06-17T20:50:35.822Z,1750193435.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:35.825Z,1750193435.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 279.604126 m,
      bearing: 332.412431 deg,
      approach rate: -0.728775 m/s,
      LOS rate: -0.008971 deg/s,
      cmd heading: 331.112053 deg,
      new cmd heading: 331.099596 deg.

2025-06-17T20:50:35.826Z,1750193435.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778778 target range: 327.091339 and range: 309.60 m.
2025-06-17T20:50:35.845Z,1750193435.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020955
2025-06-17T20:50:36.097Z,1750193436.097 [DAT](INFO): DAT read: Rx Time:20:50:35.8479

2025-06-17T20:50:36.097Z,1750193436.097 [DAT](INFO): Rx dataTimestamp_ set to:1750193436.097129
2025-06-17T20:50:36.098Z,1750193436.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274061
2025-06-17T20:50:36.209Z,1750193436.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-06-17T20:50:36.212Z,1750193436.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.091339 m,
      nav range: 279.321869 m,
      bearing: 332.408922 deg,
      approach rate: -0.728635 m/s,
      LOS rate: -0.009068 deg/s,
      cmd heading: 331.099595 deg,
      new cmd heading: 331.089057 deg.

2025-06-17T20:50:36.213Z,1750193436.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778594 target range: 327.091339 and range: 309.60 m.
2025-06-17T20:50:36.350Z,1750193436.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526136
2025-06-17T20:50:36.604Z,1750193436.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779269
2025-06-17T20:50:36.860Z,1750193436.860 [DAT](INFO): DAT read: 20:50:35.8479 LVL= 32752, 32753, 30898, 32755, AGC= 67, IDX= 411, 0.43, 2.920, 1.630, 2.947, 2.126, PHS= 0.882,-0.449, 0.818, RAW= 147.6, -18.8, CAL= 153.2, -26.1, ROT= 356.8,  26.1

2025-06-17T20:50:36.861Z,1750193436.861 [DAT](INFO): got valid direction response:
 20:50:35.8479 LVL= 32752, 32753, 30898, 32755, AGC= 67, IDX= 411, 0.43, 2.920, 1.630, 2.947, 2.126, PHS= 0.882,-0.449, 0.818, RAW= 147.6, -18.8, CAL= 153.2, -26.1, ROT= 356.8,  26.1

2025-06-17T20:50:36.862Z,1750193436.862 [DAT](INFO): DAT read: Bearing 356.8,  26.1 (Local)

2025-06-17T20:50:36.863Z,1750193436.863 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  26.1 (Local)

2025-06-17T20:50:36.865Z,1750193436.865 [DAT](INFO): DAT read: Range 10 to 50 : 306.9 m  (Round-trip  409.3 ms) speed  0.4 m/s

2025-06-17T20:50:36.865Z,1750193436.865 [DAT](INFO): DAT read: user:712>

2025-06-17T20:50:36.866Z,1750193436.866 [DAT](INFO): DAT read: Tx time:20:50:36.9344

2025-06-17T20:50:36.866Z,1750193436.866 [DAT](INFO): Ping request sent.
2025-06-17T20:50:36.867Z,1750193436.867 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:36.867Z,1750193436.867 [DAT](INFO): DAT read: TxSync time:20:50:36.9336

2025-06-17T20:50:36.868Z,1750193436.868 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:50:36.869Z,1750193436.869 [DAT](INFO): direction in FSK: [0.896627,-0.050129,-0.439939]
2025-06-17T20:50:36.869Z,1750193436.869 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:36.869Z,1750193436.869 [DAT](INFO): publishing direction and range info
2025-06-17T20:50:36.873Z,1750193436.873 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:36.873Z,1750193436.873 [DAT](INFO): publishing direction and range info
2025-06-17T20:50:36.907Z,1750193436.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 306.899994 m,
      deltaT: 4.031984 s,
      deltaX: -2.700012 m,
      approachRate: -0.669649 m/s,
      rangeRepo size: 4

2025-06-17T20:50:36.933Z,1750193436.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 304.111481 m,
      bearing: 330.156612 deg,
      lat: 36.906030 deg,
      lon: -122.115774 deg,
      deltaT: 35.533864 s,
      deltaX: -22.979858 m,
      approachRate: -0.646703 m/s,
      posRepo size: 4

2025-06-17T20:50:36.934Z,1750193436.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.11 m.
2025-06-17T20:50:36.941Z,1750193436.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.111481 m,
      nav range: 278.821045 m,
      bearing: 332.404668 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009068 deg/s,
      cmd heading: 331.089049 deg,
      new cmd heading: 331.070093 deg.

2025-06-17T20:50:36.942Z,1750193436.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778263 target range: 304.111481 and range: 306.90 m.
2025-06-17T20:50:37.355Z,1750193437.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.11 m.
2025-06-17T20:50:37.359Z,1750193437.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.111481 m,
      nav range: 278.493530 m,
      bearing: 332.401803 deg,
      approach rate: -0.729335 m/s,
      LOS rate: -0.006386 deg/s,
      cmd heading: 331.070088 deg,
      new cmd heading: 331.061484 deg.

2025-06-17T20:50:37.360Z,1750193437.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778113 target range: 304.111481 and range: 306.90 m.
2025-06-17T20:50:37.789Z,1750193437.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:37.791Z,1750193437.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.11 m.
2025-06-17T20:50:37.794Z,1750193437.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.111481 m,
      nav range: 278.180420 m,
      bearing: 332.399812 deg,
      approach rate: -0.718199 m/s,
      LOS rate: -0.004572 deg/s,
      cmd heading: 331.061482 deg,
      new cmd heading: 331.055503 deg.

2025-06-17T20:50:37.795Z,1750193437.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778008 target range: 304.111481 and range: 306.90 m.
2025-06-17T20:50:37.861Z,1750193437.861 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:37.861Z,1750193437.861 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:37.861Z,1750193437.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:38.113Z,1750193438.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246179
2025-06-17T20:50:38.166Z,1750193438.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.11 m.
2025-06-17T20:50:38.173Z,1750193438.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.111481 m,
      nav range: 277.910614 m,
      bearing: 332.398046 deg,
      approach rate: -0.720080 m/s,
      LOS rate: -0.004718 deg/s,
      cmd heading: 331.055499 deg,
      new cmd heading: 331.050196 deg.

2025-06-17T20:50:38.174Z,1750193438.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777916 target range: 304.111481 and range: 306.90 m.
2025-06-17T20:50:38.365Z,1750193438.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498270
2025-06-17T20:50:38.617Z,1750193438.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750250
2025-06-17T20:50:38.627Z,1750193438.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.11 m.
2025-06-17T20:50:38.634Z,1750193438.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.111481 m,
      nav range: 277.585419 m,
      bearing: 332.395858 deg,
      approach rate: -0.704290 m/s,
      LOS rate: -0.004745 deg/s,
      cmd heading: 331.050199 deg,
      new cmd heading: 331.043626 deg.

2025-06-17T20:50:38.635Z,1750193438.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777801 target range: 304.111481 and range: 306.90 m.
2025-06-17T20:50:38.870Z,1750193438.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002914
2025-06-17T20:50:39.026Z,1750193439.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.11 m.
2025-06-17T20:50:39.033Z,1750193439.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.111481 m,
      nav range: 277.305786 m,
      bearing: 332.394086 deg,
      approach rate: -0.701278 m/s,
      LOS rate: -0.004449 deg/s,
      cmd heading: 331.043614 deg,
      new cmd heading: 331.038292 deg.

2025-06-17T20:50:39.034Z,1750193439.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777708 target range: 304.111481 and range: 306.90 m.
2025-06-17T20:50:39.122Z,1750193439.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254997
2025-06-17T20:50:39.373Z,1750193439.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506063
2025-06-17T20:50:39.386Z,1750193439.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.11 m.
2025-06-17T20:50:39.393Z,1750193439.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.111481 m,
      nav range: 277.060364 m,
      bearing: 332.392370 deg,
      approach rate: -0.681930 m/s,
      LOS rate: -0.004772 deg/s,
      cmd heading: 331.038287 deg,
      new cmd heading: 331.033135 deg.

2025-06-17T20:50:39.394Z,1750193439.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777618 target range: 304.111481 and range: 306.90 m.
2025-06-17T20:50:39.630Z,1750193439.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763000
2025-06-17T20:50:39.800Z,1750193439.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:39.802Z,1750193439.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.11 m.
2025-06-17T20:50:39.805Z,1750193439.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.111481 m,
      nav range: 276.747559 m,
      bearing: 332.391003 deg,
      approach rate: -0.751421 m/s,
      LOS rate: -0.003288 deg/s,
      cmd heading: 331.033123 deg,
      new cmd heading: 331.029017 deg.

2025-06-17T20:50:39.806Z,1750193439.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777546 target range: 304.111481 and range: 306.90 m.
2025-06-17T20:50:39.878Z,1750193439.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011322
2025-06-17T20:50:40.129Z,1750193440.129 [DAT](INFO): DAT read: Rx Time:20:50:39.7459

2025-06-17T20:50:40.129Z,1750193440.129 [DAT](INFO): Rx dataTimestamp_ set to:1750193440.129021
2025-06-17T20:50:40.130Z,1750193440.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263294
2025-06-17T20:50:40.198Z,1750193440.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.11 m.
2025-06-17T20:50:40.205Z,1750193440.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.111481 m,
      nav range: 276.475525 m,
      bearing: 332.389757 deg,
      approach rate: -0.687494 m/s,
      LOS rate: -0.003151 deg/s,
      cmd heading: 331.029025 deg,
      new cmd heading: 331.025284 deg.

2025-06-17T20:50:40.206Z,1750193440.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777481 target range: 304.111481 and range: 306.90 m.
2025-06-17T20:50:40.381Z,1750193440.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514184
2025-06-17T20:50:40.639Z,1750193440.639 [DAT](INFO): DAT read: 20:50:39.7459 LVL= 29328, 32753, 29362, 32755, AGC= 71, IDX= 411,-0.47, 0.854,-0.265, 0.985, 0.248, PHS= 0.694,-0.466, 0.734, RAW= 151.7, -16.1, CAL= 157.9, -23.2, ROT= 352.1,  23.2

2025-06-17T20:50:40.640Z,1750193440.640 [DAT](INFO): got valid direction response:
 20:50:39.7459 LVL= 29328, 32753, 29362, 32755, AGC= 71, IDX= 411,-0.47, 0.854,-0.265, 0.985, 0.248, PHS= 0.694,-0.466, 0.734, RAW= 151.7, -16.1, CAL= 157.9, -23.2, ROT= 352.1,  23.2

2025-06-17T20:50:40.641Z,1750193440.641 [DAT](INFO): DAT read: Bearing 352.1,  23.2 (Local)

2025-06-17T20:50:40.641Z,1750193440.641 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.1,  23.2 (Local)

2025-06-17T20:50:40.643Z,1750193440.643 [DAT](INFO): DAT read: Range 10 to 50 : 305.5 m  (Round-trip  407.4 ms) speed  0.8 m/s

2025-06-17T20:50:40.644Z,1750193440.644 [DAT](INFO): DAT read: user:713>

2025-06-17T20:50:40.644Z,1750193440.644 [DAT](INFO): DAT read: Tx time:20:50:40.8344

2025-06-17T20:50:40.645Z,1750193440.645 [DAT](INFO): Ping request sent.
2025-06-17T20:50:40.645Z,1750193440.645 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:40.645Z,1750193440.645 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:50:40.646Z,1750193440.646 [DAT](INFO): direction in FSK: [0.910412,-0.126330,-0.393942]
2025-06-17T20:50:40.646Z,1750193440.646 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:40.647Z,1750193440.647 [DAT](INFO): publishing direction and range info
2025-06-17T20:50:40.654Z,1750193440.654 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:40.654Z,1750193440.654 [DAT](INFO): publishing direction and range info
2025-06-17T20:50:40.676Z,1750193440.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 305.500000 m,
      deltaT: 3.780180 s,
      deltaX: -1.399994 m,
      approachRate: -0.370351 m/s,
      rangeRepo size: 4

2025-06-17T20:50:40.678Z,1750193440.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 302.725403 m,
      bearing: 325.806339 deg,
      lat: 36.905976 deg,
      lon: -122.115878 deg,
      deltaT: 3.780180 s,
      deltaX: -1.386078 m,
      approachRate: -0.366670 m/s,
      posRepo size: 4

2025-06-17T20:50:40.679Z,1750193440.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.73 m.
2025-06-17T20:50:40.686Z,1750193440.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.725403 m,
      nav range: 275.327759 m,
      bearing: 330.119104 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003151 deg/s,
      cmd heading: 331.025282 deg,
      new cmd heading: 331.020809 deg.

2025-06-17T20:50:40.687Z,1750193440.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777403 target range: 302.725403 and range: 305.50 m.
2025-06-17T20:50:40.885Z,1750193440.885 [DAT](INFO): DAT read: TxSync time:20:50:40.8336

2025-06-17T20:50:41.106Z,1750193441.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.73 m.
2025-06-17T20:50:41.113Z,1750193441.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.725403 m,
      nav range: 274.982697 m,
      bearing: 330.114274 deg,
      approach rate: -0.793343 m/s,
      LOS rate: -0.011121 deg/s,
      cmd heading: 331.020801 deg,
      new cmd heading: 331.006291 deg.

2025-06-17T20:50:41.114Z,1750193441.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777150 target range: 302.725403 and range: 305.50 m.
2025-06-17T20:50:41.433Z,1750193441.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.73 m.
2025-06-17T20:50:41.435Z,1750193441.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.725403 m,
      nav range: 274.741791 m,
      bearing: 330.111016 deg,
      approach rate: -0.737590 m/s,
      LOS rate: -0.009982 deg/s,
      cmd heading: 331.006294 deg,
      new cmd heading: 330.996513 deg.

2025-06-17T20:50:41.437Z,1750193441.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776979 target range: 302.725403 and range: 305.50 m.
2025-06-17T20:50:41.855Z,1750193441.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:41.858Z,1750193441.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.73 m.
2025-06-17T20:50:41.861Z,1750193441.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.725403 m,
      nav range: 274.426727 m,
      bearing: 330.106442 deg,
      approach rate: -0.741064 m/s,
      LOS rate: -0.010772 deg/s,
      cmd heading: 330.996513 deg,
      new cmd heading: 330.982775 deg.

2025-06-17T20:50:41.862Z,1750193441.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776739 target range: 302.725403 and range: 305.50 m.
2025-06-17T20:50:41.893Z,1750193441.893 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:41.893Z,1750193441.893 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:41.893Z,1750193441.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:42.145Z,1750193442.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499862
2025-06-17T20:50:42.236Z,1750193442.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.73 m.
2025-06-17T20:50:42.239Z,1750193442.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.725403 m,
      nav range: 274.145996 m,
      bearing: 330.102391 deg,
      approach rate: -0.742271 m/s,
      LOS rate: -0.010723 deg/s,
      cmd heading: 330.982771 deg,
      new cmd heading: 330.970605 deg.

2025-06-17T20:50:42.240Z,1750193442.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776527 target range: 302.725403 and range: 305.50 m.
2025-06-17T20:50:42.397Z,1750193442.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751784
2025-06-17T20:50:42.651Z,1750193442.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005942
2025-06-17T20:50:42.901Z,1750193442.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255840
2025-06-17T20:50:43.001Z,1750193443.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.73 m.
2025-06-17T20:50:43.004Z,1750193443.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.725403 m,
      nav range: 273.597595 m,
      bearing: 330.093353 deg,
      approach rate: -0.717742 m/s,
      LOS rate: -0.011853 deg/s,
      cmd heading: 330.970613 deg,
      new cmd heading: 330.943445 deg.

2025-06-17T20:50:43.005Z,1750193443.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776053 target range: 302.725403 and range: 305.50 m.
2025-06-17T20:50:43.153Z,1750193443.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507849
2025-06-17T20:50:43.285Z,1750193443.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.73 m.
2025-06-17T20:50:43.288Z,1750193443.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.725403 m,
      nav range: 273.360840 m,
      bearing: 330.089456 deg,
      approach rate: -0.829553 m/s,
      LOS rate: -0.013665 deg/s,
      cmd heading: 330.943456 deg,
      new cmd heading: 330.931756 deg.

2025-06-17T20:50:43.289Z,1750193443.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775849 target range: 302.725403 and range: 305.50 m.
2025-06-17T20:50:43.405Z,1750193443.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759839
2025-06-17T20:50:43.661Z,1750193443.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015557
2025-06-17T20:50:43.771Z,1750193443.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.73 m.
2025-06-17T20:50:43.774Z,1750193443.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.725403 m,
      nav range: 272.988098 m,
      bearing: 330.083408 deg,
      approach rate: -0.767337 m/s,
      LOS rate: -0.012468 deg/s,
      cmd heading: 330.931763 deg,
      new cmd heading: 330.913593 deg.

2025-06-17T20:50:43.775Z,1750193443.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775532 target range: 302.725403 and range: 305.50 m.
2025-06-17T20:50:43.909Z,1750193443.909 [DAT](INFO): DAT read: Rx Time:20:50:43.6414

2025-06-17T20:50:43.909Z,1750193443.909 [DAT](INFO): Rx dataTimestamp_ set to:1750193443.909033
2025-06-17T20:50:43.910Z,1750193443.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264968
2025-06-17T20:50:44.119Z,1750193444.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:44.121Z,1750193444.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.73 m.
2025-06-17T20:50:44.124Z,1750193444.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.725403 m,
      nav range: 272.717468 m,
      bearing: 330.079026 deg,
      approach rate: -0.772652 m/s,
      LOS rate: -0.012523 deg/s,
      cmd heading: 330.913595 deg,
      new cmd heading: 330.900435 deg.

2025-06-17T20:50:44.125Z,1750193444.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775302 target range: 302.725403 and range: 305.50 m.
2025-06-17T20:50:44.162Z,1750193444.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516602
2025-06-17T20:50:44.430Z,1750193444.430 [DAT](INFO): DAT read: 20:50:43.6414 LVL= 20144, 23745, 15346, 23923, AGC= 70, IDX= 392, 0.21,-2.751, 2.151,-2.619, 2.768, PHS= 0.853,-0.570, 0.893, RAW= 151.4, -16.1, CAL= 157.7, -23.2, ROT= 352.3,  23.2

2025-06-17T20:50:44.431Z,1750193444.431 [DAT](INFO): got valid direction response:
 20:50:43.6414 LVL= 20144, 23745, 15346, 23923, AGC= 70, IDX= 392, 0.21,-2.751, 2.151,-2.619, 2.768, PHS= 0.853,-0.570, 0.893, RAW= 151.4, -16.1, CAL= 157.7, -23.2, ROT= 352.3,  23.2

2025-06-17T20:50:44.433Z,1750193444.433 [DAT](INFO): DAT read: Bearing 352.3,  23.2 (Local)

2025-06-17T20:50:44.433Z,1750193444.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.3,  23.2 (Local)

2025-06-17T20:50:44.435Z,1750193444.435 [DAT](INFO): DAT read: Range 10 to 50 : 302.1 m  (Round-trip  402.8 ms) speed  0.6 m/s

2025-06-17T20:50:44.435Z,1750193444.435 [DAT](INFO): DAT read: user:714>

2025-06-17T20:50:44.436Z,1750193444.436 [DAT](INFO): DAT read: Tx time:20:50:44.7344

2025-06-17T20:50:44.437Z,1750193444.437 [DAT](INFO): Ping request sent.
2025-06-17T20:50:44.437Z,1750193444.437 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:44.437Z,1750193444.437 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:50:44.438Z,1750193444.438 [DAT](INFO): direction in FSK: [0.910848,-0.123152,-0.393942]
2025-06-17T20:50:44.438Z,1750193444.438 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:44.438Z,1750193444.438 [DAT](INFO): publishing direction and range info
2025-06-17T20:50:44.442Z,1750193444.442 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:44.442Z,1750193444.442 [DAT](INFO): publishing direction and range info
2025-06-17T20:50:44.539Z,1750193444.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 302.100006 m,
      deltaT: 3.782015 s,
      deltaX: -3.399994 m,
      approachRate: -0.898990 m/s,
      rangeRepo size: 4

2025-06-17T20:50:44.545Z,1750193444.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 299.355499 m,
      bearing: 325.309477 deg,
      lat: 36.905956 deg,
      lon: -122.116096 deg,
      deltaT: 3.782015 s,
      deltaX: -3.369904 m,
      approachRate: -0.891034 m/s,
      posRepo size: 4

2025-06-17T20:50:44.546Z,1750193444.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.36 m.
2025-06-17T20:50:44.553Z,1750193444.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.355499 m,
      nav range: 280.795685 m,
      bearing: 326.407637 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012523 deg/s,
      cmd heading: 330.900426 deg,
      new cmd heading: 330.884779 deg.

2025-06-17T20:50:44.554Z,1750193444.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775029 target range: 299.355499 and range: 302.10 m.
2025-06-17T20:50:44.668Z,1750193444.668 [DAT](INFO): DAT read: TxSync time:20:50:44.7336

2025-06-17T20:50:44.933Z,1750193444.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.36 m.
2025-06-17T20:50:44.937Z,1750193444.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.355499 m,
      nav range: 280.491760 m,
      bearing: 326.398729 deg,
      approach rate: -0.768682 m/s,
      LOS rate: -0.022555 deg/s,
      cmd heading: 330.884771 deg,
      new cmd heading: 330.858018 deg.

2025-06-17T20:50:44.938Z,1750193444.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774562 target range: 299.355499 and range: 302.10 m.
2025-06-17T20:50:45.311Z,1750193445.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.36 m.
2025-06-17T20:50:45.314Z,1750193445.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.355499 m,
      nav range: 280.215607 m,
      bearing: 326.390902 deg,
      approach rate: -0.730275 m/s,
      LOS rate: -0.020717 deg/s,
      cmd heading: 330.858024 deg,
      new cmd heading: 330.834522 deg.

2025-06-17T20:50:45.315Z,1750193445.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774152 target range: 299.355499 and range: 302.10 m.
2025-06-17T20:50:45.797Z,1750193445.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.36 m.
2025-06-17T20:50:45.799Z,1750193445.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.355499 m,
      nav range: 279.861969 m,
      bearing: 326.379376 deg,
      approach rate: -0.729067 m/s,
      LOS rate: -0.023792 deg/s,
      cmd heading: 330.834529 deg,
      new cmd heading: 330.799907 deg.

2025-06-17T20:50:45.804Z,1750193445.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773548 target range: 299.355499 and range: 302.10 m.
2025-06-17T20:50:46.138Z,1750193446.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:46.141Z,1750193446.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.36 m.
2025-06-17T20:50:46.152Z,1750193446.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.355499 m,
      nav range: 279.597748 m,
      bearing: 326.370735 deg,
      approach rate: -0.766690 m/s,
      LOS rate: -0.025098 deg/s,
      cmd heading: 330.799913 deg,
      new cmd heading: 330.773965 deg.

2025-06-17T20:50:46.153Z,1750193446.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773095 target range: 299.355499 and range: 302.10 m.
2025-06-17T20:50:46.177Z,1750193446.177 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:46.177Z,1750193446.177 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:46.177Z,1750193446.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:46.429Z,1750193446.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992117
2025-06-17T20:50:46.539Z,1750193446.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.36 m.
2025-06-17T20:50:46.546Z,1750193446.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.355499 m,
      nav range: 279.297180 m,
      bearing: 326.360840 deg,
      approach rate: -0.755816 m/s,
      LOS rate: -0.024910 deg/s,
      cmd heading: 330.773958 deg,
      new cmd heading: 330.744241 deg.

2025-06-17T20:50:46.547Z,1750193446.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772576 target range: 299.355499 and range: 302.10 m.
2025-06-17T20:50:46.683Z,1750193446.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246116
2025-06-17T20:50:46.936Z,1750193446.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499022
2025-06-17T20:50:46.963Z,1750193446.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.36 m.
2025-06-17T20:50:46.966Z,1750193446.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.355499 m,
      nav range: 278.958740 m,
      bearing: 326.349675 deg,
      approach rate: -0.798254 m/s,
      LOS rate: -0.026365 deg/s,
      cmd heading: 330.744233 deg,
      new cmd heading: 330.710699 deg.

2025-06-17T20:50:46.967Z,1750193446.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771991 target range: 299.355499 and range: 302.10 m.
2025-06-17T20:50:47.190Z,1750193447.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753545
2025-06-17T20:50:47.329Z,1750193447.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.36 m.
2025-06-17T20:50:47.332Z,1750193447.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.355499 m,
      nav range: 278.679077 m,
      bearing: 326.340210 deg,
      approach rate: -0.763252 m/s,
      LOS rate: -0.025859 deg/s,
      cmd heading: 330.710711 deg,
      new cmd heading: 330.682286 deg.

2025-06-17T20:50:47.333Z,1750193447.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771495 target range: 299.355499 and range: 302.10 m.
2025-06-17T20:50:47.441Z,1750193447.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004251
2025-06-17T20:50:47.695Z,1750193447.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257934
2025-06-17T20:50:47.818Z,1750193447.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.36 m.
2025-06-17T20:50:47.821Z,1750193447.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.355499 m,
      nav range: 278.310760 m,
      bearing: 326.328638 deg,
      approach rate: -0.752830 m/s,
      LOS rate: -0.023685 deg/s,
      cmd heading: 330.682297 deg,
      new cmd heading: 330.647535 deg.

2025-06-17T20:50:47.822Z,1750193447.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770888 target range: 299.355499 and range: 302.10 m.
2025-06-17T20:50:47.945Z,1750193447.945 [DAT](INFO): DAT read: Rx Time:20:50:47.5376

2025-06-17T20:50:47.945Z,1750193447.945 [DAT](INFO): Rx dataTimestamp_ set to:1750193447.945102
2025-06-17T20:50:47.946Z,1750193447.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509307
2025-06-17T20:50:48.139Z,1750193448.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:48.142Z,1750193448.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.36 m.
2025-06-17T20:50:48.145Z,1750193448.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.355499 m,
      nav range: 278.067902 m,
      bearing: 326.320849 deg,
      approach rate: -0.751329 m/s,
      LOS rate: -0.024117 deg/s,
      cmd heading: 330.647545 deg,
      new cmd heading: 330.624159 deg.

2025-06-17T20:50:48.146Z,1750193448.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770480 target range: 299.355499 and range: 302.10 m.
2025-06-17T20:50:48.198Z,1750193448.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761127
2025-06-17T20:50:48.455Z,1750193448.455 [DAT](INFO): DAT read: 20:50:47.5376 LVL= 32752, 30193, 30498, 32755, AGC= 68, IDX= 400, 0.20, 0.594,-0.902, 0.626,-0.124, PHS= 0.806,-0.731, 0.747, RAW= 148.1, -10.9, CAL= 154.9, -19.1, ROT= 355.1,  19.1

2025-06-17T20:50:48.456Z,1750193448.456 [DAT](INFO): got valid direction response:
 20:50:47.5376 LVL= 32752, 30193, 30498, 32755, AGC= 68, IDX= 400, 0.20, 0.594,-0.902, 0.626,-0.124, PHS= 0.806,-0.731, 0.747, RAW= 148.1, -10.9, CAL= 154.9, -19.1, ROT= 355.1,  19.1

2025-06-17T20:50:48.457Z,1750193448.457 [DAT](INFO): DAT read: Bearing 355.1,  19.1 (Local)

2025-06-17T20:50:48.457Z,1750193448.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  19.1 (Local)

2025-06-17T20:50:48.459Z,1750193448.459 [DAT](INFO): DAT read: Range 10 to 50 : 299.3 m  (Round-trip  399.1 ms) speed  0.8 m/s

2025-06-17T20:50:48.459Z,1750193448.459 [DAT](INFO): DAT read: user:715>

2025-06-17T20:50:48.460Z,1750193448.460 [DAT](INFO): DAT read: Tx time:20:50:48.6345

2025-06-17T20:50:48.460Z,1750193448.460 [DAT](INFO): Ping request sent.
2025-06-17T20:50:48.461Z,1750193448.461 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:48.461Z,1750193448.461 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:50:48.462Z,1750193448.462 [DAT](INFO): direction in FSK: [0.941495,-0.080715,-0.327218]
2025-06-17T20:50:48.462Z,1750193448.462 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:48.462Z,1750193448.462 [DAT](INFO): publishing direction and range info
2025-06-17T20:50:48.479Z,1750193448.479 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:48.479Z,1750193448.479 [DAT](INFO): publishing direction and range info
2025-06-17T20:50:48.563Z,1750193448.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 299.299988 m,
      deltaT: 4.033825 s,
      deltaX: -2.800018 m,
      approachRate: -0.694135 m/s,
      rangeRepo size: 4

2025-06-17T20:50:48.582Z,1750193448.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 296.580902 m,
      bearing: 327.972958 deg,
      lat: 36.905976 deg,
      lon: -122.116016 deg,
      deltaT: 4.033825 s,
      deltaX: -2.774597 m,
      approachRate: -0.687833 m/s,
      posRepo size: 4

2025-06-17T20:50:48.582Z,1750193448.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.58 m.
2025-06-17T20:50:48.589Z,1750193448.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.580902 m,
      nav range: 275.711578 m,
      bearing: 327.797196 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024117 deg/s,
      cmd heading: 330.624159 deg,
      new cmd heading: 330.593712 deg.

2025-06-17T20:50:48.590Z,1750193448.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769949 target range: 296.580902 and range: 299.30 m.
2025-06-17T20:50:48.704Z,1750193448.704 [DAT](INFO): DAT read: TxSync time:20:50:48.6337

2025-06-17T20:50:48.988Z,1750193448.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.58 m.
2025-06-17T20:50:48.994Z,1750193448.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.580902 m,
      nav range: 275.403351 m,
      bearing: 327.788265 deg,
      approach rate: -0.731772 m/s,
      LOS rate: -0.021226 deg/s,
      cmd heading: 330.593723 deg,
      new cmd heading: 330.566902 deg.

2025-06-17T20:50:48.995Z,1750193448.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769481 target range: 296.580902 and range: 299.30 m.
2025-06-17T20:50:49.361Z,1750193449.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.58 m.
2025-06-17T20:50:49.363Z,1750193449.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.580902 m,
      nav range: 275.118500 m,
      bearing: 327.780172 deg,
      approach rate: -0.755501 m/s,
      LOS rate: -0.021487 deg/s,
      cmd heading: 330.566894 deg,
      new cmd heading: 330.542591 deg.

2025-06-17T20:50:49.365Z,1750193449.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769056 target range: 296.580902 and range: 299.30 m.
2025-06-17T20:50:49.837Z,1750193449.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.58 m.
2025-06-17T20:50:49.840Z,1750193449.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.580902 m,
      nav range: 274.771027 m,
      bearing: 327.770665 deg,
      approach rate: -0.729558 m/s,
      LOS rate: -0.019987 deg/s,
      cmd heading: 330.542579 deg,
      new cmd heading: 330.514020 deg.

2025-06-17T20:50:49.841Z,1750193449.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768558 target range: 296.580902 and range: 299.30 m.
2025-06-17T20:50:49.914Z,1750193449.914 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:50:50.159Z,1750193450.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:50.161Z,1750193450.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.58 m.
2025-06-17T20:50:50.164Z,1750193450.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.580902 m,
      nav range: 274.534576 m,
      bearing: 327.764202 deg,
      approach rate: -0.729202 m/s,
      LOS rate: -0.019949 deg/s,
      cmd heading: 330.514029 deg,
      new cmd heading: 330.494623 deg.

2025-06-17T20:50:50.165Z,1750193450.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768219 target range: 296.580902 and range: 299.30 m.
2025-06-17T20:50:50.213Z,1750193450.213 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:50.214Z,1750193450.214 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:50.214Z,1750193450.214 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:50.465Z,1750193450.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004118
2025-06-17T20:50:50.582Z,1750193450.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.58 m.
2025-06-17T20:50:50.586Z,1750193450.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.580902 m,
      nav range: 274.236237 m,
      bearing: 327.756029 deg,
      approach rate: -0.709330 m/s,
      LOS rate: -0.019452 deg/s,
      cmd heading: 330.494631 deg,
      new cmd heading: 330.470087 deg.

2025-06-17T20:50:50.587Z,1750193450.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767791 target range: 296.580902 and range: 299.30 m.
2025-06-17T20:50:50.719Z,1750193450.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257781
2025-06-17T20:50:50.916Z,1750193450.916 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:50:50.969Z,1750193450.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508182
2025-06-17T20:50:51.032Z,1750193451.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.58 m.
2025-06-17T20:50:51.035Z,1750193451.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.580902 m,
      nav range: 273.908234 m,
      bearing: 327.746623 deg,
      approach rate: -0.735956 m/s,
      LOS rate: -0.021131 deg/s,
      cmd heading: 330.470097 deg,
      new cmd heading: 330.441843 deg.

2025-06-17T20:50:51.040Z,1750193451.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767298 target range: 296.580902 and range: 299.30 m.
2025-06-17T20:50:51.221Z,1750193451.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760136
2025-06-17T20:50:51.382Z,1750193451.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.58 m.
2025-06-17T20:50:51.385Z,1750193451.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.580902 m,
      nav range: 273.657379 m,
      bearing: 327.739293 deg,
      approach rate: -0.707268 m/s,
      LOS rate: -0.020685 deg/s,
      cmd heading: 330.441847 deg,
      new cmd heading: 330.419837 deg.

2025-06-17T20:50:51.386Z,1750193451.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766914 target range: 296.580902 and range: 299.30 m.
2025-06-17T20:50:51.473Z,1750193451.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012508
2025-06-17T20:50:51.727Z,1750193451.727 [DAT](INFO): DAT read: Rx Time:20:50:51.4134

2025-06-17T20:50:51.732Z,1750193451.732 [DAT](INFO): Rx dataTimestamp_ set to:1750193451.731682
2025-06-17T20:50:51.733Z,1750193451.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272212
2025-06-17T20:50:51.869Z,1750193451.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.58 m.
2025-06-17T20:50:51.872Z,1750193451.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.580902 m,
      nav range: 273.289642 m,
      bearing: 327.730173 deg,
      approach rate: -0.754803 m/s,
      LOS rate: -0.018744 deg/s,
      cmd heading: 330.419827 deg,
      new cmd heading: 330.392430 deg.

2025-06-17T20:50:51.873Z,1750193451.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766436 target range: 296.580902 and range: 299.30 m.
2025-06-17T20:50:51.977Z,1750193451.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516287
2025-06-17T20:50:52.218Z,1750193452.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:52.220Z,1750193452.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.58 m.
2025-06-17T20:50:52.223Z,1750193452.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.580902 m,
      nav range: 273.036041 m,
      bearing: 327.723943 deg,
      approach rate: -0.724061 m/s,
      LOS rate: -0.017805 deg/s,
      cmd heading: 330.392424 deg,
      new cmd heading: 330.373715 deg.

2025-06-17T20:50:52.224Z,1750193452.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766109 target range: 296.580902 and range: 299.30 m.
2025-06-17T20:50:52.255Z,1750193452.255 [DAT](INFO): DAT read: 20:50:51.4134 LVL= 27744, 25121, 25778, 32755, AGC= 70, IDX= 186, 0.30,-1.475,-2.749,-1.341,-2.139, PHS= 0.752,-0.563, 0.795, RAW= 151.6, -14.6, CAL= 158.2, -21.8, ROT= 351.8,  21.8

2025-06-17T20:50:52.256Z,1750193452.256 [DAT](INFO): got valid direction response:
 20:50:51.4134 LVL= 27744, 25121, 25778, 32755, AGC= 70, IDX= 186, 0.30,-1.475,-2.749,-1.341,-2.139, PHS= 0.752,-0.563, 0.795, RAW= 151.6, -14.6, CAL= 158.2, -21.8, ROT= 351.8,  21.8

2025-06-17T20:50:52.257Z,1750193452.257 [DAT](INFO): DAT read: Bearing 351.8,  21.8 (Local)

2025-06-17T20:50:52.257Z,1750193452.257 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.8,  21.8 (Local)

2025-06-17T20:50:52.259Z,1750193452.259 [DAT](INFO): DAT read: Range 10 to 50 : 281.1 m  (Round-trip  374.9 ms) speed  0.8 m/s

2025-06-17T20:50:52.260Z,1750193452.260 [DAT](INFO): DAT read: user:716>

2025-06-17T20:50:52.260Z,1750193452.260 [DAT](INFO): DAT read: Tx time:20:50:52.5344

2025-06-17T20:50:52.261Z,1750193452.261 [DAT](INFO): Ping request sent.
2025-06-17T20:50:52.261Z,1750193452.261 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:52.261Z,1750193452.261 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:50:52.262Z,1750193452.262 [DAT](INFO): direction in FSK: [0.918993,-0.132429,-0.371368]
2025-06-17T20:50:52.262Z,1750193452.262 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:52.263Z,1750193452.263 [DAT](INFO): publishing direction and range info
2025-06-17T20:50:52.266Z,1750193452.266 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:52.266Z,1750193452.266 [DAT](INFO): publishing direction and range info
2025-06-17T20:50:52.501Z,1750193452.501 [DAT](INFO): DAT read: TxSync time:20:50:52.5337

2025-06-17T20:50:52.592Z,1750193452.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 281.100006 m,
      deltaT: 3.800324 s,
      deltaX: -18.199982 m,
      approachRate: -4.789061 m/s,
      rangeRepo size: 4

2025-06-17T20:50:52.594Z,1750193452.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 278.545380 m,
      bearing: 324.446431 deg,
      lat: 36.905902 deg,
      lon: -122.116036 deg,
      deltaT: 3.800324 s,
      deltaX: -18.035522 m,
      approachRate: -4.745786 m/s,
      posRepo size: 4

2025-06-17T20:50:52.595Z,1750193452.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:52.602Z,1750193452.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 266.839905 m,
      bearing: 326.462648 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017805 deg/s,
      cmd heading: 330.373709 deg,
      new cmd heading: 330.354073 deg.

2025-06-17T20:50:52.603Z,1750193452.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765766 target range: 278.545380 and range: 281.10 m.
2025-06-17T20:50:53.018Z,1750193453.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:53.021Z,1750193453.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 266.519135 m,
      bearing: 326.452727 deg,
      approach rate: -0.745298 m/s,
      LOS rate: -0.023079 deg/s,
      cmd heading: 330.354066 deg,
      new cmd heading: 330.324267 deg.

2025-06-17T20:50:53.022Z,1750193453.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765246 target range: 278.545380 and range: 281.10 m.
2025-06-17T20:50:53.386Z,1750193453.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:53.389Z,1750193453.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 266.252899 m,
      bearing: 326.444666 deg,
      approach rate: -0.722814 m/s,
      LOS rate: -0.021907 deg/s,
      cmd heading: 330.324259 deg,
      new cmd heading: 330.300052 deg.

2025-06-17T20:50:53.390Z,1750193453.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764823 target range: 278.545380 and range: 281.10 m.
2025-06-17T20:50:53.865Z,1750193453.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:53.867Z,1750193453.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 265.927216 m,
      bearing: 326.434912 deg,
      approach rate: -0.680593 m/s,
      LOS rate: -0.020408 deg/s,
      cmd heading: 330.300053 deg,
      new cmd heading: 330.270756 deg.

2025-06-17T20:50:53.868Z,1750193453.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764312 target range: 278.545380 and range: 281.10 m.
2025-06-17T20:50:54.221Z,1750193454.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:54.223Z,1750193454.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:54.230Z,1750193454.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 265.663116 m,
      bearing: 326.427342 deg,
      approach rate: -0.737425 m/s,
      LOS rate: -0.021160 deg/s,
      cmd heading: 330.270765 deg,
      new cmd heading: 330.248031 deg.

2025-06-17T20:50:54.231Z,1750193454.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763916 target range: 278.545380 and range: 281.10 m.
2025-06-17T20:50:54.265Z,1750193454.265 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:54.265Z,1750193454.265 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:54.265Z,1750193454.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:54.517Z,1750193454.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255861
2025-06-17T20:50:54.615Z,1750193454.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:54.638Z,1750193454.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 265.376282 m,
      bearing: 326.419098 deg,
      approach rate: -0.731846 m/s,
      LOS rate: -0.021057 deg/s,
      cmd heading: 330.248034 deg,
      new cmd heading: 330.223275 deg.

2025-06-17T20:50:54.639Z,1750193454.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763484 target range: 278.545380 and range: 281.10 m.
2025-06-17T20:50:54.769Z,1750193454.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508345
2025-06-17T20:50:55.021Z,1750193455.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759854
2025-06-17T20:50:55.039Z,1750193455.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:55.046Z,1750193455.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 265.068848 m,
      bearing: 326.410730 deg,
      approach rate: -0.725149 m/s,
      LOS rate: -0.019761 deg/s,
      cmd heading: 330.223281 deg,
      new cmd heading: 330.198147 deg.

2025-06-17T20:50:55.047Z,1750193455.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763045 target range: 278.545380 and range: 281.10 m.
2025-06-17T20:50:55.274Z,1750193455.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013601
2025-06-17T20:50:55.407Z,1750193455.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:55.410Z,1750193455.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 264.796173 m,
      bearing: 326.403270 deg,
      approach rate: -0.740698 m/s,
      LOS rate: -0.020285 deg/s,
      cmd heading: 330.198146 deg,
      new cmd heading: 330.175743 deg.

2025-06-17T20:50:55.411Z,1750193455.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762654 target range: 278.545380 and range: 281.10 m.
2025-06-17T20:50:55.527Z,1750193455.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266249
2025-06-17T20:50:55.777Z,1750193455.777 [DAT](INFO): DAT read: Rx Time:20:50:55.3301

2025-06-17T20:50:55.777Z,1750193455.777 [DAT](INFO): Rx dataTimestamp_ set to:1750193455.777160
2025-06-17T20:50:55.778Z,1750193455.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517122
2025-06-17T20:50:55.892Z,1750193455.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:55.895Z,1750193455.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 264.450378 m,
      bearing: 326.393783 deg,
      approach rate: -0.714316 m/s,
      LOS rate: -0.019622 deg/s,
      cmd heading: 330.175743 deg,
      new cmd heading: 330.147246 deg.

2025-06-17T20:50:55.896Z,1750193455.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762156 target range: 278.545380 and range: 281.10 m.
2025-06-17T20:50:56.029Z,1750193456.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767854
2025-06-17T20:50:56.256Z,1750193456.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:56.259Z,1750193456.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:56.265Z,1750193456.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 264.189270 m,
      bearing: 326.385879 deg,
      approach rate: -0.710026 m/s,
      LOS rate: -0.021516 deg/s,
      cmd heading: 330.147248 deg,
      new cmd heading: 330.123510 deg.

2025-06-17T20:50:56.266Z,1750193456.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761742 target range: 278.545380 and range: 281.10 m.
2025-06-17T20:50:56.282Z,1750193456.282 [DAT](INFO): DAT read: Range 10 to 50 : 293.6 m  (Round-trip  391.5 ms) speed  0.4 m/s

2025-06-17T20:50:56.283Z,1750193456.283 [DAT](INFO): DAT read: user:717>

2025-06-17T20:50:56.284Z,1750193456.284 [DAT](INFO): DAT read: Tx time:20:50:56.4345

2025-06-17T20:50:56.284Z,1750193456.284 [DAT](INFO): Ping request sent.
2025-06-17T20:50:56.284Z,1750193456.284 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:50:56.285Z,1750193456.285 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:50:56.285Z,1750193456.285 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:56.285Z,1750193456.285 [DAT](INFO): publishing transmit ping time
2025-06-17T20:50:56.534Z,1750193456.534 [DAT](INFO): DAT read: TxSync time:20:50:56.4337

2025-06-17T20:50:56.652Z,1750193456.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 293.600006 m,
      deltaT: 4.032104 s,
      deltaX: 12.500000 m,
      approachRate: 3.100118 m/s,
      rangeRepo size: 4

2025-06-17T20:50:56.653Z,1750193456.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:56.660Z,1750193456.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 263.900208 m,
      bearing: 326.377053 deg,
      approach rate: -0.744659 m/s,
      LOS rate: -0.022761 deg/s,
      cmd heading: 330.123506 deg,
      new cmd heading: 330.097000 deg.

2025-06-17T20:50:56.661Z,1750193456.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761280 target range: 278.545380 and range: 293.60 m.
2025-06-17T20:50:57.047Z,1750193457.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:57.050Z,1750193457.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 263.593597 m,
      bearing: 326.368976 deg,
      approach rate: -0.765706 m/s,
      LOS rate: -0.020193 deg/s,
      cmd heading: 330.097005 deg,
      new cmd heading: 330.072747 deg.

2025-06-17T20:50:57.051Z,1750193457.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760856 target range: 278.545380 and range: 293.60 m.
2025-06-17T20:50:57.433Z,1750193457.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:57.436Z,1750193457.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 263.308624 m,
      bearing: 326.361453 deg,
      approach rate: -0.738123 m/s,
      LOS rate: -0.019509 deg/s,
      cmd heading: 330.072744 deg,
      new cmd heading: 330.050148 deg.

2025-06-17T20:50:57.437Z,1750193457.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760462 target range: 278.545380 and range: 293.60 m.
2025-06-17T20:50:57.902Z,1750193457.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:57.913Z,1750193457.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 262.989502 m,
      bearing: 326.353008 deg,
      approach rate: -0.681062 m/s,
      LOS rate: -0.018044 deg/s,
      cmd heading: 330.050150 deg,
      new cmd heading: 330.024785 deg.

2025-06-17T20:50:57.914Z,1750193457.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760019 target range: 278.545380 and range: 293.60 m.
2025-06-17T20:50:58.265Z,1750193458.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:50:58.267Z,1750193458.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:58.270Z,1750193458.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 262.690491 m,
      bearing: 326.344213 deg,
      approach rate: -0.818305 m/s,
      LOS rate: -0.024096 deg/s,
      cmd heading: 330.024796 deg,
      new cmd heading: 329.998382 deg.

2025-06-17T20:50:58.271Z,1750193458.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759558 target range: 278.545380 and range: 293.60 m.
2025-06-17T20:50:58.297Z,1750193458.297 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:50:58.297Z,1750193458.297 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:50:58.297Z,1750193458.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:50:58.549Z,1750193458.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264444
2025-06-17T20:50:58.645Z,1750193458.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:58.648Z,1750193458.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 262.408020 m,
      bearing: 326.335816 deg,
      approach rate: -0.746777 m/s,
      LOS rate: -0.022224 deg/s,
      cmd heading: 329.998377 deg,
      new cmd heading: 329.973158 deg.

2025-06-17T20:50:58.649Z,1750193458.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759118 target range: 278.545380 and range: 293.60 m.
2025-06-17T20:50:58.801Z,1750193458.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516446
2025-06-17T20:50:59.053Z,1750193459.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768571
2025-06-17T20:50:59.100Z,1750193459.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:59.103Z,1750193459.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 262.099548 m,
      bearing: 326.325794 deg,
      approach rate: -0.703775 m/s,
      LOS rate: -0.022892 deg/s,
      cmd heading: 329.973160 deg,
      new cmd heading: 329.943058 deg.

2025-06-17T20:50:59.108Z,1750193459.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758593 target range: 278.545380 and range: 293.60 m.
2025-06-17T20:50:59.306Z,1750193459.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021497
2025-06-17T20:50:59.442Z,1750193459.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:59.445Z,1750193459.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 261.812897 m,
      bearing: 326.316419 deg,
      approach rate: -0.799160 m/s,
      LOS rate: -0.026166 deg/s,
      cmd heading: 329.943052 deg,
      new cmd heading: 329.914896 deg.

2025-06-17T20:50:59.446Z,1750193459.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758101 target range: 278.545380 and range: 293.60 m.
2025-06-17T20:50:59.557Z,1750193459.557 [DAT](INFO): DAT read: Rx Time:20:50:59.2262

2025-06-17T20:50:59.558Z,1750193459.558 [DAT](INFO): Rx dataTimestamp_ set to:1750193459.557521
2025-06-17T20:50:59.558Z,1750193459.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274036
2025-06-17T20:50:59.813Z,1750193459.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528349
2025-06-17T20:50:59.903Z,1750193459.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.55 m.
2025-06-17T20:50:59.926Z,1750193459.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.545380 m,
      nav range: 261.496185 m,
      bearing: 326.306012 deg,
      approach rate: -0.689135 m/s,
      LOS rate: -0.022672 deg/s,
      cmd heading: 329.914885 deg,
      new cmd heading: 329.883626 deg.

2025-06-17T20:50:59.932Z,1750193459.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757555 target range: 278.545380 and range: 293.60 m.
2025-06-17T20:51:00.071Z,1750193460.071 [DAT](INFO): DAT read: 20:50:59.2262 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 396,-0.13, 0.778,-0.454, 0.843, 0.254, PHS= 0.613,-0.661, 0.586, RAW= 149.0,  -8.6, CAL= 155.0, -16.8, ROT= 355.0,  16.8

2025-06-17T20:51:00.072Z,1750193460.072 [DAT](INFO): got valid direction response:
 20:50:59.2262 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 396,-0.13, 0.778,-0.454, 0.843, 0.254, PHS= 0.613,-0.661, 0.586, RAW= 149.0,  -8.6, CAL= 155.0, -16.8, ROT= 355.0,  16.8

2025-06-17T20:51:00.073Z,1750193460.073 [DAT](INFO): DAT read: Bearing 355.0,  16.8 (Local)

2025-06-17T20:51:00.073Z,1750193460.073 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.0,  16.8 (Local)

2025-06-17T20:51:00.075Z,1750193460.075 [DAT](INFO): DAT read: Range 10 to 50 : 290.6 m  (Round-trip  387.5 ms) speed  0.1 m/s

2025-06-17T20:51:00.076Z,1750193460.076 [DAT](INFO): DAT read: user:718>

2025-06-17T20:51:00.076Z,1750193460.076 [DAT](INFO): DAT read: Tx time:20:51:00.3345

2025-06-17T20:51:00.077Z,1750193460.077 [DAT](INFO): Ping request sent.
2025-06-17T20:51:00.077Z,1750193460.077 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:00.077Z,1750193460.077 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:00.078Z,1750193460.078 [DAT](INFO): direction in FSK: [0.953677,-0.083436,-0.289032]
2025-06-17T20:51:00.078Z,1750193460.078 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:00.079Z,1750193460.079 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:00.090Z,1750193460.090 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:00.090Z,1750193460.090 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:00.317Z,1750193460.317 [DAT](INFO): DAT read: TxSync time:20:51:00.3337

2025-06-17T20:51:00.325Z,1750193460.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 290.600006 m,
      deltaT: 3.783635 s,
      deltaX: -3.000000 m,
      approachRate: -0.792888 m/s,
      rangeRepo size: 4

2025-06-17T20:51:00.327Z,1750193460.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 287.958649 m,
      bearing: 326.850742 deg,
      lat: 36.905902 deg,
      lon: -122.116069 deg,
      deltaT: 7.815739 s,
      deltaX: 9.413269 m,
      approachRate: 1.204399 m/s,
      posRepo size: 4

2025-06-17T20:51:00.332Z,1750193460.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:00.335Z,1750193460.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 262.812042 m,
      bearing: 325.760202 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022672 deg/s,
      cmd heading: 329.883630 deg,
      new cmd heading: 329.854890 deg.

2025-06-17T20:51:00.340Z,1750193460.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757054 target range: 287.958649 and range: 290.60 m.
2025-06-17T20:51:00.649Z,1750193460.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:00.669Z,1750193460.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:00.674Z,1750193460.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 262.547485 m,
      bearing: 325.751255 deg,
      approach rate: -0.809062 m/s,
      LOS rate: -0.027389 deg/s,
      cmd heading: 329.854888 deg,
      new cmd heading: 329.828020 deg.

2025-06-17T20:51:00.675Z,1750193460.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756585 target range: 287.958649 and range: 290.60 m.
2025-06-17T20:51:00.820Z,1750193460.820 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:00.821Z,1750193460.821 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:00.821Z,1750193460.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:01.073Z,1750193461.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996028
2025-06-17T20:51:01.088Z,1750193461.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:01.091Z,1750193461.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 262.217682 m,
      bearing: 325.739497 deg,
      approach rate: -0.755778 m/s,
      LOS rate: -0.026978 deg/s,
      cmd heading: 329.828032 deg,
      new cmd heading: 329.792714 deg.

2025-06-17T20:51:01.108Z,1750193461.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755969 target range: 287.958649 and range: 290.60 m.
2025-06-17T20:51:01.325Z,1750193461.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248185
2025-06-17T20:51:01.480Z,1750193461.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:01.482Z,1750193461.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 261.939575 m,
      bearing: 325.729636 deg,
      approach rate: -0.717643 m/s,
      LOS rate: -0.025473 deg/s,
      cmd heading: 329.792706 deg,
      new cmd heading: 329.763091 deg.

2025-06-17T20:51:01.483Z,1750193461.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755452 target range: 287.958649 and range: 290.60 m.
2025-06-17T20:51:01.577Z,1750193461.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500194
2025-06-17T20:51:01.829Z,1750193461.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751863
2025-06-17T20:51:01.880Z,1750193461.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:01.883Z,1750193461.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 261.627075 m,
      bearing: 325.718601 deg,
      approach rate: -0.772448 m/s,
      LOS rate: -0.027311 deg/s,
      cmd heading: 329.763090 deg,
      new cmd heading: 329.729944 deg.

2025-06-17T20:51:01.884Z,1750193461.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754873 target range: 287.958649 and range: 290.60 m.
2025-06-17T20:51:02.081Z,1750193462.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003961
2025-06-17T20:51:02.317Z,1750193462.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:02.319Z,1750193462.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 261.291718 m,
      bearing: 325.706712 deg,
      approach rate: -0.768115 m/s,
      LOS rate: -0.027264 deg/s,
      cmd heading: 329.729950 deg,
      new cmd heading: 329.694240 deg.

2025-06-17T20:51:02.321Z,1750193462.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754250 target range: 287.958649 and range: 290.60 m.
2025-06-17T20:51:02.333Z,1750193462.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256212
2025-06-17T20:51:02.585Z,1750193462.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507887
2025-06-17T20:51:02.709Z,1750193462.709 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:02.711Z,1750193462.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:02.718Z,1750193462.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 260.997925 m,
      bearing: 325.696276 deg,
      approach rate: -0.744067 m/s,
      LOS rate: -0.026462 deg/s,
      cmd heading: 329.694242 deg,
      new cmd heading: 329.662897 deg.

2025-06-17T20:51:02.719Z,1750193462.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753703 target range: 287.958649 and range: 290.60 m.
2025-06-17T20:51:02.837Z,1750193462.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759902
2025-06-17T20:51:03.089Z,1750193463.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011982
2025-06-17T20:51:03.126Z,1750193463.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:03.133Z,1750193463.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 260.698944 m,
      bearing: 325.685306 deg,
      approach rate: -0.721444 m/s,
      LOS rate: -0.026501 deg/s,
      cmd heading: 329.662905 deg,
      new cmd heading: 329.629958 deg.

2025-06-17T20:51:03.134Z,1750193463.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753128 target range: 287.958649 and range: 290.60 m.
2025-06-17T20:51:03.341Z,1750193463.341 [DAT](INFO): DAT read: Rx Time:20:51:03.1241

2025-06-17T20:51:03.341Z,1750193463.341 [DAT](INFO): Rx dataTimestamp_ set to:1750193463.341184
2025-06-17T20:51:03.342Z,1750193463.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265123
2025-06-17T20:51:03.486Z,1750193463.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:03.489Z,1750193463.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 260.410400 m,
      bearing: 325.674681 deg,
      approach rate: -0.800285 m/s,
      LOS rate: -0.029502 deg/s,
      cmd heading: 329.629956 deg,
      new cmd heading: 329.598046 deg.

2025-06-17T20:51:03.490Z,1750193463.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752571 target range: 287.958649 and range: 290.60 m.
2025-06-17T20:51:03.593Z,1750193463.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516040
2025-06-17T20:51:03.845Z,1750193463.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767903
2025-06-17T20:51:03.943Z,1750193463.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:03.984Z,1750193463.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 260.081116 m,
      bearing: 325.662526 deg,
      approach rate: -0.727661 m/s,
      LOS rate: -0.026894 deg/s,
      cmd heading: 329.598046 deg,
      new cmd heading: 329.561535 deg.

2025-06-17T20:51:03.995Z,1750193463.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751934 target range: 287.958649 and range: 290.60 m.
2025-06-17T20:51:04.099Z,1750193464.099 [DAT](INFO): DAT read: Range 10 to 50 : 289.0 m  (Round-trip  385.4 ms) speed  0.3 m/s

2025-06-17T20:51:04.100Z,1750193464.100 [DAT](INFO): DAT read: user:719>

2025-06-17T20:51:04.101Z,1750193464.101 [DAT](INFO): DAT read: Tx time:20:51:04.2345

2025-06-17T20:51:04.101Z,1750193464.101 [DAT](INFO): Ping request sent.
2025-06-17T20:51:04.101Z,1750193464.101 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:04.101Z,1750193464.101 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:51:04.101Z,1750193464.101 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:04.102Z,1750193464.102 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:04.349Z,1750193464.349 [DAT](INFO): DAT read: TxSync time:20:51:04.2337

2025-06-17T20:51:04.350Z,1750193464.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 289.000000 m,
      deltaT: 4.032942 s,
      deltaX: -1.600006 m,
      approachRate: -0.396734 m/s,
      rangeRepo size: 4

2025-06-17T20:51:04.350Z,1750193464.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:04.358Z,1750193464.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 259.778839 m,
      bearing: 325.650564 deg,
      approach rate: -0.748332 m/s,
      LOS rate: -0.029648 deg/s,
      cmd heading: 329.561545 deg,
      new cmd heading: 329.525617 deg.

2025-06-17T20:51:04.359Z,1750193464.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751307 target range: 287.958649 and range: 289.00 m.
2025-06-17T20:51:04.731Z,1750193464.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:04.738Z,1750193464.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:04.747Z,1750193464.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 259.485901 m,
      bearing: 325.639198 deg,
      approach rate: -0.741252 m/s,
      LOS rate: -0.028793 deg/s,
      cmd heading: 329.525618 deg,
      new cmd heading: 329.491482 deg.

2025-06-17T20:51:04.753Z,1750193464.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750711 target range: 287.958649 and range: 289.00 m.
2025-06-17T20:51:04.853Z,1750193464.853 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:04.853Z,1750193464.853 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:04.854Z,1750193464.854 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:05.105Z,1750193465.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003680
2025-06-17T20:51:05.155Z,1750193465.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:05.162Z,1750193465.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 259.175323 m,
      bearing: 325.627998 deg,
      approach rate: -0.744488 m/s,
      LOS rate: -0.026880 deg/s,
      cmd heading: 329.491495 deg,
      new cmd heading: 329.457854 deg.

2025-06-17T20:51:05.163Z,1750193465.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750124 target range: 287.958649 and range: 289.00 m.
2025-06-17T20:51:05.357Z,1750193465.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256005
2025-06-17T20:51:05.532Z,1750193465.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:05.535Z,1750193465.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 258.887238 m,
      bearing: 325.617727 deg,
      approach rate: -0.764565 m/s,
      LOS rate: -0.027288 deg/s,
      cmd heading: 329.457863 deg,
      new cmd heading: 329.427017 deg.

2025-06-17T20:51:05.536Z,1750193465.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749586 target range: 287.958649 and range: 289.00 m.
2025-06-17T20:51:05.609Z,1750193465.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508030
2025-06-17T20:51:05.861Z,1750193465.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759756
2025-06-17T20:51:05.928Z,1750193465.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:05.931Z,1750193465.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 258.597534 m,
      bearing: 325.607321 deg,
      approach rate: -0.731757 m/s,
      LOS rate: -0.026315 deg/s,
      cmd heading: 329.427018 deg,
      new cmd heading: 329.395763 deg.

2025-06-17T20:51:05.934Z,1750193465.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749041 target range: 287.958649 and range: 289.00 m.
2025-06-17T20:51:06.113Z,1750193466.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011783
2025-06-17T20:51:06.365Z,1750193466.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263887
2025-06-17T20:51:06.404Z,1750193466.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:06.407Z,1750193466.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 258.272156 m,
      bearing: 325.595205 deg,
      approach rate: -0.689813 m/s,
      LOS rate: -0.025719 deg/s,
      cmd heading: 329.395763 deg,
      new cmd heading: 329.359369 deg.

2025-06-17T20:51:06.412Z,1750193466.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748405 target range: 287.958649 and range: 289.00 m.
2025-06-17T20:51:06.617Z,1750193466.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516030
2025-06-17T20:51:06.739Z,1750193466.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:06.743Z,1750193466.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:06.747Z,1750193466.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 258.015869 m,
      bearing: 325.585569 deg,
      approach rate: -0.748276 m/s,
      LOS rate: -0.028161 deg/s,
      cmd heading: 329.359372 deg,
      new cmd heading: 329.330436 deg.

2025-06-17T20:51:06.749Z,1750193466.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747900 target range: 287.958649 and range: 289.00 m.
2025-06-17T20:51:06.869Z,1750193466.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767876
2025-06-17T20:51:07.121Z,1750193467.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019681
2025-06-17T20:51:07.166Z,1750193467.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:07.169Z,1750193467.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 257.711700 m,
      bearing: 325.574579 deg,
      approach rate: -0.717980 m/s,
      LOS rate: -0.025972 deg/s,
      cmd heading: 329.330439 deg,
      new cmd heading: 329.297430 deg.

2025-06-17T20:51:07.170Z,1750193467.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747324 target range: 287.958649 and range: 289.00 m.
2025-06-17T20:51:07.373Z,1750193467.373 [DAT](INFO): DAT read: Rx Time:20:51:07.0200

2025-06-17T20:51:07.373Z,1750193467.373 [DAT](INFO): Rx dataTimestamp_ set to:1750193467.373037
2025-06-17T20:51:07.374Z,1750193467.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272854
2025-06-17T20:51:07.541Z,1750193467.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.96 m.
2025-06-17T20:51:07.545Z,1750193467.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.958649 m,
      nav range: 257.446259 m,
      bearing: 325.564949 deg,
      approach rate: -0.707221 m/s,
      LOS rate: -0.025684 deg/s,
      cmd heading: 329.297435 deg,
      new cmd heading: 329.268516 deg.

2025-06-17T20:51:07.546Z,1750193467.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746819 target range: 287.958649 and range: 289.00 m.
2025-06-17T20:51:07.626Z,1750193467.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525101
2025-06-17T20:51:07.883Z,1750193467.883 [DAT](INFO): DAT read: 20:51:07.0201 LVL= 30176, 32753, 26290, 32755, AGC= 67, IDX= 396, 0.13,-2.001,-3.123,-1.883,-2.658, PHS= 0.745,-0.418, 0.772, RAW= 151.2, -18.3, CAL= 156.9, -25.3, ROT= 353.1,  25.3

2025-06-17T20:51:07.884Z,1750193467.884 [DAT](INFO): got valid direction response:
 20:51:07.0201 LVL= 30176, 32753, 26290, 32755, AGC= 67, IDX= 396, 0.13,-2.001,-3.123,-1.883,-2.658, PHS= 0.745,-0.418, 0.772, RAW= 151.2, -18.3, CAL= 156.9, -25.3, ROT= 353.1,  25.3

2025-06-17T20:51:07.885Z,1750193467.885 [DAT](INFO): DAT read: Bearing 353.1,  25.3 (Local)

2025-06-17T20:51:07.885Z,1750193467.885 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.1,  25.3 (Local)

2025-06-17T20:51:07.887Z,1750193467.887 [DAT](INFO): DAT read: Range 10 to 50 : 285.9 m  (Round-trip  381.3 ms) speed  0.4 m/s

2025-06-17T20:51:07.887Z,1750193467.887 [DAT](INFO): DAT read: user:720>

2025-06-17T20:51:07.888Z,1750193467.888 [DAT](INFO): DAT read: Tx time:20:51:08.1346

2025-06-17T20:51:07.889Z,1750193467.889 [DAT](INFO): Ping request sent.
2025-06-17T20:51:07.889Z,1750193467.889 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:07.889Z,1750193467.889 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:07.890Z,1750193467.890 [DAT](INFO): direction in FSK: [0.897535,-0.108613,-0.427358]
2025-06-17T20:51:07.890Z,1750193467.890 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:07.890Z,1750193467.890 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:07.894Z,1750193467.894 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:07.894Z,1750193467.894 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:08.085Z,1750193468.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 285.899994 m,
      deltaT: 3.778995 s,
      deltaX: -3.100006 m,
      approachRate: -0.820326 m/s,
      rangeRepo size: 4

2025-06-17T20:51:08.087Z,1750193468.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 283.300262 m,
      bearing: 325.000881 deg,
      lat: 36.905875 deg,
      lon: -122.116036 deg,
      deltaT: 7.811937 s,
      deltaX: -4.658386 m,
      approachRate: -0.596316 m/s,
      posRepo size: 4

2025-06-17T20:51:08.092Z,1750193468.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-17T20:51:08.095Z,1750193468.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.300262 m,
      nav range: 252.900620 m,
      bearing: 325.713471 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025684 deg/s,
      cmd heading: 329.268503 deg,
      new cmd heading: 329.226635 deg.

2025-06-17T20:51:08.108Z,1750193468.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746089 target range: 283.300262 and range: 285.90 m.
2025-06-17T20:51:08.129Z,1750193468.129 [DAT](INFO): DAT read: TxSync time:20:51:08.1338

2025-06-17T20:51:08.404Z,1750193468.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-17T20:51:08.407Z,1750193468.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.300262 m,
      nav range: 252.670959 m,
      bearing: 325.705738 deg,
      approach rate: -0.728483 m/s,
      LOS rate: -0.024553 deg/s,
      cmd heading: 329.226647 deg,
      new cmd heading: 329.203426 deg.

2025-06-17T20:51:08.412Z,1750193468.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745684 target range: 283.300262 and range: 285.90 m.
2025-06-17T20:51:08.773Z,1750193468.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:08.775Z,1750193468.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-17T20:51:08.778Z,1750193468.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.300262 m,
      nav range: 252.399292 m,
      bearing: 325.696739 deg,
      approach rate: -0.723869 m/s,
      LOS rate: -0.024004 deg/s,
      cmd heading: 329.203425 deg,
      new cmd heading: 329.176399 deg.

2025-06-17T20:51:08.779Z,1750193468.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745212 target range: 283.300262 and range: 285.90 m.
2025-06-17T20:51:08.885Z,1750193468.885 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:08.885Z,1750193468.885 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:08.885Z,1750193468.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:09.137Z,1750193469.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248169
2025-06-17T20:51:09.179Z,1750193469.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-17T20:51:09.202Z,1750193469.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.300262 m,
      nav range: 252.111526 m,
      bearing: 325.687434 deg,
      approach rate: -0.712762 m/s,
      LOS rate: -0.023073 deg/s,
      cmd heading: 329.176404 deg,
      new cmd heading: 329.148458 deg.

2025-06-17T20:51:09.203Z,1750193469.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744724 target range: 283.300262 and range: 285.90 m.
2025-06-17T20:51:09.389Z,1750193469.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500080
2025-06-17T20:51:09.563Z,1750193469.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-17T20:51:09.566Z,1750193469.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.300262 m,
      nav range: 251.837921 m,
      bearing: 325.678563 deg,
      approach rate: -0.712241 m/s,
      LOS rate: -0.023118 deg/s,
      cmd heading: 329.148455 deg,
      new cmd heading: 329.121813 deg.

2025-06-17T20:51:09.567Z,1750193469.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744259 target range: 283.300262 and range: 285.90 m.
2025-06-17T20:51:09.641Z,1750193469.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752193
2025-06-17T20:51:09.893Z,1750193469.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004327
2025-06-17T20:51:09.962Z,1750193469.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-17T20:51:09.965Z,1750193469.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.300262 m,
      nav range: 251.553406 m,
      bearing: 325.669232 deg,
      approach rate: -0.713287 m/s,
      LOS rate: -0.023419 deg/s,
      cmd heading: 329.121818 deg,
      new cmd heading: 329.093794 deg.

2025-06-17T20:51:09.966Z,1750193469.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743770 target range: 283.300262 and range: 285.90 m.
2025-06-17T20:51:10.145Z,1750193470.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256544
2025-06-17T20:51:10.397Z,1750193470.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508142
2025-06-17T20:51:10.451Z,1750193470.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-17T20:51:10.457Z,1750193470.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.300262 m,
      nav range: 251.210953 m,
      bearing: 325.658648 deg,
      approach rate: -0.700767 m/s,
      LOS rate: -0.021689 deg/s,
      cmd heading: 329.093787 deg,
      new cmd heading: 329.061990 deg.

2025-06-17T20:51:10.458Z,1750193470.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743215 target range: 283.300262 and range: 285.90 m.
2025-06-17T20:51:10.649Z,1750193470.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760027
2025-06-17T20:51:10.778Z,1750193470.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:10.780Z,1750193470.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-17T20:51:10.783Z,1750193470.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.300262 m,
      nav range: 250.970520 m,
      bearing: 325.651242 deg,
      approach rate: -0.728750 m/s,
      LOS rate: -0.022467 deg/s,
      cmd heading: 329.061985 deg,
      new cmd heading: 329.039747 deg.

2025-06-17T20:51:10.784Z,1750193470.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742827 target range: 283.300262 and range: 285.90 m.
2025-06-17T20:51:10.901Z,1750193470.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012195
2025-06-17T20:51:11.153Z,1750193471.153 [DAT](INFO): DAT read: Rx Time:20:51:10.9158

2025-06-17T20:51:11.153Z,1750193471.153 [DAT](INFO): Rx dataTimestamp_ set to:1750193471.153100
2025-06-17T20:51:11.154Z,1750193471.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265238
2025-06-17T20:51:11.198Z,1750193471.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-17T20:51:11.225Z,1750193471.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.300262 m,
      nav range: 250.668045 m,
      bearing: 325.642073 deg,
      approach rate: -0.724647 m/s,
      LOS rate: -0.021995 deg/s,
      cmd heading: 329.039746 deg,
      new cmd heading: 329.012204 deg.

2025-06-17T20:51:11.227Z,1750193471.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742346 target range: 283.300262 and range: 285.90 m.
2025-06-17T20:51:11.405Z,1750193471.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516008
2025-06-17T20:51:11.575Z,1750193471.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-17T20:51:11.578Z,1750193471.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.300262 m,
      nav range: 250.395065 m,
      bearing: 325.633876 deg,
      approach rate: -0.723792 m/s,
      LOS rate: -0.021757 deg/s,
      cmd heading: 329.012207 deg,
      new cmd heading: 328.987589 deg.

2025-06-17T20:51:11.579Z,1750193471.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741917 target range: 283.300262 and range: 285.90 m.
2025-06-17T20:51:11.661Z,1750193471.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772046
2025-06-17T20:51:11.917Z,1750193471.917 [DAT](INFO): DAT read: 20:51:10.9158 LVL= 32400, 32753, 32754, 32755, AGC= 69, IDX= 400, 0.10,-2.951, 1.844,-2.989, 2.676, PHS= 0.744,-0.786, 0.615, RAW= 145.6,  -7.9, CAL= 151.8, -16.7, ROT= 358.2,  16.7

2025-06-17T20:51:11.918Z,1750193471.918 [DAT](INFO): got valid direction response:
 20:51:10.9158 LVL= 32400, 32753, 32754, 32755, AGC= 69, IDX= 400, 0.10,-2.951, 1.844,-2.989, 2.676, PHS= 0.744,-0.786, 0.615, RAW= 145.6,  -7.9, CAL= 151.8, -16.7, ROT= 358.2,  16.7

2025-06-17T20:51:11.919Z,1750193471.919 [DAT](INFO): DAT read: Bearing 358.2,  16.7 (Local)

2025-06-17T20:51:11.919Z,1750193471.919 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,  16.7 (Local)

2025-06-17T20:51:11.921Z,1750193471.921 [DAT](INFO): DAT read: Range 10 to 50 : 282.7 m  (Round-trip  377.0 ms) speed  0.1 m/s

2025-06-17T20:51:11.922Z,1750193471.922 [DAT](INFO): DAT read: user:721>

2025-06-17T20:51:11.922Z,1750193471.922 [DAT](INFO): DAT read: Tx time:20:51:12.0346

2025-06-17T20:51:11.923Z,1750193471.923 [DAT](INFO): Ping request sent.
2025-06-17T20:51:11.923Z,1750193471.923 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:11.923Z,1750193471.923 [DAT](INFO): DAT read: TxSync time:20:51:12.0338

2025-06-17T20:51:11.924Z,1750193471.924 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:11.925Z,1750193471.925 [DAT](INFO): direction in FSK: [0.957350,-0.030086,-0.287361]
2025-06-17T20:51:11.925Z,1750193471.925 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:11.926Z,1750193471.926 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:11.929Z,1750193471.929 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:11.929Z,1750193471.929 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:12.134Z,1750193472.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 282.700012 m,
      deltaT: 4.033596 s,
      deltaX: -3.199982 m,
      approachRate: -0.793332 m/s,
      rangeRepo size: 4

2025-06-17T20:51:12.140Z,1750193472.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 280.128662 m,
      bearing: 329.102018 deg,
      lat: 36.905985 deg,
      lon: -122.116031 deg,
      deltaT: 4.033596 s,
      deltaX: -3.171600 m,
      approachRate: -0.786296 m/s,
      posRepo size: 4

2025-06-17T20:51:12.141Z,1750193472.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.13 m.
2025-06-17T20:51:12.148Z,1750193472.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.128662 m,
      nav range: 259.986511 m,
      bearing: 327.220047 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021757 deg/s,
      cmd heading: 328.987591 deg,
      new cmd heading: 328.951141 deg.

2025-06-17T20:51:12.149Z,1750193472.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741281 target range: 280.128662 and range: 282.70 m.
2025-06-17T20:51:12.477Z,1750193472.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.13 m.
2025-06-17T20:51:12.480Z,1750193472.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.128662 m,
      nav range: 259.655792 m,
      bearing: 327.212428 deg,
      approach rate: -0.962411 m/s,
      LOS rate: -0.022202 deg/s,
      cmd heading: 328.951145 deg,
      new cmd heading: 328.928257 deg.

2025-06-17T20:51:12.481Z,1750193472.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740881 target range: 280.128662 and range: 282.70 m.
2025-06-17T20:51:12.830Z,1750193472.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:12.832Z,1750193472.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.13 m.
2025-06-17T20:51:12.835Z,1750193472.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.128662 m,
      nav range: 259.393768 m,
      bearing: 327.206529 deg,
      approach rate: -0.738620 m/s,
      LOS rate: -0.016646 deg/s,
      cmd heading: 328.928250 deg,
      new cmd heading: 328.910535 deg.

2025-06-17T20:51:12.836Z,1750193472.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740572 target range: 280.128662 and range: 282.70 m.
2025-06-17T20:51:12.917Z,1750193472.917 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:12.917Z,1750193472.917 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:12.917Z,1750193472.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:13.169Z,1750193473.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245987
2025-06-17T20:51:13.261Z,1750193473.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.13 m.
2025-06-17T20:51:13.264Z,1750193473.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.128662 m,
      nav range: 259.075317 m,
      bearing: 327.199616 deg,
      approach rate: -0.742185 m/s,
      LOS rate: -0.016131 deg/s,
      cmd heading: 328.910546 deg,
      new cmd heading: 328.889782 deg.

2025-06-17T20:51:13.265Z,1750193473.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740210 target range: 280.128662 and range: 282.70 m.
2025-06-17T20:51:13.421Z,1750193473.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497927
2025-06-17T20:51:13.641Z,1750193473.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.13 m.
2025-06-17T20:51:13.643Z,1750193473.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.128662 m,
      nav range: 258.792786 m,
      bearing: 327.193530 deg,
      approach rate: -0.743618 m/s,
      LOS rate: -0.016036 deg/s,
      cmd heading: 328.889782 deg,
      new cmd heading: 328.871504 deg.

2025-06-17T20:51:13.645Z,1750193473.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739891 target range: 280.128662 and range: 282.70 m.
2025-06-17T20:51:13.673Z,1750193473.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750115
2025-06-17T20:51:13.927Z,1750193473.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004081
2025-06-17T20:51:14.068Z,1750193474.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.13 m.
2025-06-17T20:51:14.077Z,1750193474.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.128662 m,
      nav range: 258.475769 m,
      bearing: 327.186677 deg,
      approach rate: -0.742355 m/s,
      LOS rate: -0.016068 deg/s,
      cmd heading: 328.871505 deg,
      new cmd heading: 328.850920 deg.

2025-06-17T20:51:14.135Z,1750193474.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739532 target range: 280.128662 and range: 282.70 m.
2025-06-17T20:51:14.181Z,1750193474.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258100
2025-06-17T20:51:14.433Z,1750193474.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509917
2025-06-17T20:51:14.494Z,1750193474.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.13 m.
2025-06-17T20:51:14.497Z,1750193474.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.128662 m,
      nav range: 258.159576 m,
      bearing: 327.180433 deg,
      approach rate: -0.742052 m/s,
      LOS rate: -0.014670 deg/s,
      cmd heading: 328.850932 deg,
      new cmd heading: 328.832180 deg.

2025-06-17T20:51:14.498Z,1750193474.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739204 target range: 280.128662 and range: 282.70 m.
2025-06-17T20:51:14.685Z,1750193474.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762277
2025-06-17T20:51:14.862Z,1750193474.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:14.865Z,1750193474.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.13 m.
2025-06-17T20:51:14.868Z,1750193474.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.128662 m,
      nav range: 257.876801 m,
      bearing: 327.174881 deg,
      approach rate: -0.761893 m/s,
      LOS rate: -0.014975 deg/s,
      cmd heading: 328.832190 deg,
      new cmd heading: 328.815516 deg.

2025-06-17T20:51:14.869Z,1750193474.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738914 target range: 280.128662 and range: 282.70 m.
2025-06-17T20:51:14.937Z,1750193474.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014012
2025-06-17T20:51:15.189Z,1750193475.189 [DAT](INFO): DAT read: Rx Time:20:51:14.8129

2025-06-17T20:51:15.189Z,1750193475.189 [DAT](INFO): Rx dataTimestamp_ set to:1750193475.189116
2025-06-17T20:51:15.190Z,1750193475.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267038
2025-06-17T20:51:15.317Z,1750193475.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.13 m.
2025-06-17T20:51:15.320Z,1750193475.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.128662 m,
      nav range: 257.533569 m,
      bearing: 327.166912 deg,
      approach rate: -0.759146 m/s,
      LOS rate: -0.017650 deg/s,
      cmd heading: 328.815525 deg,
      new cmd heading: 328.791584 deg.

2025-06-17T20:51:15.321Z,1750193475.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738496 target range: 280.128662 and range: 282.70 m.
2025-06-17T20:51:15.441Z,1750193475.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517918
2025-06-17T20:51:15.675Z,1750193475.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.13 m.
2025-06-17T20:51:15.678Z,1750193475.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.128662 m,
      nav range: 257.274475 m,
      bearing: 327.160923 deg,
      approach rate: -0.723503 m/s,
      LOS rate: -0.016740 deg/s,
      cmd heading: 328.791592 deg,
      new cmd heading: 328.773607 deg.

2025-06-17T20:51:15.679Z,1750193475.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738182 target range: 280.128662 and range: 282.70 m.
2025-06-17T20:51:15.699Z,1750193475.699 [DAT](INFO): DAT read: 20:51:14.8129 LVL= 32080, 32753, 27442, 32755, AGC= 68, IDX= 418, 0.27,-2.943, 2.079,-2.989, 2.713, PHS= 0.715,-0.587, 0.578, RAW= 144.5, -11.4, CAL= 151.6, -20.3, ROT= 358.4,  20.3

2025-06-17T20:51:15.701Z,1750193475.701 [DAT](INFO): got valid direction response:
 20:51:14.8129 LVL= 32080, 32753, 27442, 32755, AGC= 68, IDX= 418, 0.27,-2.943, 2.079,-2.989, 2.713, PHS= 0.715,-0.587, 0.578, RAW= 144.5, -11.4, CAL= 151.6, -20.3, ROT= 358.4,  20.3

2025-06-17T20:51:15.702Z,1750193475.702 [DAT](INFO): DAT read: Bearing 358.4,  20.3 (Local)

2025-06-17T20:51:15.702Z,1750193475.702 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  20.3 (Local)

2025-06-17T20:51:15.704Z,1750193475.704 [DAT](INFO): DAT read: Range 10 to 50 : 280.6 m  (Round-trip  374.2 ms) speed  0.6 m/s

2025-06-17T20:51:15.705Z,1750193475.705 [DAT](INFO): DAT read: user:722>

2025-06-17T20:51:15.706Z,1750193475.706 [DAT](INFO): DAT read: Tx time:20:51:15.9346

2025-06-17T20:51:15.706Z,1750193475.706 [DAT](INFO): Ping request sent.
2025-06-17T20:51:15.706Z,1750193475.706 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:15.707Z,1750193475.707 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:15.708Z,1750193475.708 [DAT](INFO): direction in FSK: [0.937523,-0.026187,-0.346936]
2025-06-17T20:51:15.708Z,1750193475.708 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:15.708Z,1750193475.708 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:15.711Z,1750193475.711 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:15.711Z,1750193475.711 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:15.946Z,1750193475.946 [DAT](INFO): DAT read: TxSync time:20:51:15.9338

2025-06-17T20:51:16.090Z,1750193476.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 280.600006 m,
      deltaT: 3.782649 s,
      deltaX: -2.100006 m,
      approachRate: -0.555168 m/s,
      rangeRepo size: 4

2025-06-17T20:51:16.092Z,1750193476.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 278.047394 m,
      bearing: 329.085469 deg,
      lat: 36.905985 deg,
      lon: -122.116031 deg,
      deltaT: 3.782649 s,
      deltaX: -2.081268 m,
      approachRate: -0.550214 m/s,
      posRepo size: 4

2025-06-17T20:51:16.093Z,1750193476.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.05 m.
2025-06-17T20:51:16.095Z,1750193476.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.047394 m,
      nav range: 256.955902 m,
      bearing: 327.153600 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016740 deg/s,
      cmd heading: 328.773615 deg,
      new cmd heading: 328.752847 deg.

2025-06-17T20:51:16.096Z,1750193476.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737820 target range: 278.047394 and range: 280.60 m.
2025-06-17T20:51:16.515Z,1750193476.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.05 m.
2025-06-17T20:51:16.522Z,1750193476.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.047394 m,
      nav range: 256.639191 m,
      bearing: 327.146044 deg,
      approach rate: -0.744184 m/s,
      LOS rate: -0.017778 deg/s,
      cmd heading: 328.752851 deg,
      new cmd heading: 328.730152 deg.

2025-06-17T20:51:16.523Z,1750193476.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737423 target range: 278.047394 and range: 280.60 m.
2025-06-17T20:51:16.878Z,1750193476.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:16.881Z,1750193476.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.05 m.
2025-06-17T20:51:16.883Z,1750193476.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.047394 m,
      nav range: 256.344360 m,
      bearing: 327.139346 deg,
      approach rate: -0.805274 m/s,
      LOS rate: -0.018315 deg/s,
      cmd heading: 328.730147 deg,
      new cmd heading: 328.710030 deg.

2025-06-17T20:51:16.884Z,1750193476.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737072 target range: 278.047394 and range: 280.60 m.
2025-06-17T20:51:16.954Z,1750193476.954 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:16.954Z,1750193476.954 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:16.954Z,1750193476.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:17.205Z,1750193477.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498427
2025-06-17T20:51:17.318Z,1750193477.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.05 m.
2025-06-17T20:51:17.321Z,1750193477.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.047394 m,
      nav range: 256.012604 m,
      bearing: 327.132138 deg,
      approach rate: -0.759146 m/s,
      LOS rate: -0.016514 deg/s,
      cmd heading: 328.710039 deg,
      new cmd heading: 328.688389 deg.

2025-06-17T20:51:17.322Z,1750193477.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736695 target range: 278.047394 and range: 280.60 m.
2025-06-17T20:51:17.457Z,1750193477.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750500
2025-06-17T20:51:17.692Z,1750193477.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.05 m.
2025-06-17T20:51:17.695Z,1750193477.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.047394 m,
      nav range: 255.738297 m,
      bearing: 327.126071 deg,
      approach rate: -0.731956 m/s,
      LOS rate: -0.016208 deg/s,
      cmd heading: 328.688401 deg,
      new cmd heading: 328.670179 deg.

2025-06-17T20:51:17.696Z,1750193477.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736377 target range: 278.047394 and range: 280.60 m.
2025-06-17T20:51:17.709Z,1750193477.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002630
2025-06-17T20:51:17.961Z,1750193477.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254470
2025-06-17T20:51:18.126Z,1750193478.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.05 m.
2025-06-17T20:51:18.135Z,1750193478.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.047394 m,
      nav range: 255.419891 m,
      bearing: 327.118977 deg,
      approach rate: -0.734749 m/s,
      LOS rate: -0.016389 deg/s,
      cmd heading: 328.670178 deg,
      new cmd heading: 328.648871 deg.

2025-06-17T20:51:18.143Z,1750193478.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736005 target range: 278.047394 and range: 280.60 m.
2025-06-17T20:51:18.213Z,1750193478.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506943
2025-06-17T20:51:18.465Z,1750193478.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758635
2025-06-17T20:51:18.522Z,1750193478.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.05 m.
2025-06-17T20:51:18.525Z,1750193478.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.047394 m,
      nav range: 255.102814 m,
      bearing: 327.111329 deg,
      approach rate: -0.799266 m/s,
      LOS rate: -0.019302 deg/s,
      cmd heading: 328.648868 deg,
      new cmd heading: 328.625896 deg.

2025-06-17T20:51:18.526Z,1750193478.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735604 target range: 278.047394 and range: 280.60 m.
2025-06-17T20:51:18.717Z,1750193478.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010450
2025-06-17T20:51:18.892Z,1750193478.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:18.894Z,1750193478.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.05 m.
2025-06-17T20:51:18.897Z,1750193478.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.047394 m,
      nav range: 254.824265 m,
      bearing: 327.104604 deg,
      approach rate: -0.749707 m/s,
      LOS rate: -0.018121 deg/s,
      cmd heading: 328.625891 deg,
      new cmd heading: 328.605693 deg.

2025-06-17T20:51:18.898Z,1750193478.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735251 target range: 278.047394 and range: 280.60 m.
2025-06-17T20:51:18.969Z,1750193478.969 [DAT](INFO): DAT read: Rx Time:20:51:18.7099

2025-06-17T20:51:18.969Z,1750193478.969 [DAT](INFO): Rx dataTimestamp_ set to:1750193478.969202
2025-06-17T20:51:18.970Z,1750193478.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263763
2025-06-17T20:51:19.223Z,1750193479.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516731
2025-06-17T20:51:19.339Z,1750193479.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.05 m.
2025-06-17T20:51:19.347Z,1750193479.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.047394 m,
      nav range: 254.502441 m,
      bearing: 327.095897 deg,
      approach rate: -0.723494 m/s,
      LOS rate: -0.019600 deg/s,
      cmd heading: 328.605701 deg,
      new cmd heading: 328.579547 deg.

2025-06-17T20:51:19.352Z,1750193479.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734795 target range: 278.047394 and range: 280.60 m.
2025-06-17T20:51:19.497Z,1750193479.497 [DAT](INFO): DAT read: 20:51:18.7099 LVL= 27504, 32753, 26418, 32755, AGC= 61, IDX= 404, 0.32,-0.480,-1.770,-0.416,-1.242, PHS= 0.850,-0.480, 0.823, RAW= 149.0, -17.8, CAL= 154.9, -25.1, ROT= 355.1,  25.1

2025-06-17T20:51:19.498Z,1750193479.498 [DAT](INFO): got valid direction response:
 20:51:18.7099 LVL= 27504, 32753, 26418, 32755, AGC= 61, IDX= 404, 0.32,-0.480,-1.770,-0.416,-1.242, PHS= 0.850,-0.480, 0.823, RAW= 149.0, -17.8, CAL= 154.9, -25.1, ROT= 355.1,  25.1

2025-06-17T20:51:19.499Z,1750193479.499 [DAT](INFO): DAT read: Bearing 355.1,  25.1 (Local)

2025-06-17T20:51:19.499Z,1750193479.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  25.1 (Local)

2025-06-17T20:51:19.501Z,1750193479.501 [DAT](INFO): DAT read: Range 10 to 50 : 278.3 m  (Round-trip  371.1 ms) speed  0.4 m/s

2025-06-17T20:51:19.502Z,1750193479.502 [DAT](INFO): DAT read: user:723>

2025-06-17T20:51:19.502Z,1750193479.502 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:19.503Z,1750193479.503 [DAT](INFO): direction in FSK: [0.902259,-0.077351,-0.424199]
2025-06-17T20:51:19.503Z,1750193479.503 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:19.507Z,1750193479.507 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:19.507Z,1750193479.507 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:19.508Z,1750193479.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:19.725Z,1750193479.725 [DAT](INFO): DAT read: Tx time::51:19.8346

2025-06-17T20:51:19.726Z,1750193479.726 [DAT](INFO): unknown deviceResponse_: Tx time::51:19.8346

2025-06-17T20:51:19.727Z,1750193479.727 [DAT](INFO): DAT read: TxSync time:20:51:19.8338

2025-06-17T20:51:19.727Z,1750193479.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021019
2025-06-17T20:51:19.752Z,1750193479.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 278.299988 m,
      deltaT: 3.781345 s,
      deltaX: -2.300018 m,
      approachRate: -0.608254 m/s,
      rangeRepo size: 4

2025-06-17T20:51:19.755Z,1750193479.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 275.768158 m,
      bearing: 325.926072 deg,
      lat: 36.905985 deg,
      lon: -122.115997 deg,
      deltaT: 3.781345 s,
      deltaX: -2.279236 m,
      approachRate: -0.602758 m/s,
      posRepo size: 4

2025-06-17T20:51:19.762Z,1750193479.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.77 m.
2025-06-17T20:51:19.786Z,1750193479.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.768158 m,
      nav range: 252.600067 m,
      bearing: 327.656850 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019600 deg/s,
      cmd heading: 328.579555 deg,
      new cmd heading: 328.555824 deg.

2025-06-17T20:51:19.787Z,1750193479.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734381 target range: 275.768158 and range: 278.30 m.
2025-06-17T20:51:19.977Z,1750193479.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270553
2025-06-17T20:51:20.128Z,1750193480.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.77 m.
2025-06-17T20:51:20.130Z,1750193480.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.768158 m,
      nav range: 252.290970 m,
      bearing: 327.649192 deg,
      approach rate: -0.837283 m/s,
      LOS rate: -0.020771 deg/s,
      cmd heading: 328.555813 deg,
      new cmd heading: 328.532810 deg.

2025-06-17T20:51:20.131Z,1750193480.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733979 target range: 275.768158 and range: 278.30 m.
2025-06-17T20:51:20.230Z,1750193480.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523829
2025-06-17T20:51:20.481Z,1750193480.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774572
2025-06-17T20:51:20.539Z,1750193480.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.77 m.
2025-06-17T20:51:20.542Z,1750193480.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.768158 m,
      nav range: 251.968506 m,
      bearing: 327.641399 deg,
      approach rate: -0.755125 m/s,
      LOS rate: -0.018273 deg/s,
      cmd heading: 328.532809 deg,
      new cmd heading: 328.509400 deg.

2025-06-17T20:51:20.543Z,1750193480.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733571 target range: 275.768158 and range: 278.30 m.
2025-06-17T20:51:20.733Z,1750193480.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027157
2025-06-17T20:51:20.914Z,1750193480.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:20.917Z,1750193480.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.77 m.
2025-06-17T20:51:20.919Z,1750193480.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.768158 m,
      nav range: 251.683304 m,
      bearing: 327.634568 deg,
      approach rate: -0.754451 m/s,
      LOS rate: -0.018090 deg/s,
      cmd heading: 328.509396 deg,
      new cmd heading: 328.488880 deg.

2025-06-17T20:51:20.921Z,1750193480.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733212 target range: 275.768158 and range: 278.30 m.
2025-06-17T20:51:20.986Z,1750193480.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279483
2025-06-17T20:51:21.037Z,1750193481.037 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:51:21.237Z,1750193481.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530466
2025-06-17T20:51:21.350Z,1750193481.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.77 m.
2025-06-17T20:51:21.353Z,1750193481.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.768158 m,
      nav range: 251.363998 m,
      bearing: 327.627023 deg,
      approach rate: -0.736613 m/s,
      LOS rate: -0.017427 deg/s,
      cmd heading: 328.488878 deg,
      new cmd heading: 328.466215 deg.

2025-06-17T20:51:21.354Z,1750193481.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732817 target range: 275.768158 and range: 278.30 m.
2025-06-17T20:51:21.489Z,1750193481.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782551
2025-06-17T20:51:21.734Z,1750193481.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.77 m.
2025-06-17T20:51:21.738Z,1750193481.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.768158 m,
      nav range: 251.091721 m,
      bearing: 327.620437 deg,
      approach rate: -0.709654 m/s,
      LOS rate: -0.017184 deg/s,
      cmd heading: 328.466201 deg,
      new cmd heading: 328.446422 deg.

2025-06-17T20:51:21.742Z,1750193481.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035399
2025-06-17T20:51:21.743Z,1750193481.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732471 target range: 275.768158 and range: 278.30 m.
2025-06-17T20:51:21.993Z,1750193481.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.286821
2025-06-17T20:51:22.048Z,1750193482.048 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:51:22.124Z,1750193482.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.77 m.
2025-06-17T20:51:22.127Z,1750193482.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.768158 m,
      nav range: 250.793732 m,
      bearing: 327.613197 deg,
      approach rate: -0.763592 m/s,
      LOS rate: -0.018575 deg/s,
      cmd heading: 328.446421 deg,
      new cmd heading: 328.424675 deg.

2025-06-17T20:51:22.128Z,1750193482.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732092 target range: 275.768158 and range: 278.30 m.
2025-06-17T20:51:22.249Z,1750193482.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541704
2025-06-17T20:51:22.497Z,1750193482.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.790419
2025-06-17T20:51:22.557Z,1750193482.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.77 m.
2025-06-17T20:51:22.561Z,1750193482.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.768158 m,
      nav range: 250.476135 m,
      bearing: 327.606760 deg,
      approach rate: -0.733010 m/s,
      LOS rate: -0.014876 deg/s,
      cmd heading: 328.424674 deg,
      new cmd heading: 328.405337 deg.

2025-06-17T20:51:22.563Z,1750193482.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731754 target range: 275.768158 and range: 278.30 m.
2025-06-17T20:51:22.750Z,1750193482.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043702
2025-06-17T20:51:22.944Z,1750193482.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:22.946Z,1750193482.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.77 m.
2025-06-17T20:51:22.953Z,1750193482.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.768158 m,
      nav range: 250.201370 m,
      bearing: 327.601192 deg,
      approach rate: -0.706319 m/s,
      LOS rate: -0.014329 deg/s,
      cmd heading: 328.405331 deg,
      new cmd heading: 328.388608 deg.

2025-06-17T20:51:22.954Z,1750193482.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731462 target range: 275.768158 and range: 278.30 m.
2025-06-17T20:51:23.001Z,1750193483.001 [DAT](INFO): DAT read: Rx Time:20:51:22.6065

2025-06-17T20:51:23.002Z,1750193483.002 [DAT](INFO): Rx dataTimestamp_ set to:1750193483.001226
2025-06-17T20:51:23.002Z,1750193483.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.295780
2025-06-17T20:51:23.255Z,1750193483.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548774
2025-06-17T20:51:23.413Z,1750193483.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.77 m.
2025-06-17T20:51:23.416Z,1750193483.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.768158 m,
      nav range: 249.855804 m,
      bearing: 327.594613 deg,
      approach rate: -0.740485 m/s,
      LOS rate: -0.014116 deg/s,
      cmd heading: 328.388610 deg,
      new cmd heading: 328.368848 deg.

2025-06-17T20:51:23.417Z,1750193483.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731118 target range: 275.768158 and range: 278.30 m.
2025-06-17T20:51:23.513Z,1750193483.513 [DAT](INFO): DAT read: 20:51:22.6065 LVL= 31216, 32753, 29666, 32755, AGC= 65, IDX= 391,-0.28, 3.007, 1.424, 3.021, 2.218, PHS= 0.878,-0.747, 0.800, RAW= 147.6, -11.7, CAL= 154.7, -20.0, ROT= 355.3,  20.0

2025-06-17T20:51:23.514Z,1750193483.514 [DAT](INFO): got valid direction response:
 20:51:22.6065 LVL= 31216, 32753, 29666, 32755, AGC= 65, IDX= 391,-0.28, 3.007, 1.424, 3.021, 2.218, PHS= 0.878,-0.747, 0.800, RAW= 147.6, -11.7, CAL= 154.7, -20.0, ROT= 355.3,  20.0

2025-06-17T20:51:23.515Z,1750193483.515 [DAT](INFO): DAT read: Bearing 355.3,  20.0 (Local)

2025-06-17T20:51:23.516Z,1750193483.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.3,  20.0 (Local)

2025-06-17T20:51:23.518Z,1750193483.518 [DAT](INFO): DAT read: Range 10 to 50 : 275.7 m  (Round-trip  367.6 ms) speed  0.2 m/s

2025-06-17T20:51:23.519Z,1750193483.519 [DAT](INFO): DAT read: user:724>

2025-06-17T20:51:23.526Z,1750193483.526 [DAT](INFO): DAT read: Tx time:20:51:23.6847

2025-06-17T20:51:23.526Z,1750193483.526 [DAT](INFO): Ping request sent.
2025-06-17T20:51:23.526Z,1750193483.526 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:23.526Z,1750193483.526 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:23.527Z,1750193483.527 [DAT](INFO): direction in FSK: [0.936533,-0.076997,-0.342020]
2025-06-17T20:51:23.532Z,1750193483.532 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:23.532Z,1750193483.532 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:23.535Z,1750193483.535 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:23.540Z,1750193483.540 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:23.762Z,1750193483.762 [DAT](INFO): DAT read: TxSync time:20:51:23.6839

2025-06-17T20:51:23.787Z,1750193483.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 275.700012 m,
      deltaT: 4.032332 s,
      deltaX: -2.599976 m,
      approachRate: -0.644782 m/s,
      rangeRepo size: 4

2025-06-17T20:51:23.793Z,1750193483.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 273.190704 m,
      bearing: 325.461729 deg,
      lat: 36.905940 deg,
      lon: -122.115997 deg,
      deltaT: 4.032332 s,
      deltaX: -2.577454 m,
      approachRate: -0.639197 m/s,
      posRepo size: 4

2025-06-17T20:51:23.794Z,1750193483.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.19 m.
2025-06-17T20:51:23.801Z,1750193483.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.190704 m,
      nav range: 245.431046 m,
      bearing: 326.969032 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014116 deg/s,
      cmd heading: 328.368858 deg,
      new cmd heading: 328.353049 deg.

2025-06-17T20:51:23.802Z,1750193483.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730842 target range: 273.190704 and range: 275.70 m.
2025-06-17T20:51:24.167Z,1750193484.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.19 m.
2025-06-17T20:51:24.170Z,1750193484.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.190704 m,
      nav range: 245.140137 m,
      bearing: 326.962800 deg,
      approach rate: -0.764566 m/s,
      LOS rate: -0.016398 deg/s,
      cmd heading: 328.353039 deg,
      new cmd heading: 328.334321 deg.

2025-06-17T20:51:24.171Z,1750193484.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730515 target range: 273.190704 and range: 275.70 m.
2025-06-17T20:51:24.583Z,1750193484.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.19 m.
2025-06-17T20:51:24.586Z,1750193484.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.190704 m,
      nav range: 244.838577 m,
      bearing: 326.956614 deg,
      approach rate: -0.723996 m/s,
      LOS rate: -0.014871 deg/s,
      cmd heading: 328.334324 deg,
      new cmd heading: 328.315742 deg.

2025-06-17T20:51:24.587Z,1750193484.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730191 target range: 273.190704 and range: 275.70 m.
2025-06-17T20:51:24.958Z,1750193484.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:24.960Z,1750193484.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.19 m.
2025-06-17T20:51:24.963Z,1750193484.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.190704 m,
      nav range: 244.566025 m,
      bearing: 326.951088 deg,
      approach rate: -0.723707 m/s,
      LOS rate: -0.014689 deg/s,
      cmd heading: 328.315746 deg,
      new cmd heading: 328.299150 deg.

2025-06-17T20:51:24.964Z,1750193484.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729901 target range: 273.190704 and range: 275.70 m.
2025-06-17T20:51:25.022Z,1750193485.022 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:25.022Z,1750193485.022 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:25.022Z,1750193485.022 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:25.278Z,1750193485.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749232
2025-06-17T20:51:25.379Z,1750193485.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.19 m.
2025-06-17T20:51:25.382Z,1750193485.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.190704 m,
      nav range: 244.256134 m,
      bearing: 326.944981 deg,
      approach rate: -0.739674 m/s,
      LOS rate: -0.014596 deg/s,
      cmd heading: 328.299162 deg,
      new cmd heading: 328.280817 deg.

2025-06-17T20:51:25.383Z,1750193485.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729581 target range: 273.190704 and range: 275.70 m.
2025-06-17T20:51:25.525Z,1750193485.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998699
2025-06-17T20:51:25.773Z,1750193485.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.19 m.
2025-06-17T20:51:25.775Z,1750193485.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.190704 m,
      nav range: 243.965363 m,
      bearing: 326.939164 deg,
      approach rate: -0.738229 m/s,
      LOS rate: -0.014785 deg/s,
      cmd heading: 328.280830 deg,
      new cmd heading: 328.263360 deg.

2025-06-17T20:51:25.777Z,1750193485.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250854
2025-06-17T20:51:25.778Z,1750193485.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729277 target range: 273.190704 and range: 275.70 m.
2025-06-17T20:51:26.029Z,1750193486.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502881
2025-06-17T20:51:26.188Z,1750193486.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.19 m.
2025-06-17T20:51:26.191Z,1750193486.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.190704 m,
      nav range: 243.672516 m,
      bearing: 326.933266 deg,
      approach rate: -0.704755 m/s,
      LOS rate: -0.014212 deg/s,
      cmd heading: 328.263372 deg,
      new cmd heading: 328.245655 deg.

2025-06-17T20:51:26.200Z,1750193486.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728968 target range: 273.190704 and range: 275.70 m.
2025-06-17T20:51:26.284Z,1750193486.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757243
2025-06-17T20:51:26.533Z,1750193486.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006710
2025-06-17T20:51:26.607Z,1750193486.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.19 m.
2025-06-17T20:51:26.614Z,1750193486.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.190704 m,
      nav range: 243.365204 m,
      bearing: 326.926797 deg,
      approach rate: -0.733669 m/s,
      LOS rate: -0.015463 deg/s,
      cmd heading: 328.245668 deg,
      new cmd heading: 328.226237 deg.

2025-06-17T20:51:26.615Z,1750193486.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728629 target range: 273.190704 and range: 275.70 m.
2025-06-17T20:51:26.785Z,1750193486.785 [DAT](INFO): DAT read: Rx Time:20:51:26.4527

2025-06-17T20:51:26.785Z,1750193486.785 [DAT](INFO): Rx dataTimestamp_ set to:1750193486.785156
2025-06-17T20:51:26.786Z,1750193486.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259935
2025-06-17T20:51:26.977Z,1750193486.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:26.979Z,1750193486.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.19 m.
2025-06-17T20:51:26.981Z,1750193486.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.190704 m,
      nav range: 243.084167 m,
      bearing: 326.920867 deg,
      approach rate: -0.756631 m/s,
      LOS rate: -0.015984 deg/s,
      cmd heading: 328.226243 deg,
      new cmd heading: 328.208433 deg.

2025-06-17T20:51:26.982Z,1750193486.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728318 target range: 273.190704 and range: 275.70 m.
2025-06-17T20:51:27.038Z,1750193487.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511542
2025-06-17T20:51:27.319Z,1750193487.319 [DAT](INFO): DAT read: 20:51:26.4527 LVL= 31952, 32753, 29794, 32755, AGC= 65, IDX= 410,-0.14, 2.606, 1.306, 2.608, 1.864, PHS= 0.830,-0.511, 0.741, RAW= 146.6, -16.1, CAL= 152.8, -23.9, ROT= 357.2,  23.9

2025-06-17T20:51:27.321Z,1750193487.321 [DAT](INFO): got valid direction response:
 20:51:26.4527 LVL= 31952, 32753, 29794, 32755, AGC= 65, IDX= 410,-0.14, 2.606, 1.306, 2.608, 1.864, PHS= 0.830,-0.511, 0.741, RAW= 146.6, -16.1, CAL= 152.8, -23.9, ROT= 357.2,  23.9

2025-06-17T20:51:27.322Z,1750193487.322 [DAT](INFO): DAT read: Bearing 357.2,  23.9 (Local)

2025-06-17T20:51:27.323Z,1750193487.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,  23.9 (Local)

2025-06-17T20:51:27.324Z,1750193487.324 [DAT](INFO): DAT read: Range 10 to 50 : 272.8 m  (Round-trip  363.8 ms) speed  0.6 m/s

2025-06-17T20:51:27.325Z,1750193487.325 [DAT](INFO): DAT read: user:725>

2025-06-17T20:51:27.326Z,1750193487.326 [DAT](INFO): DAT read: Tx time:20:51:27.5347

2025-06-17T20:51:27.326Z,1750193487.326 [DAT](INFO): Ping request sent.
2025-06-17T20:51:27.326Z,1750193487.326 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:27.326Z,1750193487.326 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:27.327Z,1750193487.327 [DAT](INFO): direction in FSK: [0.913162,-0.044661,-0.405142]
2025-06-17T20:51:27.328Z,1750193487.328 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:27.328Z,1750193487.328 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:27.331Z,1750193487.331 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:27.331Z,1750193487.331 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:27.512Z,1750193487.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 272.799988 m,
      deltaT: 3.783303 s,
      deltaX: -2.900024 m,
      approachRate: -0.766532 m/s,
      rangeRepo size: 4

2025-06-17T20:51:27.514Z,1750193487.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 270.316223 m,
      bearing: 327.677018 deg,
      lat: 36.905940 deg,
      lon: -122.115966 deg,
      deltaT: 3.783303 s,
      deltaX: -2.874481 m,
      approachRate: -0.759781 m/s,
      posRepo size: 4

2025-06-17T20:51:27.515Z,1750193487.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.32 m.
2025-06-17T20:51:27.522Z,1750193487.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.316223 m,
      nav range: 241.209381 m,
      bearing: 327.465240 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015984 deg/s,
      cmd heading: 328.208430 deg,
      new cmd heading: 328.183178 deg.

2025-06-17T20:51:27.523Z,1750193487.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727877 target range: 270.316223 and range: 272.80 m.
2025-06-17T20:51:27.541Z,1750193487.541 [DAT](INFO): DAT read: TxSync time:20:51:27.5339

2025-06-17T20:51:27.818Z,1750193487.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.32 m.
2025-06-17T20:51:27.821Z,1750193487.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.316223 m,
      nav range: 240.969925 m,
      bearing: 327.460824 deg,
      approach rate: -0.765589 m/s,
      LOS rate: -0.014134 deg/s,
      cmd heading: 328.183186 deg,
      new cmd heading: 328.169923 deg.

2025-06-17T20:51:27.822Z,1750193487.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727646 target range: 270.316223 and range: 272.80 m.
2025-06-17T20:51:28.242Z,1750193488.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.32 m.
2025-06-17T20:51:28.249Z,1750193488.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.316223 m,
      nav range: 240.679047 m,
      bearing: 327.455550 deg,
      approach rate: -0.686673 m/s,
      LOS rate: -0.012466 deg/s,
      cmd heading: 328.169935 deg,
      new cmd heading: 328.154093 deg.

2025-06-17T20:51:28.250Z,1750193488.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727369 target range: 270.316223 and range: 272.80 m.
2025-06-17T20:51:28.637Z,1750193488.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.32 m.
2025-06-17T20:51:28.639Z,1750193488.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.316223 m,
      nav range: 240.379074 m,
      bearing: 327.449081 deg,
      approach rate: -0.761305 m/s,
      LOS rate: -0.016438 deg/s,
      cmd heading: 328.154089 deg,
      new cmd heading: 328.134658 deg.

2025-06-17T20:51:28.640Z,1750193488.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727030 target range: 270.316223 and range: 272.80 m.
2025-06-17T20:51:29.019Z,1750193489.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:29.021Z,1750193489.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.32 m.
2025-06-17T20:51:29.024Z,1750193489.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.316223 m,
      nav range: 240.102509 m,
      bearing: 327.443043 deg,
      approach rate: -0.717019 m/s,
      LOS rate: -0.015673 deg/s,
      cmd heading: 328.134664 deg,
      new cmd heading: 328.116529 deg.

2025-06-17T20:51:29.025Z,1750193489.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726714 target range: 270.316223 and range: 272.80 m.
2025-06-17T20:51:29.061Z,1750193489.061 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:29.061Z,1750193489.061 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:29.062Z,1750193489.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:29.315Z,1750193489.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988596
2025-06-17T20:51:29.459Z,1750193489.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.32 m.
2025-06-17T20:51:29.469Z,1750193489.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.316223 m,
      nav range: 239.782364 m,
      bearing: 327.436754 deg,
      approach rate: -0.732369 m/s,
      LOS rate: -0.014405 deg/s,
      cmd heading: 328.116523 deg,
      new cmd heading: 328.097632 deg.

2025-06-17T20:51:29.470Z,1750193489.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726384 target range: 270.316223 and range: 272.80 m.
2025-06-17T20:51:29.565Z,1750193489.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238591
2025-06-17T20:51:29.817Z,1750193489.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490786
2025-06-17T20:51:29.832Z,1750193489.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.32 m.
2025-06-17T20:51:29.834Z,1750193489.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.316223 m,
      nav range: 239.509506 m,
      bearing: 327.431339 deg,
      approach rate: -0.731381 m/s,
      LOS rate: -0.014531 deg/s,
      cmd heading: 328.097644 deg,
      new cmd heading: 328.081381 deg.

2025-06-17T20:51:29.835Z,1750193489.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726100 target range: 270.316223 and range: 272.80 m.
2025-06-17T20:51:30.069Z,1750193490.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742480
2025-06-17T20:51:30.276Z,1750193490.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.32 m.
2025-06-17T20:51:30.279Z,1750193490.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.316223 m,
      nav range: 239.188126 m,
      bearing: 327.425034 deg,
      approach rate: -0.722463 m/s,
      LOS rate: -0.014194 deg/s,
      cmd heading: 328.081389 deg,
      new cmd heading: 328.062447 deg.

2025-06-17T20:51:30.280Z,1750193490.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725770 target range: 270.316223 and range: 272.80 m.
2025-06-17T20:51:30.325Z,1750193490.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998246
2025-06-17T20:51:30.573Z,1750193490.573 [DAT](INFO): DAT read: Rx Time:20:51:30.2986

2025-06-17T20:51:30.573Z,1750193490.573 [DAT](INFO): Rx dataTimestamp_ set to:1750193490.573030
2025-06-17T20:51:30.574Z,1750193490.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247639
2025-06-17T20:51:30.699Z,1750193490.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.32 m.
2025-06-17T20:51:30.705Z,1750193490.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.316223 m,
      nav range: 238.878418 m,
      bearing: 327.419240 deg,
      approach rate: -0.733659 m/s,
      LOS rate: -0.013743 deg/s,
      cmd heading: 328.062455 deg,
      new cmd heading: 328.045051 deg.

2025-06-17T20:51:30.706Z,1750193490.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725466 target range: 270.316223 and range: 272.80 m.
2025-06-17T20:51:30.825Z,1750193490.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498837
2025-06-17T20:51:31.092Z,1750193491.092 [DAT](INFO): DAT read: 20:51:30.2986 LVL= 25264, 32753, 23954, 32755, AGC= 70, IDX= 409, 0.42,-1.915, 3.094,-1.959,-2.585, PHS= 0.758,-0.557, 0.623, RAW= 144.6, -13.1, CAL= 151.5, -21.6, ROT= 358.5,  21.6

2025-06-17T20:51:31.093Z,1750193491.093 [DAT](INFO): got valid direction response:
 20:51:30.2986 LVL= 25264, 32753, 23954, 32755, AGC= 70, IDX= 409, 0.42,-1.915, 3.094,-1.959,-2.585, PHS= 0.758,-0.557, 0.623, RAW= 144.6, -13.1, CAL= 151.5, -21.6, ROT= 358.5,  21.6

2025-06-17T20:51:31.094Z,1750193491.094 [DAT](INFO): DAT read: Bearing 358.5,  21.6 (Local)

2025-06-17T20:51:31.094Z,1750193491.094 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  21.6 (Local)

2025-06-17T20:51:31.095Z,1750193491.095 [DAT](INFO): DAT read: Range 10 to 50 : 269.7 m  (Round-trip  359.7 ms) speed  0.4 m/s

2025-06-17T20:51:31.097Z,1750193491.097 [DAT](INFO): DAT read: user:726>

2025-06-17T20:51:31.098Z,1750193491.098 [DAT](INFO): DAT read: Tx time:20:51:31.3847

2025-06-17T20:51:31.098Z,1750193491.098 [DAT](INFO): Ping request sent.
2025-06-17T20:51:31.098Z,1750193491.098 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:31.099Z,1750193491.099 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:31.103Z,1750193491.103 [DAT](INFO): direction in FSK: [0.929458,-0.024339,-0.368125]
2025-06-17T20:51:31.108Z,1750193491.108 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:31.108Z,1750193491.108 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:31.111Z,1750193491.111 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:31.111Z,1750193491.111 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:31.133Z,1750193491.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 269.700012 m,
      deltaT: 3.789916 s,
      deltaX: -3.099976 m,
      approachRate: -0.817954 m/s,
      rangeRepo size: 4

2025-06-17T20:51:31.135Z,1750193491.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 267.243988 m,
      bearing: 328.732684 deg,
      lat: 36.905940 deg,
      lon: -122.115947 deg,
      deltaT: 3.789916 s,
      deltaX: -3.072235 m,
      approachRate: -0.810634 m/s,
      posRepo size: 4

2025-06-17T20:51:31.135Z,1750193491.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.24 m.
2025-06-17T20:51:31.150Z,1750193491.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.243988 m,
      nav range: 237.655197 m,
      bearing: 327.754493 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013743 deg/s,
      cmd heading: 328.045052 deg,
      new cmd heading: 328.027193 deg.

2025-06-17T20:51:31.151Z,1750193491.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725154 target range: 267.243988 and range: 269.70 m.
2025-06-17T20:51:31.332Z,1750193491.332 [DAT](INFO): DAT read: TxSync time:20:51:31.3839

2025-06-17T20:51:31.526Z,1750193491.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:31.536Z,1750193491.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.24 m.
2025-06-17T20:51:31.539Z,1750193491.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.243988 m,
      nav range: 237.357315 m,
      bearing: 327.748640 deg,
      approach rate: -0.736268 m/s,
      LOS rate: -0.014484 deg/s,
      cmd heading: 328.027184 deg,
      new cmd heading: 328.009604 deg.

2025-06-17T20:51:31.544Z,1750193491.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724848 target range: 267.243988 and range: 269.70 m.
2025-06-17T20:51:31.581Z,1750193491.581 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:31.581Z,1750193491.581 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:31.581Z,1750193491.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:31.833Z,1750193491.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.734677
2025-06-17T20:51:31.874Z,1750193491.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.24 m.
2025-06-17T20:51:31.881Z,1750193491.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.243988 m,
      nav range: 237.111282 m,
      bearing: 327.743882 deg,
      approach rate: -0.727929 m/s,
      LOS rate: -0.014093 deg/s,
      cmd heading: 328.009617 deg,
      new cmd heading: 327.995327 deg.

2025-06-17T20:51:31.882Z,1750193491.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724598 target range: 267.243988 and range: 269.70 m.
2025-06-17T20:51:32.085Z,1750193492.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986479
2025-06-17T20:51:32.278Z,1750193492.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.24 m.
2025-06-17T20:51:32.281Z,1750193492.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.243988 m,
      nav range: 236.788422 m,
      bearing: 327.737927 deg,
      approach rate: -0.799322 m/s,
      LOS rate: -0.014763 deg/s,
      cmd heading: 327.995328 deg,
      new cmd heading: 327.977439 deg.

2025-06-17T20:51:32.282Z,1750193492.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724286 target range: 267.243988 and range: 269.70 m.
2025-06-17T20:51:32.338Z,1750193492.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239284
2025-06-17T20:51:32.589Z,1750193492.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490712
2025-06-17T20:51:32.706Z,1750193492.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.24 m.
2025-06-17T20:51:32.715Z,1750193492.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.243988 m,
      nav range: 236.474594 m,
      bearing: 327.732053 deg,
      approach rate: -0.733292 m/s,
      LOS rate: -0.013743 deg/s,
      cmd heading: 327.977433 deg,
      new cmd heading: 327.959789 deg.

2025-06-17T20:51:32.722Z,1750193492.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723978 target range: 267.243988 and range: 269.70 m.
2025-06-17T20:51:32.841Z,1750193492.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742550
2025-06-17T20:51:33.069Z,1750193493.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.24 m.
2025-06-17T20:51:33.072Z,1750193493.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.243988 m,
      nav range: 236.196411 m,
      bearing: 327.726806 deg,
      approach rate: -0.766752 m/s,
      LOS rate: -0.014478 deg/s,
      cmd heading: 327.959784 deg,
      new cmd heading: 327.944025 deg.

2025-06-17T20:51:33.073Z,1750193493.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723703 target range: 267.243988 and range: 269.70 m.
2025-06-17T20:51:33.093Z,1750193493.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994508
2025-06-17T20:51:33.350Z,1750193493.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251300
2025-06-17T20:51:33.506Z,1750193493.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.24 m.
2025-06-17T20:51:33.513Z,1750193493.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.243988 m,
      nav range: 235.880096 m,
      bearing: 327.720441 deg,
      approach rate: -0.723273 m/s,
      LOS rate: -0.014575 deg/s,
      cmd heading: 327.944020 deg,
      new cmd heading: 327.924898 deg.

2025-06-17T20:51:33.514Z,1750193493.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723369 target range: 267.243988 and range: 269.70 m.
2025-06-17T20:51:33.602Z,1750193493.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502952
2025-06-17T20:51:33.854Z,1750193493.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755476
2025-06-17T20:51:33.897Z,1750193493.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:33.899Z,1750193493.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.24 m.
2025-06-17T20:51:33.902Z,1750193493.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.243988 m,
      nav range: 235.567490 m,
      bearing: 327.714163 deg,
      approach rate: -0.796666 m/s,
      LOS rate: -0.016021 deg/s,
      cmd heading: 327.924895 deg,
      new cmd heading: 327.906036 deg.

2025-06-17T20:51:33.903Z,1750193493.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723040 target range: 267.243988 and range: 269.70 m.
2025-06-17T20:51:34.105Z,1750193494.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006953
2025-06-17T20:51:34.284Z,1750193494.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.24 m.
2025-06-17T20:51:34.287Z,1750193494.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.243988 m,
      nav range: 235.275452 m,
      bearing: 327.708312 deg,
      approach rate: -0.758457 m/s,
      LOS rate: -0.015213 deg/s,
      cmd heading: 327.906044 deg,
      new cmd heading: 327.888471 deg.

2025-06-17T20:51:34.288Z,1750193494.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722733 target range: 267.243988 and range: 269.70 m.
2025-06-17T20:51:34.358Z,1750193494.358 [DAT](INFO): DAT read: Rx Time:20:51:34.1456

2025-06-17T20:51:34.358Z,1750193494.358 [DAT](INFO): Rx dataTimestamp_ set to:1750193494.357961
2025-06-17T20:51:34.359Z,1750193494.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260484
2025-06-17T20:51:34.609Z,1750193494.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510422
2025-06-17T20:51:34.702Z,1750193494.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.24 m.
2025-06-17T20:51:34.705Z,1750193494.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.243988 m,
      nav range: 234.956696 m,
      bearing: 327.701485 deg,
      approach rate: -0.762715 m/s,
      LOS rate: -0.016358 deg/s,
      cmd heading: 327.888477 deg,
      new cmd heading: 327.867967 deg.

2025-06-17T20:51:34.706Z,1750193494.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722375 target range: 267.243988 and range: 269.70 m.
2025-06-17T20:51:34.861Z,1750193494.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762669
2025-06-17T20:51:35.081Z,1750193495.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.24 m.
2025-06-17T20:51:35.084Z,1750193495.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.243988 m,
      nav range: 234.667343 m,
      bearing: 327.695283 deg,
      approach rate: -0.762304 m/s,
      LOS rate: -0.016360 deg/s,
      cmd heading: 327.867959 deg,
      new cmd heading: 327.849329 deg.

2025-06-17T20:51:35.085Z,1750193495.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722050 target range: 267.243988 and range: 269.70 m.
2025-06-17T20:51:35.131Z,1750193495.131 [DAT](INFO): DAT read: 20:51:34.1456 LVL= 26416, 32753, 23538, 32755, AGC= 68, IDX= 416,-0.08, 1.254, 0.086, 1.318, 0.571, PHS= 0.771,-0.438, 0.744, RAW= 148.9, -17.7, CAL= 154.8, -25.0, ROT= 355.2,  25.0

2025-06-17T20:51:35.133Z,1750193495.133 [DAT](INFO): got valid direction response:
 20:51:34.1456 LVL= 26416, 32753, 23538, 32755, AGC= 68, IDX= 416,-0.08, 1.254, 0.086, 1.318, 0.571, PHS= 0.771,-0.438, 0.744, RAW= 148.9, -17.7, CAL= 154.8, -25.0, ROT= 355.2,  25.0

2025-06-17T20:51:35.134Z,1750193495.134 [DAT](INFO): DAT read: Bearing 355.2,  25.0 (Local)

2025-06-17T20:51:35.135Z,1750193495.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.2,  25.0 (Local)

2025-06-17T20:51:35.137Z,1750193495.137 [DAT](INFO): DAT read: Range 10 to 50 : 267.5 m  (Round-trip  356.7 ms) speed  0.5 m/s

2025-06-17T20:51:35.138Z,1750193495.138 [DAT](INFO): DAT read: user:727>

2025-06-17T20:51:35.144Z,1750193495.144 [DAT](INFO): DAT read: Tx time:20:51:35.2347

2025-06-17T20:51:35.144Z,1750193495.144 [DAT](INFO): Ping request sent.
2025-06-17T20:51:35.144Z,1750193495.144 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:35.145Z,1750193495.145 [DAT](INFO): DAT read: TxSync time:20:51:35.2339

2025-06-17T20:51:35.146Z,1750193495.146 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:35.147Z,1750193495.147 [DAT](INFO): direction in FSK: [0.903129,-0.075838,-0.422618]
2025-06-17T20:51:35.147Z,1750193495.147 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:35.147Z,1750193495.147 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:35.163Z,1750193495.163 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:35.163Z,1750193495.163 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:35.536Z,1750193495.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 267.500000 m,
      deltaT: 4.042551 s,
      deltaX: -2.200012 m,
      approachRate: -0.544214 m/s,
      rangeRepo size: 4

2025-06-17T20:51:35.538Z,1750193495.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 265.063538 m,
      bearing: 325.079312 deg,
      lat: 36.905931 deg,
      lon: -122.115997 deg,
      deltaT: 4.042551 s,
      deltaX: -2.180450 m,
      approachRate: -0.539375 m/s,
      posRepo size: 4

2025-06-17T20:51:35.540Z,1750193495.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.06 m.
2025-06-17T20:51:35.543Z,1750193495.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.063538 m,
      nav range: 235.926620 m,
      bearing: 326.646602 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016360 deg/s,
      cmd heading: 327.849326 deg,
      new cmd heading: 327.827256 deg.

2025-06-17T20:51:35.544Z,1750193495.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721665 target range: 265.063538 and range: 267.50 m.
2025-06-17T20:51:35.898Z,1750193495.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.06 m.
2025-06-17T20:51:35.901Z,1750193495.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.063538 m,
      nav range: 235.633209 m,
      bearing: 326.639069 deg,
      approach rate: -0.798576 m/s,
      LOS rate: -0.020529 deg/s,
      cmd heading: 327.827251 deg,
      new cmd heading: 327.804623 deg.

2025-06-17T20:51:35.902Z,1750193495.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721270 target range: 265.063538 and range: 267.50 m.
2025-06-17T20:51:36.290Z,1750193496.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:36.292Z,1750193496.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.06 m.
2025-06-17T20:51:36.295Z,1750193496.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.063538 m,
      nav range: 235.332962 m,
      bearing: 326.631420 deg,
      approach rate: -0.762751 m/s,
      LOS rate: -0.019457 deg/s,
      cmd heading: 327.804629 deg,
      new cmd heading: 327.781653 deg.

2025-06-17T20:51:36.296Z,1750193496.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720869 target range: 265.063538 and range: 267.50 m.
2025-06-17T20:51:36.381Z,1750193496.381 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:36.381Z,1750193496.381 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:36.381Z,1750193496.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:36.633Z,1750193496.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488330
2025-06-17T20:51:36.720Z,1750193496.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.06 m.
2025-06-17T20:51:36.723Z,1750193496.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.063538 m,
      nav range: 235.018356 m,
      bearing: 326.622571 deg,
      approach rate: -0.735651 m/s,
      LOS rate: -0.020720 deg/s,
      cmd heading: 327.781653 deg,
      new cmd heading: 327.755070 deg.

2025-06-17T20:51:36.724Z,1750193496.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720405 target range: 265.063538 and range: 267.50 m.
2025-06-17T20:51:36.885Z,1750193496.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740274
2025-06-17T20:51:37.106Z,1750193497.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.06 m.
2025-06-17T20:51:37.109Z,1750193497.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.063538 m,
      nav range: 234.734375 m,
      bearing: 326.614436 deg,
      approach rate: -0.735031 m/s,
      LOS rate: -0.021080 deg/s,
      cmd heading: 327.755069 deg,
      new cmd heading: 327.730636 deg.

2025-06-17T20:51:37.110Z,1750193497.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719979 target range: 265.063538 and range: 267.50 m.
2025-06-17T20:51:37.146Z,1750193497.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001246
2025-06-17T20:51:37.397Z,1750193497.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252304
2025-06-17T20:51:37.545Z,1750193497.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.06 m.
2025-06-17T20:51:37.552Z,1750193497.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.063538 m,
      nav range: 234.426895 m,
      bearing: 326.606189 deg,
      approach rate: -0.700118 m/s,
      LOS rate: -0.018804 deg/s,
      cmd heading: 327.730645 deg,
      new cmd heading: 327.705869 deg.

2025-06-17T20:51:37.553Z,1750193497.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719546 target range: 265.063538 and range: 267.50 m.
2025-06-17T20:51:37.650Z,1750193497.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505289
2025-06-17T20:51:37.901Z,1750193497.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756725
2025-06-17T20:51:37.934Z,1750193497.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.06 m.
2025-06-17T20:51:37.941Z,1750193497.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.063538 m,
      nav range: 234.153152 m,
      bearing: 326.598764 deg,
      approach rate: -0.703868 m/s,
      LOS rate: -0.019114 deg/s,
      cmd heading: 327.705865 deg,
      new cmd heading: 327.683564 deg.

2025-06-17T20:51:37.945Z,1750193497.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719157 target range: 265.063538 and range: 267.50 m.
2025-06-17T20:51:38.153Z,1750193498.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008321
2025-06-17T20:51:38.318Z,1750193498.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:38.320Z,1750193498.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.06 m.
2025-06-17T20:51:38.323Z,1750193498.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.063538 m,
      nav range: 233.860855 m,
      bearing: 326.590781 deg,
      approach rate: -0.757412 m/s,
      LOS rate: -0.020711 deg/s,
      cmd heading: 327.683571 deg,
      new cmd heading: 327.659593 deg.

2025-06-17T20:51:38.325Z,1750193498.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718739 target range: 265.063538 and range: 267.50 m.
2025-06-17T20:51:38.406Z,1750193498.406 [DAT](INFO): DAT read: Rx Time:20:51:37.9913

2025-06-17T20:51:38.407Z,1750193498.407 [DAT](INFO): Rx dataTimestamp_ set to:1750193498.406512
2025-06-17T20:51:38.408Z,1750193498.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263234
2025-06-17T20:51:38.657Z,1750193498.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512262
2025-06-17T20:51:38.808Z,1750193498.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.06 m.
2025-06-17T20:51:38.811Z,1750193498.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.063538 m,
      nav range: 233.524048 m,
      bearing: 326.581278 deg,
      approach rate: -0.696323 m/s,
      LOS rate: -0.019675 deg/s,
      cmd heading: 327.659583 deg,
      new cmd heading: 327.631033 deg.

2025-06-17T20:51:38.816Z,1750193498.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718240 target range: 265.063538 and range: 267.50 m.
2025-06-17T20:51:38.917Z,1750193498.917 [DAT](INFO): DAT read: 20:51:37.9913 LVL= 31008, 25649, 29154, 32755, AGC= 64, IDX= 404,-0.12,-0.715,-2.249,-0.671,-1.497, PHS= 0.870,-0.705, 0.823, RAW= 148.5, -12.7, CAL= 155.5, -20.6, ROT= 354.5,  20.6

2025-06-17T20:51:38.918Z,1750193498.918 [DAT](INFO): got valid direction response:
 20:51:37.9913 LVL= 31008, 25649, 29154, 32755, AGC= 64, IDX= 404,-0.12,-0.715,-2.249,-0.671,-1.497, PHS= 0.870,-0.705, 0.823, RAW= 148.5, -12.7, CAL= 155.5, -20.6, ROT= 354.5,  20.6

2025-06-17T20:51:38.919Z,1750193498.919 [DAT](INFO): DAT read: Bearing 354.5,  20.6 (Local)

2025-06-17T20:51:38.919Z,1750193498.919 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,  20.6 (Local)

2025-06-17T20:51:38.921Z,1750193498.921 [DAT](INFO): DAT read: Range 10 to 50 : 264.2 m  (Round-trip  352.3 ms) speed  0.3 m/s

2025-06-17T20:51:38.922Z,1750193498.922 [DAT](INFO): DAT read: user:728>

2025-06-17T20:51:38.922Z,1750193498.922 [DAT](INFO): DAT read: Tx time:20:51:39.0848

2025-06-17T20:51:38.923Z,1750193498.923 [DAT](INFO): Ping request sent.
2025-06-17T20:51:38.923Z,1750193498.923 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:38.923Z,1750193498.923 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:38.949Z,1750193498.949 [DAT](INFO): direction in FSK: [0.931750,-0.089718,-0.351842]
2025-06-17T20:51:38.950Z,1750193498.950 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:38.950Z,1750193498.950 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:38.969Z,1750193498.969 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:38.969Z,1750193498.969 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:39.161Z,1750193499.161 [DAT](INFO): DAT read: TxSync time:20:51:39.0840

2025-06-17T20:51:39.194Z,1750193499.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 264.200012 m,
      deltaT: 3.786802 s,
      deltaX: -3.299988 m,
      approachRate: -0.871445 m/s,
      rangeRepo size: 4

2025-06-17T20:51:39.200Z,1750193499.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 261.792877 m,
      bearing: 324.283526 deg,
      lat: 36.905931 deg,
      lon: -122.116034 deg,
      deltaT: 3.786802 s,
      deltaX: -3.270660 m,
      approachRate: -0.863700 m/s,
      posRepo size: 4

2025-06-17T20:51:39.201Z,1750193499.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.79 m.
2025-06-17T20:51:39.203Z,1750193499.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.792877 m,
      nav range: 235.099243 m,
      bearing: 325.899382 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019675 deg/s,
      cmd heading: 327.631033 deg,
      new cmd heading: 327.608060 deg.

2025-06-17T20:51:39.208Z,1750193499.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717839 target range: 261.792877 and range: 264.20 m.
2025-06-17T20:51:39.700Z,1750193499.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.79 m.
2025-06-17T20:51:39.703Z,1750193499.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.792877 m,
      nav range: 234.742722 m,
      bearing: 325.890334 deg,
      approach rate: -0.708544 m/s,
      LOS rate: -0.018008 deg/s,
      cmd heading: 327.608056 deg,
      new cmd heading: 327.580873 deg.

2025-06-17T20:51:39.708Z,1750193499.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717365 target range: 261.792877 and range: 264.20 m.
2025-06-17T20:51:40.067Z,1750193500.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.79 m.
2025-06-17T20:51:40.070Z,1750193500.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.792877 m,
      nav range: 234.465103 m,
      bearing: 325.883389 deg,
      approach rate: -0.747612 m/s,
      LOS rate: -0.018726 deg/s,
      cmd heading: 327.580872 deg,
      new cmd heading: 327.560012 deg.

2025-06-17T20:51:40.071Z,1750193500.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717000 target range: 261.792877 and range: 264.20 m.
2025-06-17T20:51:40.533Z,1750193500.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:40.541Z,1750193500.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.79 m.
2025-06-17T20:51:40.548Z,1750193500.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.792877 m,
      nav range: 234.181091 m,
      bearing: 325.876370 deg,
      approach rate: -0.599127 m/s,
      LOS rate: -0.014824 deg/s,
      cmd heading: 327.559999 deg,
      new cmd heading: 327.538918 deg.

2025-06-17T20:51:40.553Z,1750193500.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716632 target range: 261.792877 and range: 264.20 m.
2025-06-17T20:51:40.672Z,1750193500.672 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:40.673Z,1750193500.673 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:40.673Z,1750193500.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:40.915Z,1750193500.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.79 m.
2025-06-17T20:51:40.918Z,1750193500.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.792877 m,
      nav range: 233.865005 m,
      bearing: 325.869285 deg,
      approach rate: -0.845423 m/s,
      LOS rate: -0.018977 deg/s,
      cmd heading: 327.538908 deg,
      new cmd heading: 327.517622 deg.

2025-06-17T20:51:40.919Z,1750193500.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716261 target range: 261.792877 and range: 264.20 m.
2025-06-17T20:51:40.926Z,1750193500.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002456
2025-06-17T20:51:41.177Z,1750193501.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254141
2025-06-17T20:51:41.279Z,1750193501.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.79 m.
2025-06-17T20:51:41.282Z,1750193501.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.792877 m,
      nav range: 233.607773 m,
      bearing: 325.863457 deg,
      approach rate: -0.706578 m/s,
      LOS rate: -0.016026 deg/s,
      cmd heading: 327.517625 deg,
      new cmd heading: 327.500121 deg.

2025-06-17T20:51:41.283Z,1750193501.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715955 target range: 261.792877 and range: 264.20 m.
2025-06-17T20:51:41.429Z,1750193501.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505990
2025-06-17T20:51:41.681Z,1750193501.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758095
2025-06-17T20:51:41.724Z,1750193501.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.79 m.
2025-06-17T20:51:41.728Z,1750193501.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.792877 m,
      nav range: 233.310547 m,
      bearing: 325.857691 deg,
      approach rate: -0.667832 m/s,
      LOS rate: -0.012971 deg/s,
      cmd heading: 327.500112 deg,
      new cmd heading: 327.482794 deg.

2025-06-17T20:51:41.730Z,1750193501.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715653 target range: 261.792877 and range: 264.20 m.
2025-06-17T20:51:41.933Z,1750193501.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010111
2025-06-17T20:51:42.091Z,1750193502.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.79 m.
2025-06-17T20:51:42.094Z,1750193502.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.792877 m,
      nav range: 233.027542 m,
      bearing: 325.852192 deg,
      approach rate: -0.771275 m/s,
      LOS rate: -0.015005 deg/s,
      cmd heading: 327.482791 deg,
      new cmd heading: 327.466273 deg.

2025-06-17T20:51:42.095Z,1750193502.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715364 target range: 261.792877 and range: 264.20 m.
2025-06-17T20:51:42.186Z,1750193502.186 [DAT](INFO): DAT read: Rx Time:20:51:41.8388

2025-06-17T20:51:42.187Z,1750193502.187 [DAT](INFO): Rx dataTimestamp_ set to:1750193502.186016
2025-06-17T20:51:42.187Z,1750193502.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264470
2025-06-17T20:51:42.437Z,1750193502.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514334
2025-06-17T20:51:42.532Z,1750193502.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.79 m.
2025-06-17T20:51:42.549Z,1750193502.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.792877 m,
      nav range: 232.740112 m,
      bearing: 325.846616 deg,
      approach rate: -0.660980 m/s,
      LOS rate: -0.012838 deg/s,
      cmd heading: 327.466262 deg,
      new cmd heading: 327.449514 deg.

2025-06-17T20:51:42.557Z,1750193502.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715072 target range: 261.792877 and range: 264.20 m.
2025-06-17T20:51:42.695Z,1750193502.695 [DAT](INFO): DAT read: 20:51:41.8388 LVL= 28912, 29489, 28082, 32755, AGC= 67, IDX= 411,-0.35,-0.041,-1.298,-0.034,-0.867, PHS= 0.914,-0.384, 0.830, RAW= 146.7, -20.9, CAL= 151.9, -28.0, ROT= 358.1,  28.0

2025-06-17T20:51:42.696Z,1750193502.696 [DAT](INFO): got valid direction response:
 20:51:41.8388 LVL= 28912, 29489, 28082, 32755, AGC= 67, IDX= 411,-0.35,-0.041,-1.298,-0.034,-0.867, PHS= 0.914,-0.384, 0.830, RAW= 146.7, -20.9, CAL= 151.9, -28.0, ROT= 358.1,  28.0

2025-06-17T20:51:42.697Z,1750193502.697 [DAT](INFO): DAT read: Bearing 358.1,  28.0 (Local)

2025-06-17T20:51:42.698Z,1750193502.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.1,  28.0 (Local)

2025-06-17T20:51:42.699Z,1750193502.699 [DAT](INFO): DAT read: Range 10 to 50 : 262.4 m  (Round-trip  349.9 ms) speed  0.5 m/s

2025-06-17T20:51:42.700Z,1750193502.700 [DAT](INFO): DAT read: user:729>

2025-06-17T20:51:42.701Z,1750193502.701 [DAT](INFO): DAT read: Tx time:20:51:42.9348

2025-06-17T20:51:42.701Z,1750193502.701 [DAT](INFO): Ping request sent.
2025-06-17T20:51:42.701Z,1750193502.701 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:42.701Z,1750193502.701 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:42.702Z,1750193502.702 [DAT](INFO): direction in FSK: [0.882462,-0.029274,-0.469472]
2025-06-17T20:51:42.703Z,1750193502.703 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:42.703Z,1750193502.703 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:42.706Z,1750193502.706 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:42.706Z,1750193502.706 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:42.941Z,1750193502.941 [DAT](INFO): DAT read: TxSync time:20:51:42.9340

2025-06-17T20:51:43.000Z,1750193503.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 262.399994 m,
      deltaT: 3.779839 s,
      deltaX: -1.800018 m,
      approachRate: -0.476216 m/s,
      rangeRepo size: 4

2025-06-17T20:51:43.002Z,1750193503.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 260.008545 m,
      bearing: 328.227509 deg,
      lat: 36.905919 deg,
      lon: -122.115947 deg,
      deltaT: 3.779839 s,
      deltaX: -1.784332 m,
      approachRate: -0.472066 m/s,
      posRepo size: 4

2025-06-17T20:51:43.003Z,1750193503.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.01 m.
2025-06-17T20:51:43.010Z,1750193503.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.008545 m,
      nav range: 226.998734 m,
      bearing: 327.274838 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012838 deg/s,
      cmd heading: 327.449514 deg,
      new cmd heading: 327.431447 deg.

2025-06-17T20:51:43.011Z,1750193503.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714757 target range: 260.008545 and range: 262.40 m.
2025-06-17T20:51:43.355Z,1750193503.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:43.368Z,1750193503.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.01 m.
2025-06-17T20:51:43.370Z,1750193503.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.008545 m,
      nav range: 226.730911 m,
      bearing: 327.271579 deg,
      approach rate: -0.727268 m/s,
      LOS rate: -0.008859 deg/s,
      cmd heading: 327.431455 deg,
      new cmd heading: 327.421667 deg.

2025-06-17T20:51:43.371Z,1750193503.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714586 target range: 260.008545 and range: 262.40 m.
2025-06-17T20:51:43.445Z,1750193503.445 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:43.446Z,1750193503.446 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:43.446Z,1750193503.446 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:43.697Z,1750193503.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995633
2025-06-17T20:51:43.774Z,1750193503.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.01 m.
2025-06-17T20:51:43.781Z,1750193503.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.008545 m,
      nav range: 226.436325 m,
      bearing: 327.267557 deg,
      approach rate: -0.718335 m/s,
      LOS rate: -0.009821 deg/s,
      cmd heading: 327.421674 deg,
      new cmd heading: 327.409592 deg.

2025-06-17T20:51:43.782Z,1750193503.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714375 target range: 260.008545 and range: 262.40 m.
2025-06-17T20:51:43.949Z,1750193503.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247529
2025-06-17T20:51:44.168Z,1750193504.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.01 m.
2025-06-17T20:51:44.171Z,1750193504.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.008545 m,
      nav range: 226.134216 m,
      bearing: 327.263540 deg,
      approach rate: -0.765423 m/s,
      LOS rate: -0.010190 deg/s,
      cmd heading: 327.409598 deg,
      new cmd heading: 327.397533 deg.

2025-06-17T20:51:44.176Z,1750193504.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714165 target range: 260.008545 and range: 262.40 m.
2025-06-17T20:51:44.201Z,1750193504.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499734
2025-06-17T20:51:44.453Z,1750193504.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751551
2025-06-17T20:51:44.600Z,1750193504.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.01 m.
2025-06-17T20:51:44.602Z,1750193504.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.008545 m,
      nav range: 225.837006 m,
      bearing: 327.259563 deg,
      approach rate: -0.695734 m/s,
      LOS rate: -0.009323 deg/s,
      cmd heading: 327.397523 deg,
      new cmd heading: 327.385574 deg.

2025-06-17T20:51:44.603Z,1750193504.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713956 target range: 260.008545 and range: 262.40 m.
2025-06-17T20:51:44.706Z,1750193504.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004824
2025-06-17T20:51:44.957Z,1750193504.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255684
2025-06-17T20:51:44.962Z,1750193504.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.01 m.
2025-06-17T20:51:44.965Z,1750193504.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.008545 m,
      nav range: 225.534836 m,
      bearing: 327.255290 deg,
      approach rate: -0.823953 m/s,
      LOS rate: -0.011665 deg/s,
      cmd heading: 327.385584 deg,
      new cmd heading: 327.372749 deg.

2025-06-17T20:51:44.966Z,1750193504.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713732 target range: 260.008545 and range: 262.40 m.
2025-06-17T20:51:45.209Z,1750193505.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508162
2025-06-17T20:51:45.352Z,1750193505.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.01 m.
2025-06-17T20:51:45.355Z,1750193505.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.008545 m,
      nav range: 225.240692 m,
      bearing: 327.251120 deg,
      approach rate: -0.753919 m/s,
      LOS rate: -0.010702 deg/s,
      cmd heading: 327.372743 deg,
      new cmd heading: 327.360216 deg.

2025-06-17T20:51:45.356Z,1750193505.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713514 target range: 260.008545 and range: 262.40 m.
2025-06-17T20:51:45.462Z,1750193505.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760517
2025-06-17T20:51:45.713Z,1750193505.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011673
2025-06-17T20:51:45.778Z,1750193505.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:45.780Z,1750193505.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.01 m.
2025-06-17T20:51:45.783Z,1750193505.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.008545 m,
      nav range: 224.919815 m,
      bearing: 327.246936 deg,
      approach rate: -0.750516 m/s,
      LOS rate: -0.009801 deg/s,
      cmd heading: 327.360230 deg,
      new cmd heading: 327.347659 deg.

2025-06-17T20:51:45.784Z,1750193505.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713295 target range: 260.008545 and range: 262.40 m.
2025-06-17T20:51:45.965Z,1750193505.965 [DAT](INFO): DAT read: Rx Time:20:51:45.6858

2025-06-17T20:51:45.965Z,1750193505.965 [DAT](INFO): Rx dataTimestamp_ set to:1750193505.964957
2025-06-17T20:51:45.966Z,1750193505.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264558
2025-06-17T20:51:46.153Z,1750193506.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.01 m.
2025-06-17T20:51:46.155Z,1750193506.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.008545 m,
      nav range: 224.649872 m,
      bearing: 327.243492 deg,
      approach rate: -0.724664 m/s,
      LOS rate: -0.009255 deg/s,
      cmd heading: 327.347662 deg,
      new cmd heading: 327.337319 deg.

2025-06-17T20:51:46.156Z,1750193506.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713114 target range: 260.008545 and range: 262.40 m.
2025-06-17T20:51:46.218Z,1750193506.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516868
2025-06-17T20:51:46.478Z,1750193506.478 [DAT](INFO): DAT read: 20:51:45.6858 LVL= 31824, 32753, 29490, 32755, AGC= 66, IDX= 411, 0.23,-1.834, 3.046,-1.763,-2.617, PHS= 0.871,-0.573, 0.850, RAW= 149.3, -15.8, CAL= 155.6, -23.3, ROT= 354.4,  23.3

2025-06-17T20:51:46.480Z,1750193506.480 [DAT](INFO): got valid direction response:
 20:51:45.6858 LVL= 31824, 32753, 29490, 32755, AGC= 66, IDX= 411, 0.23,-1.834, 3.046,-1.763,-2.617, PHS= 0.871,-0.573, 0.850, RAW= 149.3, -15.8, CAL= 155.6, -23.3, ROT= 354.4,  23.3

2025-06-17T20:51:46.481Z,1750193506.481 [DAT](INFO): DAT read: Bearing 354.4,  23.3 (Local)

2025-06-17T20:51:46.481Z,1750193506.481 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.4,  23.3 (Local)

2025-06-17T20:51:46.482Z,1750193506.482 [DAT](INFO): DAT read: Range 10 to 50 : 260.1 m  (Round-trip  346.8 ms) speed  0.7 m/s

2025-06-17T20:51:46.483Z,1750193506.483 [DAT](INFO): DAT read: user:730>

2025-06-17T20:51:46.484Z,1750193506.484 [DAT](INFO): DAT read: Tx time:20:51:46.7848

2025-06-17T20:51:46.484Z,1750193506.484 [DAT](INFO): Ping request sent.
2025-06-17T20:51:46.485Z,1750193506.485 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:46.485Z,1750193506.485 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:46.486Z,1750193506.486 [DAT](INFO): direction in FSK: [0.914063,-0.089625,-0.395545]
2025-06-17T20:51:46.486Z,1750193506.486 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:46.486Z,1750193506.486 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:46.490Z,1750193506.490 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:46.490Z,1750193506.490 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:46.663Z,1750193506.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 260.100006 m,
      deltaT: 3.781688 s,
      deltaX: -2.299988 m,
      approachRate: -0.608191 m/s,
      rangeRepo size: 4

2025-06-17T20:51:46.669Z,1750193506.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 257.728851 m,
      bearing: 323.322968 deg,
      lat: 36.905897 deg,
      lon: -122.116034 deg,
      deltaT: 3.781688 s,
      deltaX: -2.279694 m,
      approachRate: -0.602824 m/s,
      posRepo size: 4

2025-06-17T20:51:46.670Z,1750193506.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:46.677Z,1750193506.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 226.543442 m,
      bearing: 325.246584 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009255 deg/s,
      cmd heading: 327.337308 deg,
      new cmd heading: 327.323153 deg.

2025-06-17T20:51:46.678Z,1750193506.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712867 target range: 257.728851 and range: 260.10 m.
2025-06-17T20:51:46.724Z,1750193506.724 [DAT](INFO): DAT read: TxSync time:20:51:46.7840

2025-06-17T20:51:47.009Z,1750193507.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:47.016Z,1750193507.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 226.264435 m,
      bearing: 325.238853 deg,
      approach rate: -0.803758 m/s,
      LOS rate: -0.022298 deg/s,
      cmd heading: 327.323156 deg,
      new cmd heading: 327.299935 deg.

2025-06-17T20:51:47.017Z,1750193507.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712461 target range: 257.728851 and range: 260.10 m.
2025-06-17T20:51:47.384Z,1750193507.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:47.390Z,1750193507.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 225.975937 m,
      bearing: 325.230930 deg,
      approach rate: -0.772585 m/s,
      LOS rate: -0.021246 deg/s,
      cmd heading: 327.299933 deg,
      new cmd heading: 327.276132 deg.

2025-06-17T20:51:47.392Z,1750193507.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712046 target range: 257.728851 and range: 260.10 m.
2025-06-17T20:51:47.806Z,1750193507.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:47.809Z,1750193507.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:47.811Z,1750193507.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 225.652496 m,
      bearing: 325.220967 deg,
      approach rate: -0.759628 m/s,
      LOS rate: -0.023432 deg/s,
      cmd heading: 327.276137 deg,
      new cmd heading: 327.246206 deg.

2025-06-17T20:51:47.813Z,1750193507.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711524 target range: 257.728851 and range: 260.10 m.
2025-06-17T20:51:47.985Z,1750193507.985 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:47.985Z,1750193507.985 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:47.985Z,1750193507.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:48.199Z,1750193508.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:48.203Z,1750193508.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 225.356400 m,
      bearing: 325.211697 deg,
      approach rate: -0.758355 m/s,
      LOS rate: -0.023772 deg/s,
      cmd heading: 327.246193 deg,
      new cmd heading: 327.218348 deg.

2025-06-17T20:51:48.204Z,1750193508.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711038 target range: 257.728851 and range: 260.10 m.
2025-06-17T20:51:48.238Z,1750193508.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753036
2025-06-17T20:51:48.489Z,1750193508.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004184
2025-06-17T20:51:48.674Z,1750193508.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:48.677Z,1750193508.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 225.001389 m,
      bearing: 325.200377 deg,
      approach rate: -0.746959 m/s,
      LOS rate: -0.023857 deg/s,
      cmd heading: 327.218353 deg,
      new cmd heading: 327.184337 deg.

2025-06-17T20:51:48.678Z,1750193508.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710444 target range: 257.728851 and range: 260.10 m.
2025-06-17T20:51:48.742Z,1750193508.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257511
2025-06-17T20:51:48.993Z,1750193508.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508248
2025-06-17T20:51:49.031Z,1750193509.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:49.050Z,1750193509.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 224.729538 m,
      bearing: 325.191325 deg,
      approach rate: -0.761996 m/s,
      LOS rate: -0.025401 deg/s,
      cmd heading: 327.184339 deg,
      new cmd heading: 327.157152 deg.

2025-06-17T20:51:49.051Z,1750193509.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709970 target range: 257.728851 and range: 260.10 m.
2025-06-17T20:51:49.245Z,1750193509.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760526
2025-06-17T20:51:49.453Z,1750193509.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:49.476Z,1750193509.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 224.412628 m,
      bearing: 325.180726 deg,
      approach rate: -0.750667 m/s,
      LOS rate: -0.025143 deg/s,
      cmd heading: 327.157155 deg,
      new cmd heading: 327.125311 deg.

2025-06-17T20:51:49.477Z,1750193509.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709414 target range: 257.728851 and range: 260.10 m.
2025-06-17T20:51:49.497Z,1750193509.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012444
2025-06-17T20:51:49.750Z,1750193509.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264851
2025-06-17T20:51:49.874Z,1750193509.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:49.876Z,1750193509.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:49.879Z,1750193509.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 224.104935 m,
      bearing: 325.170179 deg,
      approach rate: -0.728539 m/s,
      LOS rate: -0.025007 deg/s,
      cmd heading: 327.125299 deg,
      new cmd heading: 327.093614 deg.

2025-06-17T20:51:49.880Z,1750193509.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708860 target range: 257.728851 and range: 260.10 m.
2025-06-17T20:51:50.002Z,1750193510.002 [DAT](INFO): DAT read: Rx Time:20:51:49.5317

2025-06-17T20:51:50.002Z,1750193510.002 [DAT](INFO): Rx dataTimestamp_ set to:1750193510.001700
2025-06-17T20:51:50.002Z,1750193510.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517943
2025-06-17T20:51:50.253Z,1750193510.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768219
2025-06-17T20:51:50.345Z,1750193510.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:50.362Z,1750193510.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 223.790573 m,
      bearing: 325.159412 deg,
      approach rate: -0.669794 m/s,
      LOS rate: -0.022972 deg/s,
      cmd heading: 327.093607 deg,
      new cmd heading: 327.061262 deg.

2025-06-17T20:51:50.363Z,1750193510.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708296 target range: 257.728851 and range: 260.10 m.
2025-06-17T20:51:50.507Z,1750193510.507 [DAT](INFO): DAT read: Range 10 to 50 : 257.0 m  (Round-trip  342.7 ms) speed  0.4 m/s

2025-06-17T20:51:50.508Z,1750193510.508 [DAT](INFO): DAT read: user:731>

2025-06-17T20:51:50.509Z,1750193510.509 [DAT](INFO): DAT read: Tx time:20:51:50.6349

2025-06-17T20:51:50.509Z,1750193510.509 [DAT](INFO): Ping request sent.
2025-06-17T20:51:50.509Z,1750193510.509 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:50.510Z,1750193510.510 [DAT](INFO): DAT read: TxSync time:20:51:50.6341

2025-06-17T20:51:50.510Z,1750193510.510 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:51:50.510Z,1750193510.510 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:50.511Z,1750193510.511 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:50.730Z,1750193510.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 257.000000 m,
      deltaT: 4.035037 s,
      deltaX: -3.100006 m,
      approachRate: -0.768272 m/s,
      rangeRepo size: 4

2025-06-17T20:51:50.731Z,1750193510.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:50.736Z,1750193510.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 223.482346 m,
      bearing: 325.150186 deg,
      approach rate: -0.802195 m/s,
      LOS rate: -0.024046 deg/s,
      cmd heading: 327.061259 deg,
      new cmd heading: 327.033541 deg.

2025-06-17T20:51:50.737Z,1750193510.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707812 target range: 257.728851 and range: 257.00 m.
2025-06-17T20:51:51.076Z,1750193511.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:51.078Z,1750193511.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 223.226578 m,
      bearing: 325.142598 deg,
      approach rate: -0.738360 m/s,
      LOS rate: -0.021930 deg/s,
      cmd heading: 327.033528 deg,
      new cmd heading: 327.010739 deg.

2025-06-17T20:51:51.079Z,1750193511.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707414 target range: 257.728851 and range: 257.00 m.
2025-06-17T20:51:51.478Z,1750193511.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:51.481Z,1750193511.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 222.931686 m,
      bearing: 325.133781 deg,
      approach rate: -0.733057 m/s,
      LOS rate: -0.021947 deg/s,
      cmd heading: 327.010743 deg,
      new cmd heading: 326.984256 deg.

2025-06-17T20:51:51.482Z,1750193511.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706952 target range: 257.728851 and range: 257.00 m.
2025-06-17T20:51:51.935Z,1750193511.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:51.937Z,1750193511.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:51.941Z,1750193511.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 222.596985 m,
      bearing: 325.123670 deg,
      approach rate: -0.728275 m/s,
      LOS rate: -0.022034 deg/s,
      cmd heading: 326.984269 deg,
      new cmd heading: 326.953890 deg.

2025-06-17T20:51:51.942Z,1750193511.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706422 target range: 257.728851 and range: 257.00 m.
2025-06-17T20:51:52.017Z,1750193512.017 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:52.017Z,1750193512.017 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:52.017Z,1750193512.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:52.216Z,1750193512.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:51:52.269Z,1750193512.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759699
2025-06-17T20:51:52.282Z,1750193512.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:52.285Z,1750193512.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 222.345062 m,
      bearing: 325.116147 deg,
      approach rate: -0.730615 m/s,
      LOS rate: -0.021841 deg/s,
      cmd heading: 326.953888 deg,
      new cmd heading: 326.931296 deg.

2025-06-17T20:51:52.286Z,1750193512.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706028 target range: 257.728851 and range: 257.00 m.
2025-06-17T20:51:52.521Z,1750193512.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011660
2025-06-17T20:51:52.773Z,1750193512.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264209
2025-06-17T20:51:52.783Z,1750193512.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:52.803Z,1750193512.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 221.990753 m,
      bearing: 325.105458 deg,
      approach rate: -0.707592 m/s,
      LOS rate: -0.021383 deg/s,
      cmd heading: 326.931294 deg,
      new cmd heading: 326.899174 deg.

2025-06-17T20:51:52.812Z,1750193512.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705467 target range: 257.728851 and range: 257.00 m.
2025-06-17T20:51:53.026Z,1750193513.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517252
2025-06-17T20:51:53.113Z,1750193513.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:53.120Z,1750193513.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 221.741989 m,
      bearing: 325.098069 deg,
      approach rate: -0.753184 m/s,
      LOS rate: -0.022396 deg/s,
      cmd heading: 326.899165 deg,
      new cmd heading: 326.876974 deg.

2025-06-17T20:51:53.121Z,1750193513.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705080 target range: 257.728851 and range: 257.00 m.
2025-06-17T20:51:53.221Z,1750193513.221 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:51:53.277Z,1750193513.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767592
2025-06-17T20:51:53.498Z,1750193513.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:53.501Z,1750193513.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 221.458115 m,
      bearing: 325.089711 deg,
      approach rate: -0.737856 m/s,
      LOS rate: -0.021752 deg/s,
      cmd heading: 326.876980 deg,
      new cmd heading: 326.851874 deg.

2025-06-17T20:51:53.502Z,1750193513.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704641 target range: 257.728851 and range: 257.00 m.
2025-06-17T20:51:53.529Z,1750193513.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019698
2025-06-17T20:51:53.781Z,1750193513.781 [DAT](INFO): DAT read: Rx Time:20:51:53.3796

2025-06-17T20:51:53.782Z,1750193513.782 [DAT](INFO): Rx dataTimestamp_ set to:1750193513.781323
2025-06-17T20:51:53.782Z,1750193513.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272988
2025-06-17T20:51:53.927Z,1750193513.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.73 m.
2025-06-17T20:51:53.930Z,1750193513.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.728851 m,
      nav range: 221.147949 m,
      bearing: 325.083011 deg,
      approach rate: -0.723536 m/s,
      LOS rate: -0.015652 deg/s,
      cmd heading: 326.851873 deg,
      new cmd heading: 326.831743 deg.

2025-06-17T20:51:53.931Z,1750193513.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704290 target range: 257.728851 and range: 257.00 m.
2025-06-17T20:51:54.033Z,1750193514.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523848
2025-06-17T20:51:54.290Z,1750193514.290 [DAT](INFO): DAT read: 20:51:53.3796 LVL= 22000, 23441, 21330, 32003, AGC= 62, IDX= 412,-0.13,-2.807, 2.185,-2.828, 2.717, PHS= 0.847,-0.485, 0.736, RAW= 145.7, -16.9, CAL= 151.8, -24.7, ROT= 358.2,  24.7

2025-06-17T20:51:54.292Z,1750193514.292 [DAT](INFO): got valid direction response:
 20:51:53.3796 LVL= 22000, 23441, 21330, 32003, AGC= 62, IDX= 412,-0.13,-2.807, 2.185,-2.828, 2.717, PHS= 0.847,-0.485, 0.736, RAW= 145.7, -16.9, CAL= 151.8, -24.7, ROT= 358.2,  24.7

2025-06-17T20:51:54.293Z,1750193514.293 [DAT](INFO): DAT read: Bearing 358.2,  24.7 (Local)

2025-06-17T20:51:54.293Z,1750193514.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,  24.7 (Local)

2025-06-17T20:51:54.294Z,1750193514.294 [DAT](INFO): DAT read: Range 10 to 50 : 255.5 m  (Round-trip  340.7 ms) speed  0.6 m/s

2025-06-17T20:51:54.295Z,1750193514.295 [DAT](INFO): DAT read: user:732>

2025-06-17T20:51:54.296Z,1750193514.296 [DAT](INFO): DAT read: Tx time:20:51:54.4848

2025-06-17T20:51:54.296Z,1750193514.296 [DAT](INFO): Ping request sent.
2025-06-17T20:51:54.296Z,1750193514.296 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:54.297Z,1750193514.297 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:54.298Z,1750193514.298 [DAT](INFO): direction in FSK: [0.908060,-0.028537,-0.417867]
2025-06-17T20:51:54.298Z,1750193514.298 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:54.298Z,1750193514.298 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:54.301Z,1750193514.301 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:54.302Z,1750193514.302 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:54.425Z,1750193514.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 255.500000 m,
      deltaT: 3.778807 s,
      deltaX: -1.500000 m,
      approachRate: -0.396951 m/s,
      rangeRepo size: 4

2025-06-17T20:51:54.427Z,1750193514.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 253.170013 m,
      bearing: 327.015855 deg,
      lat: 36.905897 deg,
      lon: -122.116034 deg,
      deltaT: 7.813844 s,
      deltaX: -4.558838 m,
      approachRate: -0.583431 m/s,
      posRepo size: 4

2025-06-17T20:51:54.432Z,1750193514.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.17 m.
2025-06-17T20:51:54.434Z,1750193514.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.170013 m,
      nav range: 220.814621 m,
      bearing: 325.075823 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015652 deg/s,
      cmd heading: 326.831737 deg,
      new cmd heading: 326.808953 deg.

2025-06-17T20:51:54.435Z,1750193514.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703892 target range: 253.170013 and range: 255.50 m.
2025-06-17T20:51:54.538Z,1750193514.538 [DAT](INFO): DAT read: TxSync time:20:51:54.4840

2025-06-17T20:51:54.803Z,1750193514.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:54.806Z,1750193514.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.17 m.
2025-06-17T20:51:54.809Z,1750193514.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.170013 m,
      nav range: 220.514084 m,
      bearing: 325.069423 deg,
      approach rate: -0.763125 m/s,
      LOS rate: -0.016273 deg/s,
      cmd heading: 326.808952 deg,
      new cmd heading: 326.789725 deg.

2025-06-17T20:51:54.810Z,1750193514.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703557 target range: 253.170013 and range: 255.50 m.
2025-06-17T20:51:55.041Z,1750193515.041 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:55.041Z,1750193515.041 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:55.041Z,1750193515.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:55.177Z,1750193515.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.17 m.
2025-06-17T20:51:55.180Z,1750193515.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.170013 m,
      nav range: 220.256699 m,
      bearing: 325.063928 deg,
      approach rate: -0.727311 m/s,
      LOS rate: -0.015546 deg/s,
      cmd heading: 326.789718 deg,
      new cmd heading: 326.773213 deg.

2025-06-17T20:51:55.181Z,1750193515.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703269 target range: 253.170013 and range: 255.50 m.
2025-06-17T20:51:55.294Z,1750193515.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996766
2025-06-17T20:51:55.545Z,1750193515.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248539
2025-06-17T20:51:55.553Z,1750193515.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.17 m.
2025-06-17T20:51:55.555Z,1750193515.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.170013 m,
      nav range: 219.973892 m,
      bearing: 325.057884 deg,
      approach rate: -0.719272 m/s,
      LOS rate: -0.015391 deg/s,
      cmd heading: 326.773216 deg,
      new cmd heading: 326.755062 deg.

2025-06-17T20:51:55.557Z,1750193515.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702952 target range: 253.170013 and range: 255.50 m.
2025-06-17T20:51:55.797Z,1750193515.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500335
2025-06-17T20:51:55.979Z,1750193515.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.17 m.
2025-06-17T20:51:55.982Z,1750193515.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.170013 m,
      nav range: 219.662842 m,
      bearing: 325.052813 deg,
      approach rate: -0.729746 m/s,
      LOS rate: -0.011915 deg/s,
      cmd heading: 326.755075 deg,
      new cmd heading: 326.739840 deg.

2025-06-17T20:51:55.983Z,1750193515.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702686 target range: 253.170013 and range: 255.50 m.
2025-06-17T20:51:56.050Z,1750193516.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753222
2025-06-17T20:51:56.301Z,1750193516.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004361
2025-06-17T20:51:56.364Z,1750193516.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.17 m.
2025-06-17T20:51:56.367Z,1750193516.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.170013 m,
      nav range: 219.383011 m,
      bearing: 325.048188 deg,
      approach rate: -0.727166 m/s,
      LOS rate: -0.012034 deg/s,
      cmd heading: 326.739830 deg,
      new cmd heading: 326.725938 deg.

2025-06-17T20:51:56.368Z,1750193516.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702443 target range: 253.170013 and range: 255.50 m.
2025-06-17T20:51:56.553Z,1750193516.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256411
2025-06-17T20:51:56.805Z,1750193516.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508700
2025-06-17T20:51:56.837Z,1750193516.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:56.839Z,1750193516.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.17 m.
2025-06-17T20:51:56.845Z,1750193516.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.170013 m,
      nav range: 219.040222 m,
      bearing: 325.041195 deg,
      approach rate: -0.722056 m/s,
      LOS rate: -0.014752 deg/s,
      cmd heading: 326.725924 deg,
      new cmd heading: 326.704913 deg.

2025-06-17T20:51:56.846Z,1750193516.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702076 target range: 253.170013 and range: 255.50 m.
2025-06-17T20:51:57.057Z,1750193517.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760399
2025-06-17T20:51:57.159Z,1750193517.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.17 m.
2025-06-17T20:51:57.163Z,1750193517.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.170013 m,
      nav range: 218.797852 m,
      bearing: 325.036273 deg,
      approach rate: -0.755578 m/s,
      LOS rate: -0.015363 deg/s,
      cmd heading: 326.704914 deg,
      new cmd heading: 326.690130 deg.

2025-06-17T20:51:57.184Z,1750193517.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701818 target range: 253.170013 and range: 255.50 m.
2025-06-17T20:51:57.309Z,1750193517.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012877
2025-06-17T20:51:57.562Z,1750193517.562 [DAT](INFO): DAT read: Rx Time:20:51:57.2246

2025-06-17T20:51:57.563Z,1750193517.563 [DAT](INFO): Rx dataTimestamp_ set to:1750193517.562313
2025-06-17T20:51:57.563Z,1750193517.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266731
2025-06-17T20:51:57.582Z,1750193517.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.17 m.
2025-06-17T20:51:57.585Z,1750193517.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.170013 m,
      nav range: 218.486969 m,
      bearing: 325.029969 deg,
      approach rate: -0.735338 m/s,
      LOS rate: -0.014933 deg/s,
      cmd heading: 326.690134 deg,
      new cmd heading: 326.671194 deg.

2025-06-17T20:51:57.586Z,1750193517.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701488 target range: 253.170013 and range: 255.50 m.
2025-06-17T20:51:57.813Z,1750193517.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516473
2025-06-17T20:51:58.053Z,1750193518.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.17 m.
2025-06-17T20:51:58.056Z,1750193518.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.170013 m,
      nav range: 218.136597 m,
      bearing: 325.022820 deg,
      approach rate: -0.743724 m/s,
      LOS rate: -0.015198 deg/s,
      cmd heading: 326.671200 deg,
      new cmd heading: 326.649721 deg.

2025-06-17T20:51:58.057Z,1750193518.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701113 target range: 253.170013 and range: 255.50 m.
2025-06-17T20:51:58.071Z,1750193518.071 [DAT](INFO): DAT read: 20:51:57.2246 LVL= 22576, 25441, 23666, 27379, AGC= 69, IDX= 391,-0.26,-1.181,-2.557,-1.283,-2.050, PHS= 0.957,-0.459, 0.764, RAW= 142.8, -18.5, CAL= 148.6, -26.3, ROT=   1.4,  26.3

2025-06-17T20:51:58.072Z,1750193518.072 [DAT](INFO): got valid direction response:
 20:51:57.2246 LVL= 22576, 25441, 23666, 27379, AGC= 69, IDX= 391,-0.26,-1.181,-2.557,-1.283,-2.050, PHS= 0.957,-0.459, 0.764, RAW= 142.8, -18.5, CAL= 148.6, -26.3, ROT=   1.4,  26.3

2025-06-17T20:51:58.073Z,1750193518.073 [DAT](INFO): DAT read: Bearing   1.4,  26.3 (Local)

2025-06-17T20:51:58.073Z,1750193518.073 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.4,  26.3 (Local)

2025-06-17T20:51:58.075Z,1750193518.075 [DAT](INFO): DAT read: Range 10 to 50 : 251.6 m  (Round-trip  335.5 ms) speed  0.8 m/s

2025-06-17T20:51:58.076Z,1750193518.076 [DAT](INFO): DAT read: user:733>

2025-06-17T20:51:58.076Z,1750193518.076 [DAT](INFO): DAT read: Tx time:20:51:58.3349

2025-06-17T20:51:58.077Z,1750193518.077 [DAT](INFO): Ping request sent.
2025-06-17T20:51:58.077Z,1750193518.077 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:51:58.077Z,1750193518.077 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:51:58.078Z,1750193518.078 [DAT](INFO): direction in FSK: [0.896219,0.021903,-0.443071]
2025-06-17T20:51:58.078Z,1750193518.078 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:58.079Z,1750193518.079 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:58.100Z,1750193518.100 [DAT](INFO): publishing transmit ping time
2025-06-17T20:51:58.100Z,1750193518.100 [DAT](INFO): publishing direction and range info
2025-06-17T20:51:58.317Z,1750193518.317 [DAT](INFO): DAT read: TxSync time:20:51:58.3341

2025-06-17T20:51:58.402Z,1750193518.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 251.600006 m,
      deltaT: 3.780229 s,
      deltaX: -3.899994 m,
      approachRate: -1.031682 m/s,
      rangeRepo size: 4

2025-06-17T20:51:58.409Z,1750193518.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 249.304855 m,
      bearing: 330.274129 deg,
      lat: 36.905919 deg,
      lon: -122.116002 deg,
      deltaT: 3.780229 s,
      deltaX: -3.865158 m,
      approachRate: -1.022467 m/s,
      posRepo size: 4

2025-06-17T20:51:58.409Z,1750193518.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:51:58.416Z,1750193518.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 218.323898 m,
      bearing: 326.002991 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015198 deg/s,
      cmd heading: 326.649726 deg,
      new cmd heading: 326.633845 deg.

2025-06-17T20:51:58.417Z,1750193518.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700836 target range: 249.304855 and range: 251.60 m.
2025-06-17T20:51:58.842Z,1750193518.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:51:58.847Z,1750193518.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:51:58.850Z,1750193518.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 217.983368 m,
      bearing: 325.996125 deg,
      approach rate: -0.770309 m/s,
      LOS rate: -0.015557 deg/s,
      cmd heading: 326.633853 deg,
      new cmd heading: 326.613222 deg.

2025-06-17T20:51:58.851Z,1750193518.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700476 target range: 249.304855 and range: 251.60 m.
2025-06-17T20:51:59.073Z,1750193519.073 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:51:59.073Z,1750193519.073 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:51:59.073Z,1750193519.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:51:59.209Z,1750193519.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:51:59.216Z,1750193519.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 217.717468 m,
      bearing: 325.990825 deg,
      approach rate: -0.727426 m/s,
      LOS rate: -0.014517 deg/s,
      cmd heading: 326.613226 deg,
      new cmd heading: 326.597306 deg.

2025-06-17T20:51:59.217Z,1750193519.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700198 target range: 249.304855 and range: 251.60 m.
2025-06-17T20:51:59.325Z,1750193519.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248065
2025-06-17T20:51:59.577Z,1750193519.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500169
2025-06-17T20:51:59.595Z,1750193519.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:51:59.597Z,1750193519.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 217.425079 m,
      bearing: 325.984982 deg,
      approach rate: -0.758797 m/s,
      LOS rate: -0.015183 deg/s,
      cmd heading: 326.597298 deg,
      new cmd heading: 326.579746 deg.

2025-06-17T20:51:59.598Z,1750193519.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699892 target range: 249.304855 and range: 251.60 m.
2025-06-17T20:51:59.829Z,1750193519.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751979
2025-06-17T20:52:00.007Z,1750193520.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:00.026Z,1750193520.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 217.122559 m,
      bearing: 325.979430 deg,
      approach rate: -0.733156 m/s,
      LOS rate: -0.013473 deg/s,
      cmd heading: 326.579758 deg,
      new cmd heading: 326.563080 deg.

2025-06-17T20:52:00.027Z,1750193520.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699601 target range: 249.304855 and range: 251.60 m.
2025-06-17T20:52:00.081Z,1750193520.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004279
2025-06-17T20:52:00.333Z,1750193520.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255907
2025-06-17T20:52:00.398Z,1750193520.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:00.401Z,1750193520.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 216.835388 m,
      bearing: 325.974211 deg,
      approach rate: -0.735143 m/s,
      LOS rate: -0.013380 deg/s,
      cmd heading: 326.563092 deg,
      new cmd heading: 326.547412 deg.

2025-06-17T20:52:00.402Z,1750193520.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699327 target range: 249.304855 and range: 251.60 m.
2025-06-17T20:52:00.585Z,1750193520.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507915
2025-06-17T20:52:00.837Z,1750193520.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760075
2025-06-17T20:52:00.882Z,1750193520.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:00.888Z,1750193520.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:00.891Z,1750193520.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 216.487915 m,
      bearing: 325.967899 deg,
      approach rate: -0.715036 m/s,
      LOS rate: -0.013010 deg/s,
      cmd heading: 326.547410 deg,
      new cmd heading: 326.528443 deg.

2025-06-17T20:52:00.896Z,1750193520.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698997 target range: 249.304855 and range: 251.60 m.
2025-06-17T20:52:01.089Z,1750193521.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011924
2025-06-17T20:52:01.213Z,1750193521.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:01.216Z,1750193521.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 216.226562 m,
      bearing: 325.963208 deg,
      approach rate: -0.793186 m/s,
      LOS rate: -0.014254 deg/s,
      cmd heading: 326.528449 deg,
      new cmd heading: 326.514359 deg.

2025-06-17T20:52:01.217Z,1750193521.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698750 target range: 249.304855 and range: 251.60 m.
2025-06-17T20:52:01.341Z,1750193521.341 [DAT](INFO): DAT read: Rx Time:20:52:01.0714

2025-06-17T20:52:01.341Z,1750193521.341 [DAT](INFO): Rx dataTimestamp_ set to:1750193521.341038
2025-06-17T20:52:01.342Z,1750193521.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265027
2025-06-17T20:52:01.593Z,1750193521.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516149
2025-06-17T20:52:01.606Z,1750193521.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:01.609Z,1750193521.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 215.933548 m,
      bearing: 325.957958 deg,
      approach rate: -0.746488 m/s,
      LOS rate: -0.013392 deg/s,
      cmd heading: 326.514352 deg,
      new cmd heading: 326.498581 deg.

2025-06-17T20:52:01.610Z,1750193521.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698475 target range: 249.304855 and range: 251.60 m.
2025-06-17T20:52:01.851Z,1750193521.851 [DAT](INFO): DAT read: Range 10 to 50 : 249.3 m  (Round-trip  332.4 ms) speed  0.4 m/s

2025-06-17T20:52:01.854Z,1750193521.854 [DAT](INFO): DAT read: user:734>

2025-06-17T20:52:01.855Z,1750193521.855 [DAT](INFO): DAT read: Tx time:20:52:02.1849

2025-06-17T20:52:01.874Z,1750193521.874 [DAT](INFO): Ping request sent.
2025-06-17T20:52:01.874Z,1750193521.874 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:01.875Z,1750193521.875 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:52:01.875Z,1750193521.875 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:01.875Z,1750193521.875 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:02.041Z,1750193522.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 249.300003 m,
      deltaT: 3.780367 s,
      deltaX: -2.300003 m,
      approachRate: -0.608407 m/s,
      rangeRepo size: 4

2025-06-17T20:52:02.043Z,1750193522.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:02.050Z,1750193522.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 215.609390 m,
      bearing: 325.950983 deg,
      approach rate: -0.746565 m/s,
      LOS rate: -0.016088 deg/s,
      cmd heading: 326.498588 deg,
      new cmd heading: 326.477631 deg.

2025-06-17T20:52:02.055Z,1750193522.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698110 target range: 249.304855 and range: 249.30 m.
2025-06-17T20:52:02.097Z,1750193522.097 [DAT](INFO): DAT read: TxSync time:20:52:02.1841

2025-06-17T20:52:02.417Z,1750193522.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:02.419Z,1750193522.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 215.328049 m,
      bearing: 325.944992 deg,
      approach rate: -0.746825 m/s,
      LOS rate: -0.015925 deg/s,
      cmd heading: 326.477633 deg,
      new cmd heading: 326.459635 deg.

2025-06-17T20:52:02.421Z,1750193522.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697795 target range: 249.304855 and range: 249.30 m.
2025-06-17T20:52:02.882Z,1750193522.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:02.889Z,1750193522.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:02.891Z,1750193522.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 214.990982 m,
      bearing: 325.937964 deg,
      approach rate: -0.713916 m/s,
      LOS rate: -0.014908 deg/s,
      cmd heading: 326.459628 deg,
      new cmd heading: 326.438513 deg.

2025-06-17T20:52:02.901Z,1750193522.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697427 target range: 249.304855 and range: 249.30 m.
2025-06-17T20:52:03.105Z,1750193523.105 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:03.105Z,1750193523.105 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:03.105Z,1750193523.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:03.251Z,1750193523.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:03.254Z,1750193523.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 214.705231 m,
      bearing: 325.931877 deg,
      approach rate: -0.788086 m/s,
      LOS rate: -0.016811 deg/s,
      cmd heading: 326.438509 deg,
      new cmd heading: 326.420223 deg.

2025-06-17T20:52:03.255Z,1750193523.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697108 target range: 249.304855 and range: 249.30 m.
2025-06-17T20:52:03.358Z,1750193523.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502507
2025-06-17T20:52:03.609Z,1750193523.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753167
2025-06-17T20:52:03.646Z,1750193523.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:03.653Z,1750193523.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 214.426147 m,
      bearing: 325.925880 deg,
      approach rate: -0.707861 m/s,
      LOS rate: -0.015230 deg/s,
      cmd heading: 326.420232 deg,
      new cmd heading: 326.402219 deg.

2025-06-17T20:52:03.654Z,1750193523.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696794 target range: 249.304855 and range: 249.30 m.
2025-06-17T20:52:03.861Z,1750193523.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005085
2025-06-17T20:52:04.052Z,1750193524.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:04.055Z,1750193524.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 214.109802 m,
      bearing: 325.919631 deg,
      approach rate: -0.779252 m/s,
      LOS rate: -0.015417 deg/s,
      cmd heading: 326.402228 deg,
      new cmd heading: 326.383452 deg.

2025-06-17T20:52:04.055Z,1750193524.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696466 target range: 249.304855 and range: 249.30 m.
2025-06-17T20:52:04.114Z,1750193524.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257984
2025-06-17T20:52:04.365Z,1750193524.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509238
2025-06-17T20:52:04.431Z,1750193524.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:04.450Z,1750193524.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 213.827744 m,
      bearing: 325.914027 deg,
      approach rate: -0.742815 m/s,
      LOS rate: -0.014779 deg/s,
      cmd heading: 326.383458 deg,
      new cmd heading: 326.366623 deg.

2025-06-17T20:52:04.451Z,1750193524.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696172 target range: 249.304855 and range: 249.30 m.
2025-06-17T20:52:04.617Z,1750193524.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761163
2025-06-17T20:52:04.871Z,1750193524.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015279
2025-06-17T20:52:04.914Z,1750193524.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:04.921Z,1750193524.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:04.923Z,1750193524.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 213.472519 m,
      bearing: 325.906984 deg,
      approach rate: -0.726000 m/s,
      LOS rate: -0.014417 deg/s,
      cmd heading: 326.366629 deg,
      new cmd heading: 326.345467 deg.

2025-06-17T20:52:04.933Z,1750193524.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695803 target range: 249.304855 and range: 249.30 m.
2025-06-17T20:52:05.121Z,1750193525.121 [DAT](INFO): DAT read: Rx Time:20:52:04.9195

2025-06-17T20:52:05.121Z,1750193525.121 [DAT](INFO): Rx dataTimestamp_ set to:1750193525.121021
2025-06-17T20:52:05.122Z,1750193525.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266173
2025-06-17T20:52:05.329Z,1750193525.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:05.332Z,1750193525.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 213.187241 m,
      bearing: 325.902908 deg,
      approach rate: -0.698506 m/s,
      LOS rate: -0.009994 deg/s,
      cmd heading: 326.345455 deg,
      new cmd heading: 326.333210 deg.

2025-06-17T20:52:05.333Z,1750193525.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695589 target range: 249.304855 and range: 249.30 m.
2025-06-17T20:52:05.374Z,1750193525.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517724
2025-06-17T20:52:05.625Z,1750193525.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769166
2025-06-17T20:52:05.687Z,1750193525.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:05.690Z,1750193525.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 212.912491 m,
      bearing: 325.898972 deg,
      approach rate: -0.766689 m/s,
      LOS rate: -0.010999 deg/s,
      cmd heading: 326.333215 deg,
      new cmd heading: 326.321391 deg.

2025-06-17T20:52:05.691Z,1750193525.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695383 target range: 249.304855 and range: 249.30 m.
2025-06-17T20:52:05.883Z,1750193525.883 [DAT](INFO): DAT read: Range 10 to 50 : 247.8 m  (Round-trip  330.4 ms) speed  0.0 m/s

2025-06-17T20:52:05.886Z,1750193525.886 [DAT](INFO): DAT read: user:735>

2025-06-17T20:52:05.888Z,1750193525.888 [DAT](INFO): DAT read: Tx time:20:52:06.0349

2025-06-17T20:52:05.889Z,1750193525.889 [DAT](INFO): Ping request sent.
2025-06-17T20:52:05.889Z,1750193525.889 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:05.890Z,1750193525.890 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:52:05.890Z,1750193525.890 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:05.891Z,1750193525.891 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:06.079Z,1750193526.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 247.800003 m,
      deltaT: 4.033829 s,
      deltaX: -1.500000 m,
      approachRate: -0.371855 m/s,
      rangeRepo size: 4

2025-06-17T20:52:06.079Z,1750193526.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:06.082Z,1750193526.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 212.617081 m,
      bearing: 325.894312 deg,
      approach rate: -0.756353 m/s,
      LOS rate: -0.011948 deg/s,
      cmd heading: 326.321385 deg,
      new cmd heading: 326.307386 deg.

2025-06-17T20:52:06.083Z,1750193526.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695138 target range: 249.304855 and range: 247.80 m.
2025-06-17T20:52:06.130Z,1750193526.130 [DAT](INFO): DAT read: TxSync time:20:52:06.0341

2025-06-17T20:52:06.453Z,1750193526.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:06.456Z,1750193526.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 212.343918 m,
      bearing: 325.890096 deg,
      approach rate: -0.727796 m/s,
      LOS rate: -0.011246 deg/s,
      cmd heading: 326.307397 deg,
      new cmd heading: 326.294734 deg.

2025-06-17T20:52:06.457Z,1750193526.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694918 target range: 249.304855 and range: 247.80 m.
2025-06-17T20:52:06.917Z,1750193526.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:06.930Z,1750193526.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:06.937Z,1750193526.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 212.043060 m,
      bearing: 325.885429 deg,
      approach rate: -0.631422 m/s,
      LOS rate: -0.009808 deg/s,
      cmd heading: 326.294748 deg,
      new cmd heading: 326.280727 deg.

2025-06-17T20:52:06.938Z,1750193526.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694673 target range: 249.304855 and range: 247.80 m.
2025-06-17T20:52:07.139Z,1750193527.139 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:07.140Z,1750193527.140 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:07.140Z,1750193527.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:07.303Z,1750193527.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:07.306Z,1750193527.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 211.727234 m,
      bearing: 325.881106 deg,
      approach rate: -0.847247 m/s,
      LOS rate: -0.011615 deg/s,
      cmd heading: 326.280732 deg,
      new cmd heading: 326.267743 deg.

2025-06-17T20:52:07.307Z,1750193527.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694447 target range: 249.304855 and range: 247.80 m.
2025-06-17T20:52:07.390Z,1750193527.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500570
2025-06-17T20:52:07.641Z,1750193527.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751700
2025-06-17T20:52:07.680Z,1750193527.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:07.686Z,1750193527.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 211.452713 m,
      bearing: 325.877242 deg,
      approach rate: -0.727225 m/s,
      LOS rate: -0.010248 deg/s,
      cmd heading: 326.267755 deg,
      new cmd heading: 326.256150 deg.

2025-06-17T20:52:07.688Z,1750193527.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694244 target range: 249.304855 and range: 247.80 m.
2025-06-17T20:52:07.895Z,1750193527.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005160
2025-06-17T20:52:08.091Z,1750193528.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:08.094Z,1750193528.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 211.155228 m,
      bearing: 325.873488 deg,
      approach rate: -0.724242 m/s,
      LOS rate: -0.009154 deg/s,
      cmd heading: 326.256143 deg,
      new cmd heading: 326.244864 deg.

2025-06-17T20:52:08.095Z,1750193528.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694047 target range: 249.304855 and range: 247.80 m.
2025-06-17T20:52:08.145Z,1750193528.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255711
2025-06-17T20:52:08.399Z,1750193528.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509777
2025-06-17T20:52:08.479Z,1750193528.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:08.482Z,1750193528.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 210.873978 m,
      bearing: 325.869954 deg,
      approach rate: -0.724815 m/s,
      LOS rate: -0.009119 deg/s,
      cmd heading: 326.244860 deg,
      new cmd heading: 326.234245 deg.

2025-06-17T20:52:08.483Z,1750193528.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693861 target range: 249.304855 and range: 247.80 m.
2025-06-17T20:52:08.653Z,1750193528.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763573
2025-06-17T20:52:08.890Z,1750193528.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:08.907Z,1750193528.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017342
2025-06-17T20:52:08.918Z,1750193528.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 210.581741 m,
      bearing: 325.866314 deg,
      approach rate: -0.714614 m/s,
      LOS rate: -0.008913 deg/s,
      cmd heading: 326.234232 deg,
      new cmd heading: 326.223297 deg.

2025-06-17T20:52:08.926Z,1750193528.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693671 target range: 249.304855 and range: 247.80 m.
2025-06-17T20:52:09.159Z,1750193529.159 [DAT](INFO): DAT read: Rx Time:20:52:08.7669

2025-06-17T20:52:09.160Z,1750193529.160 [DAT](INFO): Rx dataTimestamp_ set to:1750193529.159225
2025-06-17T20:52:09.160Z,1750193529.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270953
2025-06-17T20:52:09.316Z,1750193529.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:09.318Z,1750193529.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.30 m.
2025-06-17T20:52:09.321Z,1750193529.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.304855 m,
      nav range: 210.261475 m,
      bearing: 325.863022 deg,
      approach rate: -0.744422 m/s,
      LOS rate: -0.007664 deg/s,
      cmd heading: 326.223304 deg,
      new cmd heading: 326.213412 deg.

2025-06-17T20:52:09.322Z,1750193529.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693498 target range: 249.304855 and range: 247.80 m.
2025-06-17T20:52:09.410Z,1750193529.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520051
2025-06-17T20:52:09.667Z,1750193529.667 [DAT](INFO): DAT read: 20:52:08.7670 LVL= 27264, 32753, 26402, 32755, AGC= 66, IDX= 409,-0.17, 1.891, 0.707, 1.887, 1.058, PHS= 0.921,-0.305, 0.825, RAW= 146.0, -23.4, CAL= 150.8, -30.1, ROT= 359.2,  30.1

2025-06-17T20:52:09.668Z,1750193529.668 [DAT](INFO): got valid direction response:
 20:52:08.7670 LVL= 27264, 32753, 26402, 32755, AGC= 66, IDX= 409,-0.17, 1.891, 0.707, 1.887, 1.058, PHS= 0.921,-0.305, 0.825, RAW= 146.0, -23.4, CAL= 150.8, -30.1, ROT= 359.2,  30.1

2025-06-17T20:52:09.669Z,1750193529.669 [DAT](INFO): DAT read: Bearing 359.2,  30.1 (Local)

2025-06-17T20:52:09.669Z,1750193529.669 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  30.1 (Local)

2025-06-17T20:52:09.671Z,1750193529.671 [DAT](INFO): DAT read: Range 10 to 50 : 245.9 m  (Round-trip  327.9 ms) speed  0.8 m/s

2025-06-17T20:52:09.672Z,1750193529.672 [DAT](INFO): DAT read: user:736>

2025-06-17T20:52:09.673Z,1750193529.673 [DAT](INFO): DAT read: Tx time:20:52:09.8850

2025-06-17T20:52:09.673Z,1750193529.673 [DAT](INFO): Ping request sent.
2025-06-17T20:52:09.673Z,1750193529.673 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:09.673Z,1750193529.673 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:52:09.674Z,1750193529.674 [DAT](INFO): direction in FSK: [0.865067,-0.012079,-0.501511]
2025-06-17T20:52:09.674Z,1750193529.674 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:09.675Z,1750193529.675 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:09.678Z,1750193529.678 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:09.678Z,1750193529.678 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:09.853Z,1750193529.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 245.899994 m,
      deltaT: 3.781713 s,
      deltaX: -1.900009 m,
      approachRate: -0.502420 m/s,
      rangeRepo size: 4

2025-06-17T20:52:09.855Z,1750193529.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 243.657364 m,
      bearing: 327.879223 deg,
      lat: 36.905979 deg,
      lon: -122.115951 deg,
      deltaT: 11.595909 s,
      deltaX: -5.647491 m,
      approachRate: -0.487024 m/s,
      posRepo size: 4

2025-06-17T20:52:09.866Z,1750193529.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:09.873Z,1750193529.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 212.982513 m,
      bearing: 327.879879 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007664 deg/s,
      cmd heading: 326.213414 deg,
      new cmd heading: 326.201118 deg.

2025-06-17T20:52:09.874Z,1750193529.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693284 target range: 243.657364 and range: 245.90 m.
2025-06-17T20:52:09.917Z,1750193529.917 [DAT](INFO): DAT read: TxSync time:20:52:09.8842

2025-06-17T20:52:10.245Z,1750193530.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:10.248Z,1750193530.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 212.659515 m,
      bearing: 327.878413 deg,
      approach rate: -0.822657 m/s,
      LOS rate: -0.003740 deg/s,
      cmd heading: 326.201119 deg,
      new cmd heading: 326.196714 deg.

2025-06-17T20:52:10.249Z,1750193530.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693207 target range: 243.657364 and range: 245.90 m.
2025-06-17T20:52:10.633Z,1750193530.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:10.635Z,1750193530.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 212.383743 m,
      bearing: 327.877216 deg,
      approach rate: -0.712058 m/s,
      LOS rate: -0.003096 deg/s,
      cmd heading: 326.196721 deg,
      new cmd heading: 326.193124 deg.

2025-06-17T20:52:10.641Z,1750193530.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693144 target range: 243.657364 and range: 245.90 m.
2025-06-17T20:52:11.077Z,1750193531.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:11.085Z,1750193531.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 212.061371 m,
      bearing: 327.875031 deg,
      approach rate: -0.734754 m/s,
      LOS rate: -0.004986 deg/s,
      cmd heading: 326.193114 deg,
      new cmd heading: 326.186551 deg.

2025-06-17T20:52:11.092Z,1750193531.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693029 target range: 243.657364 and range: 245.90 m.
2025-06-17T20:52:11.431Z,1750193531.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:11.433Z,1750193531.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:11.436Z,1750193531.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 211.772415 m,
      bearing: 327.872979 deg,
      approach rate: -0.799169 m/s,
      LOS rate: -0.005683 deg/s,
      cmd heading: 326.186557 deg,
      new cmd heading: 326.180393 deg.

2025-06-17T20:52:11.437Z,1750193531.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692922 target range: 243.657364 and range: 245.90 m.
2025-06-17T20:52:11.677Z,1750193531.677 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:11.677Z,1750193531.677 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:11.677Z,1750193531.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:11.836Z,1750193531.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:11.839Z,1750193531.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 211.469101 m,
      bearing: 327.870751 deg,
      approach rate: -0.753387 m/s,
      LOS rate: -0.005544 deg/s,
      cmd heading: 326.180383 deg,
      new cmd heading: 326.173688 deg.

2025-06-17T20:52:11.856Z,1750193531.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692805 target range: 243.657364 and range: 245.90 m.
2025-06-17T20:52:11.933Z,1750193531.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259159
2025-06-17T20:52:12.181Z,1750193532.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507930
2025-06-17T20:52:12.287Z,1750193532.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:12.295Z,1750193532.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 211.146652 m,
      bearing: 327.867337 deg,
      approach rate: -0.713572 m/s,
      LOS rate: -0.007565 deg/s,
      cmd heading: 326.173689 deg,
      new cmd heading: 326.163433 deg.

2025-06-17T20:52:12.301Z,1750193532.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692626 target range: 243.657364 and range: 245.90 m.
2025-06-17T20:52:12.433Z,1750193532.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759773
2025-06-17T20:52:12.655Z,1750193532.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:12.659Z,1750193532.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 210.875305 m,
      bearing: 327.864504 deg,
      approach rate: -0.737468 m/s,
      LOS rate: -0.007710 deg/s,
      cmd heading: 326.163444 deg,
      new cmd heading: 326.154934 deg.

2025-06-17T20:52:12.659Z,1750193532.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692478 target range: 243.657364 and range: 245.90 m.
2025-06-17T20:52:12.694Z,1750193532.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020626
2025-06-17T20:52:12.952Z,1750193532.952 [DAT](INFO): DAT read: Rx Time:20:52:12.6112

2025-06-17T20:52:12.953Z,1750193532.953 [DAT](INFO): Rx dataTimestamp_ set to:1750193532.952571
2025-06-17T20:52:12.955Z,1750193532.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281701
2025-06-17T20:52:13.077Z,1750193533.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:13.080Z,1750193533.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 210.541809 m,
      bearing: 327.861366 deg,
      approach rate: -0.790577 m/s,
      LOS rate: -0.007449 deg/s,
      cmd heading: 326.154947 deg,
      new cmd heading: 326.145520 deg.

2025-06-17T20:52:13.081Z,1750193533.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692313 target range: 243.657364 and range: 245.90 m.
2025-06-17T20:52:13.201Z,1750193533.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527796
2025-06-17T20:52:13.454Z,1750193533.454 [DAT](INFO): DAT read: Range 10 to 50 : 241.5 m  (Round-trip  322.0 ms) speed  0.4 m/s

2025-06-17T20:52:13.455Z,1750193533.455 [DAT](INFO): DAT read: user:737>

2025-06-17T20:52:13.455Z,1750193533.455 [DAT](INFO): DAT read: Tx time:20:52:13.6850

2025-06-17T20:52:13.456Z,1750193533.456 [DAT](INFO): Ping request sent.
2025-06-17T20:52:13.456Z,1750193533.456 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:13.456Z,1750193533.456 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:52:13.456Z,1750193533.456 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:13.457Z,1750193533.457 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:13.471Z,1750193533.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:13.478Z,1750193533.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 241.500000 m,
      deltaT: 3.792133 s,
      deltaX: -4.399994 m,
      approachRate: -1.160295 m/s,
      rangeRepo size: 4

2025-06-17T20:52:13.479Z,1750193533.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:13.510Z,1750193533.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 210.244659 m,
      bearing: 327.858562 deg,
      approach rate: -0.742176 m/s,
      LOS rate: -0.007013 deg/s,
      cmd heading: 326.145522 deg,
      new cmd heading: 326.137098 deg.

2025-06-17T20:52:13.511Z,1750193533.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692166 target range: 243.657364 and range: 241.50 m.
2025-06-17T20:52:13.705Z,1750193533.705 [DAT](INFO): DAT read: TxSync time:20:52:13.6842

2025-06-17T20:52:13.706Z,1750193533.706 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:13.706Z,1750193533.706 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:13.706Z,1750193533.706 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:13.868Z,1750193533.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:13.871Z,1750193533.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 209.951767 m,
      bearing: 327.855855 deg,
      approach rate: -0.749578 m/s,
      LOS rate: -0.006938 deg/s,
      cmd heading: 326.137107 deg,
      new cmd heading: 326.128974 deg.

2025-06-17T20:52:13.873Z,1750193533.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692024 target range: 243.657364 and range: 241.50 m.
2025-06-17T20:52:13.963Z,1750193533.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506905
2025-06-17T20:52:14.209Z,1750193534.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752761
2025-06-17T20:52:14.285Z,1750193534.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:14.287Z,1750193534.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 209.633957 m,
      bearing: 327.852194 deg,
      approach rate: -0.763146 m/s,
      LOS rate: -0.008805 deg/s,
      cmd heading: 326.128965 deg,
      new cmd heading: 326.117964 deg.

2025-06-17T20:52:14.289Z,1750193534.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691832 target range: 243.657364 and range: 241.50 m.
2025-06-17T20:52:14.462Z,1750193534.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006072
2025-06-17T20:52:14.670Z,1750193534.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:14.672Z,1750193534.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 209.342041 m,
      bearing: 327.849025 deg,
      approach rate: -0.758694 m/s,
      LOS rate: -0.008248 deg/s,
      cmd heading: 326.117955 deg,
      new cmd heading: 326.108434 deg.

2025-06-17T20:52:14.673Z,1750193534.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691666 target range: 243.657364 and range: 241.50 m.
2025-06-17T20:52:14.714Z,1750193534.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257485
2025-06-17T20:52:14.965Z,1750193534.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508761
2025-06-17T20:52:15.088Z,1750193535.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:15.091Z,1750193535.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 209.025879 m,
      bearing: 327.846726 deg,
      approach rate: -0.755873 m/s,
      LOS rate: -0.005504 deg/s,
      cmd heading: 326.108447 deg,
      new cmd heading: 326.101541 deg.

2025-06-17T20:52:15.092Z,1750193535.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691545 target range: 243.657364 and range: 241.50 m.
2025-06-17T20:52:15.217Z,1750193535.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760761
2025-06-17T20:52:15.469Z,1750193535.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012825
2025-06-17T20:52:15.473Z,1750193535.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:15.475Z,1750193535.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:15.478Z,1750193535.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 208.734604 m,
      bearing: 327.844491 deg,
      approach rate: -0.752419 m/s,
      LOS rate: -0.005782 deg/s,
      cmd heading: 326.101535 deg,
      new cmd heading: 326.094820 deg.

2025-06-17T20:52:15.479Z,1750193535.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691428 target range: 243.657364 and range: 241.50 m.
2025-06-17T20:52:15.724Z,1750193535.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267579
2025-06-17T20:52:15.868Z,1750193535.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:15.871Z,1750193535.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 208.436050 m,
      bearing: 327.842150 deg,
      approach rate: -0.759498 m/s,
      LOS rate: -0.005964 deg/s,
      cmd heading: 326.094814 deg,
      new cmd heading: 326.087782 deg.

2025-06-17T20:52:15.872Z,1750193535.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691306 target range: 243.657364 and range: 241.50 m.
2025-06-17T20:52:15.976Z,1750193535.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519239
2025-06-17T20:52:16.226Z,1750193536.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770123
2025-06-17T20:52:16.348Z,1750193536.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:16.351Z,1750193536.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 208.078384 m,
      bearing: 327.837522 deg,
      approach rate: -0.744505 m/s,
      LOS rate: -0.009648 deg/s,
      cmd heading: 326.087793 deg,
      new cmd heading: 326.073887 deg.

2025-06-17T20:52:16.353Z,1750193536.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691063 target range: 243.657364 and range: 241.50 m.
2025-06-17T20:52:16.477Z,1750193536.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020755
2025-06-17T20:52:16.730Z,1750193536.730 [DAT](INFO): DAT read: Rx Time:20:52:16.4086

2025-06-17T20:52:16.731Z,1750193536.731 [DAT](INFO): Rx dataTimestamp_ set to:1750193536.730180
2025-06-17T20:52:16.732Z,1750193536.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275594
2025-06-17T20:52:16.829Z,1750193536.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.66 m.
2025-06-17T20:52:16.831Z,1750193536.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.657364 m,
      nav range: 207.710327 m,
      bearing: 327.832744 deg,
      approach rate: -0.766202 m/s,
      LOS rate: -0.009965 deg/s,
      cmd heading: 326.073887 deg,
      new cmd heading: 326.059526 deg.

2025-06-17T20:52:16.837Z,1750193536.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690812 target range: 243.657364 and range: 241.50 m.
2025-06-17T20:52:16.982Z,1750193536.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525093
2025-06-17T20:52:17.244Z,1750193537.244 [DAT](INFO): DAT read: 20:52:16.4086 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 420,-0.28,-1.972,-3.108,-1.935,-2.872, PHS= 0.988,-0.189, 0.934, RAW= 147.7, -28.0, CAL= 151.5, -33.8, ROT= 358.5,  33.8

2025-06-17T20:52:17.245Z,1750193537.245 [DAT](INFO): got valid direction response:
 20:52:16.4086 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 420,-0.28,-1.972,-3.108,-1.935,-2.872, PHS= 0.988,-0.189, 0.934, RAW= 147.7, -28.0, CAL= 151.5, -33.8, ROT= 358.5,  33.8

2025-06-17T20:52:17.246Z,1750193537.246 [DAT](INFO): DAT read: Bearing 358.5,  33.8 (Local)

2025-06-17T20:52:17.246Z,1750193537.246 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  33.8 (Local)

2025-06-17T20:52:17.252Z,1750193537.252 [DAT](INFO): DAT read: Range 10 to 50 : 239.6 m  (Round-trip  319.5 ms) speed  0.4 m/s

2025-06-17T20:52:17.253Z,1750193537.253 [DAT](INFO): DAT read: user:738>

2025-06-17T20:52:17.253Z,1750193537.253 [DAT](INFO): DAT read: Tx time:20:52:17.5350

2025-06-17T20:52:17.254Z,1750193537.254 [DAT](INFO): Ping request sent.
2025-06-17T20:52:17.254Z,1750193537.254 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:17.254Z,1750193537.254 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:52:17.255Z,1750193537.255 [DAT](INFO): direction in FSK: [0.830700,-0.021753,-0.556296]
2025-06-17T20:52:17.255Z,1750193537.255 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:17.284Z,1750193537.284 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:17.287Z,1750193537.287 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:17.312Z,1750193537.312 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:17.345Z,1750193537.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 239.600006 m,
      deltaT: 3.780199 s,
      deltaX: -1.899994 m,
      approachRate: -0.502617 m/s,
      rangeRepo size: 4

2025-06-17T20:52:17.347Z,1750193537.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 237.415604 m,
      bearing: 327.222127 deg,
      lat: 36.905979 deg,
      lon: -122.115951 deg,
      deltaT: 7.572332 s,
      deltaX: -6.241760 m,
      approachRate: -0.824285 m/s,
      posRepo size: 4

2025-06-17T20:52:17.356Z,1750193537.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:17.359Z,1750193537.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 207.383881 m,
      bearing: 327.830858 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009965 deg/s,
      cmd heading: 326.059516 deg,
      new cmd heading: 326.044474 deg.

2025-06-17T20:52:17.364Z,1750193537.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690549 target range: 237.415604 and range: 239.60 m.
2025-06-17T20:52:17.485Z,1750193537.485 [DAT](INFO): DAT read: TxSync time:20:52:17.5342

2025-06-17T20:52:17.664Z,1750193537.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:17.667Z,1750193537.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:17.670Z,1750193537.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 207.081360 m,
      bearing: 327.829106 deg,
      approach rate: -0.904321 m/s,
      LOS rate: -0.005246 deg/s,
      cmd heading: 326.044462 deg,
      new cmd heading: 326.039198 deg.

2025-06-17T20:52:17.671Z,1750193537.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690457 target range: 237.415604 and range: 239.60 m.
2025-06-17T20:52:17.737Z,1750193537.737 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:17.737Z,1750193537.737 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:17.738Z,1750193537.738 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:17.989Z,1750193537.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.735411
2025-06-17T20:52:18.118Z,1750193538.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:18.122Z,1750193538.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 206.746597 m,
      bearing: 327.826854 deg,
      approach rate: -0.740922 m/s,
      LOS rate: -0.004992 deg/s,
      cmd heading: 326.039189 deg,
      new cmd heading: 326.032422 deg.

2025-06-17T20:52:18.123Z,1750193538.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690339 target range: 237.415604 and range: 239.60 m.
2025-06-17T20:52:18.241Z,1750193538.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987050
2025-06-17T20:52:18.479Z,1750193538.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:18.481Z,1750193538.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 206.494080 m,
      bearing: 327.825165 deg,
      approach rate: -0.706857 m/s,
      LOS rate: -0.004732 deg/s,
      cmd heading: 326.032414 deg,
      new cmd heading: 326.027342 deg.

2025-06-17T20:52:18.482Z,1750193538.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690250 target range: 237.415604 and range: 239.60 m.
2025-06-17T20:52:18.493Z,1750193538.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239047
2025-06-17T20:52:18.745Z,1750193538.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491266
2025-06-17T20:52:18.862Z,1750193538.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:18.865Z,1750193538.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 206.196548 m,
      bearing: 327.823072 deg,
      approach rate: -0.770207 m/s,
      LOS rate: -0.005427 deg/s,
      cmd heading: 326.027332 deg,
      new cmd heading: 326.021042 deg.

2025-06-17T20:52:18.866Z,1750193538.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690141 target range: 237.415604 and range: 239.60 m.
2025-06-17T20:52:18.997Z,1750193538.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743225
2025-06-17T20:52:19.249Z,1750193539.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994877
2025-06-17T20:52:19.296Z,1750193539.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:19.299Z,1750193539.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 205.883118 m,
      bearing: 327.821234 deg,
      approach rate: -0.722356 m/s,
      LOS rate: -0.004241 deg/s,
      cmd heading: 326.021048 deg,
      new cmd heading: 326.015528 deg.

2025-06-17T20:52:19.307Z,1750193539.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690044 target range: 237.415604 and range: 239.60 m.
2025-06-17T20:52:19.501Z,1750193539.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247218
2025-06-17T20:52:19.686Z,1750193539.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:19.705Z,1750193539.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:19.712Z,1750193539.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 205.600021 m,
      bearing: 327.819570 deg,
      approach rate: -0.692274 m/s,
      LOS rate: -0.004075 deg/s,
      cmd heading: 326.015530 deg,
      new cmd heading: 326.010530 deg.

2025-06-17T20:52:19.713Z,1750193539.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689957 target range: 237.415604 and range: 239.60 m.
2025-06-17T20:52:19.754Z,1750193539.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499812
2025-06-17T20:52:20.007Z,1750193540.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752987
2025-06-17T20:52:20.152Z,1750193540.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:20.155Z,1750193540.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 205.272980 m,
      bearing: 327.818819 deg,
      approach rate: -0.731164 m/s,
      LOS rate: -0.001683 deg/s,
      cmd heading: 326.010530 deg,
      new cmd heading: 326.008271 deg.

2025-06-17T20:52:20.156Z,1750193540.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689918 target range: 237.415604 and range: 239.60 m.
2025-06-17T20:52:20.257Z,1750193540.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003136
2025-06-17T20:52:20.481Z,1750193540.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:20.484Z,1750193540.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 205.041000 m,
      bearing: 327.818283 deg,
      approach rate: -0.704259 m/s,
      LOS rate: -0.001627 deg/s,
      cmd heading: 326.008262 deg,
      new cmd heading: 326.006654 deg.

2025-06-17T20:52:20.485Z,1750193540.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689889 target range: 237.415604 and range: 239.60 m.
2025-06-17T20:52:20.509Z,1750193540.509 [DAT](INFO): DAT read: Rx Time:20:52:20.2562

2025-06-17T20:52:20.509Z,1750193540.509 [DAT](INFO): Rx dataTimestamp_ set to:1750193540.509085
2025-06-17T20:52:20.510Z,1750193540.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256100
2025-06-17T20:52:20.761Z,1750193540.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507371
2025-06-17T20:52:20.880Z,1750193540.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:20.883Z,1750193540.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 204.760452 m,
      bearing: 327.817664 deg,
      approach rate: -0.704114 m/s,
      LOS rate: -0.001557 deg/s,
      cmd heading: 326.006650 deg,
      new cmd heading: 326.004789 deg.

2025-06-17T20:52:20.884Z,1750193540.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689857 target range: 237.415604 and range: 239.60 m.
2025-06-17T20:52:21.014Z,1750193541.014 [DAT](INFO): DAT read: Range 10 to 50 : 237.7 m  (Round-trip  317.0 ms) speed  0.6 m/s

2025-06-17T20:52:21.015Z,1750193541.015 [DAT](INFO): DAT read: user:739>

2025-06-17T20:52:21.015Z,1750193541.015 [DAT](INFO): DAT read: Tx time:20:52:21.3350

2025-06-17T20:52:21.016Z,1750193541.016 [DAT](INFO): Ping request sent.
2025-06-17T20:52:21.016Z,1750193541.016 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:21.016Z,1750193541.016 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:52:21.016Z,1750193541.016 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:21.017Z,1750193541.017 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:21.265Z,1750193541.265 [DAT](INFO): DAT read: TxSync time:20:52:21.3342

2025-06-17T20:52:21.329Z,1750193541.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 237.699997 m,
      deltaT: 3.779821 s,
      deltaX: -1.900009 m,
      approachRate: -0.502672 m/s,
      rangeRepo size: 4

2025-06-17T20:52:21.329Z,1750193541.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:21.332Z,1750193541.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 204.444962 m,
      bearing: 327.816322 deg,
      approach rate: -0.704134 m/s,
      LOS rate: -0.003000 deg/s,
      cmd heading: 326.004792 deg,
      new cmd heading: 326.000760 deg.

2025-06-17T20:52:21.333Z,1750193541.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689786 target range: 237.415604 and range: 237.70 m.
2025-06-17T20:52:21.706Z,1750193541.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:21.708Z,1750193541.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:21.711Z,1750193541.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 204.171631 m,
      bearing: 327.815156 deg,
      approach rate: -0.718235 m/s,
      LOS rate: -0.003068 deg/s,
      cmd heading: 326.000749 deg,
      new cmd heading: 325.997246 deg.

2025-06-17T20:52:21.712Z,1750193541.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689725 target range: 237.415604 and range: 237.70 m.
2025-06-17T20:52:21.770Z,1750193541.770 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:21.770Z,1750193541.770 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:21.770Z,1750193541.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:22.021Z,1750193542.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004955
2025-06-17T20:52:22.164Z,1750193542.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:22.167Z,1750193542.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 203.850906 m,
      bearing: 327.814384 deg,
      approach rate: -0.703442 m/s,
      LOS rate: -0.001695 deg/s,
      cmd heading: 325.997252 deg,
      new cmd heading: 325.994933 deg.

2025-06-17T20:52:22.168Z,1750193542.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689685 target range: 237.415604 and range: 237.70 m.
2025-06-17T20:52:22.274Z,1750193542.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257220
2025-06-17T20:52:22.525Z,1750193542.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508860
2025-06-17T20:52:22.534Z,1750193542.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:22.537Z,1750193542.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 203.605591 m,
      bearing: 327.813792 deg,
      approach rate: -0.662985 m/s,
      LOS rate: -0.001601 deg/s,
      cmd heading: 325.994930 deg,
      new cmd heading: 325.993152 deg.

2025-06-17T20:52:22.538Z,1750193542.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689654 target range: 237.415604 and range: 237.70 m.
2025-06-17T20:52:22.777Z,1750193542.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760857
2025-06-17T20:52:22.909Z,1750193542.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:22.912Z,1750193542.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 203.327896 m,
      bearing: 327.812992 deg,
      approach rate: -0.741338 m/s,
      LOS rate: -0.002139 deg/s,
      cmd heading: 325.993154 deg,
      new cmd heading: 325.990750 deg.

2025-06-17T20:52:22.913Z,1750193542.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689612 target range: 237.415604 and range: 237.70 m.
2025-06-17T20:52:23.029Z,1750193543.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012878
2025-06-17T20:52:23.281Z,1750193543.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264861
2025-06-17T20:52:23.340Z,1750193543.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:23.343Z,1750193543.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 203.019547 m,
      bearing: 327.811232 deg,
      approach rate: -0.714903 m/s,
      LOS rate: -0.004085 deg/s,
      cmd heading: 325.990750 deg,
      new cmd heading: 325.985463 deg.

2025-06-17T20:52:23.345Z,1750193543.345 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:52:23.346Z,1750193543.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689520 target range: 237.415604 and range: 237.70 m.
2025-06-17T20:52:23.533Z,1750193543.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516790
2025-06-17T20:52:23.711Z,1750193543.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:23.713Z,1750193543.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:23.716Z,1750193543.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 202.752930 m,
      bearing: 327.809752 deg,
      approach rate: -0.715398 m/s,
      LOS rate: -0.003979 deg/s,
      cmd heading: 325.985477 deg,
      new cmd heading: 325.981029 deg.

2025-06-17T20:52:23.717Z,1750193543.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689442 target range: 237.415604 and range: 237.70 m.
2025-06-17T20:52:23.790Z,1750193543.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773632
2025-06-17T20:52:24.041Z,1750193544.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025024
2025-06-17T20:52:24.210Z,1750193544.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:24.217Z,1750193544.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 202.403061 m,
      bearing: 327.807925 deg,
      approach rate: -0.703892 m/s,
      LOS rate: -0.003681 deg/s,
      cmd heading: 325.981023 deg,
      new cmd heading: 325.975534 deg.

2025-06-17T20:52:24.218Z,1750193544.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689346 target range: 237.415604 and range: 237.70 m.
2025-06-17T20:52:24.294Z,1750193544.294 [DAT](INFO): DAT read: Rx Time:20:52:24.0533

2025-06-17T20:52:24.294Z,1750193544.294 [DAT](INFO): Rx dataTimestamp_ set to:1750193544.293810
2025-06-17T20:52:24.295Z,1750193544.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278650
2025-06-17T20:52:24.349Z,1750193544.349 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:52:24.545Z,1750193544.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528867
2025-06-17T20:52:24.560Z,1750193544.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:24.563Z,1750193544.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 202.155899 m,
      bearing: 327.806387 deg,
      approach rate: -0.740085 m/s,
      LOS rate: -0.004611 deg/s,
      cmd heading: 325.975532 deg,
      new cmd heading: 325.970912 deg.

2025-06-17T20:52:24.568Z,1750193544.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689266 target range: 237.415604 and range: 237.70 m.
2025-06-17T20:52:24.798Z,1750193544.798 [DAT](INFO): DAT read: Range 10 to 50 : 235.5 m  (Round-trip  314.0 ms) speed  0.9 m/s

2025-06-17T20:52:24.798Z,1750193544.798 [DAT](INFO): DAT read: user:740>

2025-06-17T20:52:24.799Z,1750193544.799 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:52:24.800Z,1750193544.800 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:24.800Z,1750193544.800 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:24.800Z,1750193544.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:24.929Z,1750193544.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 235.500000 m,
      deltaT: 3.783904 s,
      deltaX: -2.199997 m,
      approachRate: -0.581409 m/s,
      rangeRepo size: 4

2025-06-17T20:52:24.929Z,1750193544.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:24.932Z,1750193544.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 201.877914 m,
      bearing: 327.804733 deg,
      approach rate: -0.724605 m/s,
      LOS rate: -0.004317 deg/s,
      cmd heading: 325.970915 deg,
      new cmd heading: 325.965947 deg.

2025-06-17T20:52:24.933Z,1750193544.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689179 target range: 237.415604 and range: 235.50 m.
2025-06-17T20:52:25.049Z,1750193545.049 [DAT](INFO): DAT read: x ie:20:52:25.1351

2025-06-17T20:52:25.049Z,1750193545.049 [DAT](INFO): unknown deviceResponse_: x ie:20:52:25.1351

2025-06-17T20:52:25.050Z,1750193545.050 [DAT](INFO): DAT read: TxSync time:20:52:25.1343

2025-06-17T20:52:25.051Z,1750193545.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034841
2025-06-17T20:52:25.301Z,1750193545.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284742
2025-06-17T20:52:25.427Z,1750193545.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:25.450Z,1750193545.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 201.507721 m,
      bearing: 327.802109 deg,
      approach rate: -0.741724 m/s,
      LOS rate: -0.005267 deg/s,
      cmd heading: 325.965942 deg,
      new cmd heading: 325.958056 deg.

2025-06-17T20:52:25.451Z,1750193545.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689041 target range: 237.415604 and range: 235.50 m.
2025-06-17T20:52:25.557Z,1750193545.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.541157
2025-06-17T20:52:25.777Z,1750193545.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:25.779Z,1750193545.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:25.783Z,1750193545.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 201.246201 m,
      bearing: 327.800250 deg,
      approach rate: -0.741376 m/s,
      LOS rate: -0.005278 deg/s,
      cmd heading: 325.958047 deg,
      new cmd heading: 325.952461 deg.

2025-06-17T20:52:25.784Z,1750193545.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688944 target range: 237.415604 and range: 235.50 m.
2025-06-17T20:52:25.809Z,1750193545.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792830
2025-06-17T20:52:26.061Z,1750193546.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044735
2025-06-17T20:52:26.222Z,1750193546.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:26.225Z,1750193546.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 200.917831 m,
      bearing: 327.796970 deg,
      approach rate: -0.742302 m/s,
      LOS rate: -0.007426 deg/s,
      cmd heading: 325.952473 deg,
      new cmd heading: 325.942618 deg.

2025-06-17T20:52:26.226Z,1750193546.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688772 target range: 237.415604 and range: 235.50 m.
2025-06-17T20:52:26.313Z,1750193546.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.297067
2025-06-17T20:52:26.554Z,1750193546.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:26.558Z,1750193546.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 200.671555 m,
      bearing: 327.794737 deg,
      approach rate: -0.741874 m/s,
      LOS rate: -0.006736 deg/s,
      cmd heading: 325.942610 deg,
      new cmd heading: 325.935902 deg.

2025-06-17T20:52:26.559Z,1750193546.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688654 target range: 237.415604 and range: 235.50 m.
2025-06-17T20:52:26.565Z,1750193546.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548948
2025-06-17T20:52:26.817Z,1750193546.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.800757
2025-06-17T20:52:26.960Z,1750193546.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:26.963Z,1750193546.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 200.370544 m,
      bearing: 327.791907 deg,
      approach rate: -0.741565 m/s,
      LOS rate: -0.006981 deg/s,
      cmd heading: 325.935890 deg,
      new cmd heading: 325.927389 deg.

2025-06-17T20:52:26.980Z,1750193546.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688506 target range: 237.415604 and range: 235.50 m.
2025-06-17T20:52:27.069Z,1750193547.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.053452
2025-06-17T20:52:27.321Z,1750193547.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304813
2025-06-17T20:52:27.398Z,1750193547.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:27.413Z,1750193547.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 200.046082 m,
      bearing: 327.788860 deg,
      approach rate: -0.740781 m/s,
      LOS rate: -0.006968 deg/s,
      cmd heading: 325.927393 deg,
      new cmd heading: 325.918237 deg.

2025-06-17T20:52:27.414Z,1750193547.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688346 target range: 237.415604 and range: 235.50 m.
2025-06-17T20:52:27.573Z,1750193547.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556739
2025-06-17T20:52:27.777Z,1750193547.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:27.780Z,1750193547.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 199.764465 m,
      bearing: 327.786190 deg,
      approach rate: -0.742968 m/s,
      LOS rate: -0.007054 deg/s,
      cmd heading: 325.918240 deg,
      new cmd heading: 325.910219 deg.

2025-06-17T20:52:27.781Z,1750193547.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688206 target range: 237.415604 and range: 235.50 m.
2025-06-17T20:52:27.825Z,1750193547.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808928
2025-06-17T20:52:28.077Z,1750193548.077 [DAT](INFO): DAT read: Rx Time:20:52:27.8494

2025-06-17T20:52:28.077Z,1750193548.077 [DAT](INFO): Rx dataTimestamp_ set to:1750193548.077068
2025-06-17T20:52:28.078Z,1750193548.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061893
2025-06-17T20:52:28.231Z,1750193548.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:28.238Z,1750193548.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:28.245Z,1750193548.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 199.429047 m,
      bearing: 327.782985 deg,
      approach rate: -0.727817 m/s,
      LOS rate: -0.006966 deg/s,
      cmd heading: 325.910208 deg,
      new cmd heading: 325.900577 deg.

2025-06-17T20:52:28.246Z,1750193548.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688038 target range: 237.415604 and range: 235.50 m.
2025-06-17T20:52:28.329Z,1750193548.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313088
2025-06-17T20:52:28.585Z,1750193548.585 [DAT](INFO): DAT read: Range 10 to 50 : 232.5 m  (Round-trip  310.1 ms) speed  0.4 m/s

2025-06-17T20:52:28.585Z,1750193548.585 [DAT](INFO): DAT read: user:741>

2025-06-17T20:52:28.586Z,1750193548.586 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:52:28.586Z,1750193548.586 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:28.587Z,1750193548.587 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:28.587Z,1750193548.587 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:28.645Z,1750193548.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 232.500000 m,
      deltaT: 3.786750 s,
      deltaX: -3.000000 m,
      approachRate: -0.792236 m/s,
      rangeRepo size: 4

2025-06-17T20:52:28.646Z,1750193548.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:28.661Z,1750193548.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 199.134521 m,
      bearing: 327.779986 deg,
      approach rate: -0.732111 m/s,
      LOS rate: -0.007467 deg/s,
      cmd heading: 325.900564 deg,
      new cmd heading: 325.891552 deg.

2025-06-17T20:52:28.662Z,1750193548.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687881 target range: 237.415604 and range: 232.50 m.
2025-06-17T20:52:28.833Z,1750193548.833 [DAT](INFO): DAT read: Tx time:20:52:28.9351

2025-06-17T20:52:28.833Z,1750193548.833 [DAT](INFO): Ping request sent.
2025-06-17T20:52:28.833Z,1750193548.833 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:28.834Z,1750193548.834 [DAT](INFO): DAT read: TxSync time:20:52:28.9343

2025-06-17T20:52:28.834Z,1750193548.834 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:28.835Z,1750193548.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001583
2025-06-17T20:52:28.980Z,1750193548.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:28.983Z,1750193548.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 198.861877 m,
      bearing: 327.777177 deg,
      approach rate: -0.801833 m/s,
      LOS rate: -0.008270 deg/s,
      cmd heading: 325.891548 deg,
      new cmd heading: 325.883111 deg.

2025-06-17T20:52:28.984Z,1750193548.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687733 target range: 237.415604 and range: 232.50 m.
2025-06-17T20:52:29.086Z,1750193549.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252103
2025-06-17T20:52:29.337Z,1750193549.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503299
2025-06-17T20:52:29.421Z,1750193549.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:29.425Z,1750193549.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 198.527161 m,
      bearing: 327.773796 deg,
      approach rate: -0.758268 m/s,
      LOS rate: -0.007672 deg/s,
      cmd heading: 325.883106 deg,
      new cmd heading: 325.872945 deg.

2025-06-17T20:52:29.426Z,1750193549.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687556 target range: 237.415604 and range: 232.50 m.
2025-06-17T20:52:29.589Z,1750193549.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755394
2025-06-17T20:52:29.795Z,1750193549.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:29.798Z,1750193549.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 198.243744 m,
      bearing: 327.770904 deg,
      approach rate: -0.758596 m/s,
      LOS rate: -0.007752 deg/s,
      cmd heading: 325.872943 deg,
      new cmd heading: 325.864254 deg.

2025-06-17T20:52:29.799Z,1750193549.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687404 target range: 237.415604 and range: 232.50 m.
2025-06-17T20:52:29.841Z,1750193549.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007584
2025-06-17T20:52:30.093Z,1750193550.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259300
2025-06-17T20:52:30.251Z,1750193550.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:30.267Z,1750193550.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:30.280Z,1750193550.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 197.935013 m,
      bearing: 327.767723 deg,
      approach rate: -0.665456 m/s,
      LOS rate: -0.006867 deg/s,
      cmd heading: 325.864255 deg,
      new cmd heading: 325.854697 deg.

2025-06-17T20:52:30.281Z,1750193550.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687237 target range: 237.415604 and range: 232.50 m.
2025-06-17T20:52:30.345Z,1750193550.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511967
2025-06-17T20:52:30.597Z,1750193550.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763411
2025-06-17T20:52:30.616Z,1750193550.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:30.619Z,1750193550.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 197.627045 m,
      bearing: 327.765005 deg,
      approach rate: -0.862455 m/s,
      LOS rate: -0.007625 deg/s,
      cmd heading: 325.854692 deg,
      new cmd heading: 325.846524 deg.

2025-06-17T20:52:30.640Z,1750193550.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687095 target range: 237.415604 and range: 232.50 m.
2025-06-17T20:52:30.849Z,1750193550.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016010
2025-06-17T20:52:31.015Z,1750193551.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:31.018Z,1750193551.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 197.328812 m,
      bearing: 327.762364 deg,
      approach rate: -0.746920 m/s,
      LOS rate: -0.006623 deg/s,
      cmd heading: 325.846523 deg,
      new cmd heading: 325.838590 deg.

2025-06-17T20:52:31.019Z,1750193551.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686956 target range: 237.415604 and range: 232.50 m.
2025-06-17T20:52:31.102Z,1750193551.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267899
2025-06-17T20:52:31.353Z,1750193551.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519400
2025-06-17T20:52:31.446Z,1750193551.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:31.454Z,1750193551.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 197.016388 m,
      bearing: 327.759960 deg,
      approach rate: -0.725770 m/s,
      LOS rate: -0.005594 deg/s,
      cmd heading: 325.838600 deg,
      new cmd heading: 325.831376 deg.

2025-06-17T20:52:31.455Z,1750193551.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686831 target range: 237.415604 and range: 232.50 m.
2025-06-17T20:52:31.605Z,1750193551.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771379
2025-06-17T20:52:31.823Z,1750193551.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:31.826Z,1750193551.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 196.755569 m,
      bearing: 327.757937 deg,
      approach rate: -0.697682 m/s,
      LOS rate: -0.005420 deg/s,
      cmd heading: 325.831388 deg,
      new cmd heading: 325.825309 deg.

2025-06-17T20:52:31.827Z,1750193551.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686725 target range: 237.415604 and range: 232.50 m.
2025-06-17T20:52:31.858Z,1750193551.858 [DAT](INFO): DAT read: Rx Time:20:52:31.6466

2025-06-17T20:52:31.858Z,1750193551.858 [DAT](INFO): Rx dataTimestamp_ set to:1750193551.857962
2025-06-17T20:52:31.859Z,1750193551.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025556
2025-06-17T20:52:32.109Z,1750193552.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275327
2025-06-17T20:52:32.263Z,1750193552.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.42 m.
2025-06-17T20:52:32.284Z,1750193552.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.415604 m,
      nav range: 196.456146 m,
      bearing: 327.755664 deg,
      approach rate: -0.677284 m/s,
      LOS rate: -0.005149 deg/s,
      cmd heading: 325.825322 deg,
      new cmd heading: 325.818494 deg.

2025-06-17T20:52:32.285Z,1750193552.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686605 target range: 237.415604 and range: 232.50 m.
2025-06-17T20:52:32.361Z,1750193552.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527484
2025-06-17T20:52:32.619Z,1750193552.619 [DAT](INFO): DAT read: 20:52:31.6466 LVL= 28288, 28305, 25330, 32755, AGC= 62, IDX= 407, 0.24, 1.386, 0.094, 1.487, 0.366, PHS= 1.108,-0.225, 1.118, RAW= 150.4, -27.9, CAL= 154.0, -33.8, ROT= 356.0,  33.8

2025-06-17T20:52:32.620Z,1750193552.620 [DAT](INFO): got valid direction response:
 20:52:31.6466 LVL= 28288, 28305, 25330, 32755, AGC= 62, IDX= 407, 0.24, 1.386, 0.094, 1.487, 0.366, PHS= 1.108,-0.225, 1.118, RAW= 150.4, -27.9, CAL= 154.0, -33.8, ROT= 356.0,  33.8

2025-06-17T20:52:32.621Z,1750193552.621 [DAT](INFO): DAT read: Bearing 356.0,  33.8 (Local)

2025-06-17T20:52:32.621Z,1750193552.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.0,  33.8 (Local)

2025-06-17T20:52:32.623Z,1750193552.623 [DAT](INFO): DAT read: Range 10 to 50 : 230.5 m  (Round-trip  307.4 ms) speed  0.4 m/s

2025-06-17T20:52:32.624Z,1750193552.624 [DAT](INFO): DAT read: user:742>

2025-06-17T20:52:32.625Z,1750193552.625 [DAT](INFO): DAT read: Tx time:20:52:32.7351

2025-06-17T20:52:32.625Z,1750193552.625 [DAT](INFO): Ping request sent.
2025-06-17T20:52:32.625Z,1750193552.625 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:32.626Z,1750193552.626 [DAT](INFO): DAT read: TxSync time:20:52:32.7343

2025-06-17T20:52:32.626Z,1750193552.626 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:52:32.627Z,1750193552.627 [DAT](INFO): direction in FSK: [0.828960,-0.057966,-0.556296]
2025-06-17T20:52:32.627Z,1750193552.627 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:32.628Z,1750193552.628 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:32.631Z,1750193552.631 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:32.631Z,1750193552.631 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:32.772Z,1750193552.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 230.500000 m,
      deltaT: 4.029093 s,
      deltaX: -2.000000 m,
      approachRate: -0.496390 m/s,
      rangeRepo size: 4

2025-06-17T20:52:32.775Z,1750193552.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 228.399826 m,
      bearing: 324.819833 deg,
      lat: 36.905979 deg,
      lon: -122.115951 deg,
      deltaT: 15.379568 s,
      deltaX: -9.015778 m,
      approachRate: -0.586218 m/s,
      posRepo size: 4

2025-06-17T20:52:32.775Z,1750193552.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:32.789Z,1750193552.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 196.080521 m,
      bearing: 327.753610 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005149 deg/s,
      cmd heading: 325.818492 deg,
      new cmd heading: 325.810680 deg.

2025-06-17T20:52:32.790Z,1750193552.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686469 target range: 228.399826 and range: 230.50 m.
2025-06-17T20:52:33.077Z,1750193553.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:33.079Z,1750193553.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:33.082Z,1750193553.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 195.835495 m,
      bearing: 327.752511 deg,
      approach rate: -0.786708 m/s,
      LOS rate: -0.003535 deg/s,
      cmd heading: 325.810679 deg,
      new cmd heading: 325.807376 deg.

2025-06-17T20:52:33.083Z,1750193553.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686411 target range: 228.399826 and range: 230.50 m.
2025-06-17T20:52:33.116Z,1750193553.116 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:33.117Z,1750193553.117 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:33.117Z,1750193553.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:33.369Z,1750193553.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743787
2025-06-17T20:52:33.503Z,1750193553.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:33.507Z,1750193553.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 195.534027 m,
      bearing: 327.752546 deg,
      approach rate: -0.710180 m/s,
      LOS rate: 0.000084 deg/s,
      cmd heading: 325.807373 deg,
      new cmd heading: 325.807480 deg.

2025-06-17T20:52:33.508Z,1750193553.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686413 target range: 228.399826 and range: 230.50 m.
2025-06-17T20:52:33.621Z,1750193553.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995760
2025-06-17T20:52:33.873Z,1750193553.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248250
2025-06-17T20:52:33.887Z,1750193553.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:33.890Z,1750193553.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 195.261780 m,
      bearing: 327.752690 deg,
      approach rate: -0.709643 m/s,
      LOS rate: 0.000376 deg/s,
      cmd heading: 325.807482 deg,
      new cmd heading: 325.807915 deg.

2025-06-17T20:52:33.891Z,1750193553.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686421 target range: 228.399826 and range: 230.50 m.
2025-06-17T20:52:34.125Z,1750193554.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499702
2025-06-17T20:52:34.375Z,1750193554.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:34.377Z,1750193554.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751803
2025-06-17T20:52:34.379Z,1750193554.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 194.921478 m,
      bearing: 327.754323 deg,
      approach rate: -0.697851 m/s,
      LOS rate: 0.003355 deg/s,
      cmd heading: 325.807919 deg,
      new cmd heading: 325.812827 deg.

2025-06-17T20:52:34.381Z,1750193554.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686507 target range: 228.399826 and range: 230.50 m.
2025-06-17T20:52:34.629Z,1750193554.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003620
2025-06-17T20:52:34.700Z,1750193554.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:34.703Z,1750193554.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 194.689331 m,
      bearing: 327.755269 deg,
      approach rate: -0.712613 m/s,
      LOS rate: 0.002907 deg/s,
      cmd heading: 325.812837 deg,
      new cmd heading: 325.815678 deg.

2025-06-17T20:52:34.705Z,1750193554.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686556 target range: 228.399826 and range: 230.50 m.
2025-06-17T20:52:34.881Z,1750193554.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255697
2025-06-17T20:52:35.091Z,1750193555.091 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:35.093Z,1750193555.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:35.096Z,1750193555.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 194.413788 m,
      bearing: 327.756377 deg,
      approach rate: -0.701524 m/s,
      LOS rate: 0.002825 deg/s,
      cmd heading: 325.815678 deg,
      new cmd heading: 325.819007 deg.

2025-06-17T20:52:35.097Z,1750193555.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686615 target range: 228.399826 and range: 230.50 m.
2025-06-17T20:52:35.134Z,1750193555.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508265
2025-06-17T20:52:35.385Z,1750193555.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759955
2025-06-17T20:52:35.530Z,1750193555.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:35.533Z,1750193555.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 194.105865 m,
      bearing: 327.757084 deg,
      approach rate: -0.704621 m/s,
      LOS rate: 0.001620 deg/s,
      cmd heading: 325.819011 deg,
      new cmd heading: 325.821135 deg.

2025-06-17T20:52:35.534Z,1750193555.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686652 target range: 228.399826 and range: 230.50 m.
2025-06-17T20:52:35.637Z,1750193555.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011859
2025-06-17T20:52:35.890Z,1750193555.890 [DAT](INFO): DAT read: Rx Time:20:52:35.4432

2025-06-17T20:52:35.891Z,1750193555.891 [DAT](INFO): Rx dataTimestamp_ set to:1750193555.890383
2025-06-17T20:52:35.891Z,1750193555.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266370
2025-06-17T20:52:35.921Z,1750193555.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:35.924Z,1750193555.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 193.834076 m,
      bearing: 327.757704 deg,
      approach rate: -0.695897 m/s,
      LOS rate: 0.001591 deg/s,
      cmd heading: 325.821142 deg,
      new cmd heading: 325.823006 deg.

2025-06-17T20:52:35.925Z,1750193555.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686684 target range: 228.399826 and range: 230.50 m.
2025-06-17T20:52:36.141Z,1750193556.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515727
2025-06-17T20:52:36.380Z,1750193556.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:36.383Z,1750193556.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 193.513092 m,
      bearing: 327.758166 deg,
      approach rate: -0.699161 m/s,
      LOS rate: 0.001008 deg/s,
      cmd heading: 325.823000 deg,
      new cmd heading: 325.824388 deg.

2025-06-17T20:52:36.384Z,1750193556.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686708 target range: 228.399826 and range: 230.50 m.
2025-06-17T20:52:36.410Z,1750193556.410 [DAT](INFO): DAT read: Range 10 to 50 : 228.0 m  (Round-trip  304.0 ms) speed  0.0 m/s

2025-06-17T20:52:36.411Z,1750193556.411 [DAT](INFO): DAT read: user:743>

2025-06-17T20:52:36.412Z,1750193556.412 [DAT](INFO): DAT read: Tx time:20:52:36.5351

2025-06-17T20:52:36.412Z,1750193556.412 [DAT](INFO): Ping request sent.
2025-06-17T20:52:36.412Z,1750193556.412 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:36.413Z,1750193556.413 [DAT](INFO): DAT read: TxSync time:20:52:36.5344

2025-06-17T20:52:36.413Z,1750193556.413 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:52:36.413Z,1750193556.413 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:36.414Z,1750193556.414 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:36.723Z,1750193556.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 228.000000 m,
      deltaT: 3.796196 s,
      deltaX: -2.500000 m,
      approachRate: -0.658554 m/s,
      rangeRepo size: 4

2025-06-17T20:52:36.723Z,1750193556.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:36.727Z,1750193556.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 193.281281 m,
      bearing: 327.758515 deg,
      approach rate: -0.677601 m/s,
      LOS rate: 0.001021 deg/s,
      cmd heading: 325.824394 deg,
      new cmd heading: 325.825441 deg.

2025-06-17T20:52:36.729Z,1750193556.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686727 target range: 228.399826 and range: 228.00 m.
2025-06-17T20:52:37.114Z,1750193557.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:37.132Z,1750193557.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:37.135Z,1750193557.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 192.996490 m,
      bearing: 327.759018 deg,
      approach rate: -0.723396 m/s,
      LOS rate: 0.001280 deg/s,
      cmd heading: 325.825432 deg,
      new cmd heading: 325.826944 deg.

2025-06-17T20:52:37.140Z,1750193557.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686753 target range: 228.399826 and range: 228.00 m.
2025-06-17T20:52:37.165Z,1750193557.165 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:37.165Z,1750193557.165 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:37.165Z,1750193557.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:37.417Z,1750193557.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004551
2025-06-17T20:52:37.547Z,1750193557.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:37.550Z,1750193557.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 192.685135 m,
      bearing: 327.757920 deg,
      approach rate: -0.721161 m/s,
      LOS rate: -0.002547 deg/s,
      cmd heading: 325.826934 deg,
      new cmd heading: 325.823636 deg.

2025-06-17T20:52:37.551Z,1750193557.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686695 target range: 228.399826 and range: 228.00 m.
2025-06-17T20:52:37.669Z,1750193557.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256601
2025-06-17T20:52:37.921Z,1750193557.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508718
2025-06-17T20:52:37.924Z,1750193557.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:37.927Z,1750193557.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 192.414902 m,
      bearing: 327.756916 deg,
      approach rate: -0.718228 m/s,
      LOS rate: -0.002672 deg/s,
      cmd heading: 325.823629 deg,
      new cmd heading: 325.820612 deg.

2025-06-17T20:52:37.928Z,1750193557.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686643 target range: 228.399826 and range: 228.00 m.
2025-06-17T20:52:38.173Z,1750193558.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760631
2025-06-17T20:52:38.398Z,1750193558.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:38.406Z,1750193558.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 192.080444 m,
      bearing: 327.755596 deg,
      approach rate: -0.704705 m/s,
      LOS rate: -0.002787 deg/s,
      cmd heading: 325.820623 deg,
      new cmd heading: 325.816655 deg.

2025-06-17T20:52:38.407Z,1750193558.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686574 target range: 228.399826 and range: 228.00 m.
2025-06-17T20:52:38.425Z,1750193558.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012688
2025-06-17T20:52:38.677Z,1750193558.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264625
2025-06-17T20:52:38.779Z,1750193558.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:38.782Z,1750193558.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 191.796936 m,
      bearing: 327.754731 deg,
      approach rate: -0.744460 m/s,
      LOS rate: -0.002274 deg/s,
      cmd heading: 325.816662 deg,
      new cmd heading: 325.814064 deg.

2025-06-17T20:52:38.783Z,1750193558.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686528 target range: 228.399826 and range: 228.00 m.
2025-06-17T20:52:38.929Z,1750193558.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516607
2025-06-17T20:52:39.181Z,1750193559.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768628
2025-06-17T20:52:39.220Z,1750193559.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:39.222Z,1750193559.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:39.247Z,1750193559.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 191.477509 m,
      bearing: 327.753804 deg,
      approach rate: -0.721054 m/s,
      LOS rate: -0.002097 deg/s,
      cmd heading: 325.814066 deg,
      new cmd heading: 325.811280 deg.

2025-06-17T20:52:39.253Z,1750193559.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686480 target range: 228.399826 and range: 228.00 m.
2025-06-17T20:52:39.433Z,1750193559.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020673
2025-06-17T20:52:39.645Z,1750193559.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:39.654Z,1750193559.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 191.171005 m,
      bearing: 327.751834 deg,
      approach rate: -0.724004 m/s,
      LOS rate: -0.004661 deg/s,
      cmd heading: 325.811280 deg,
      new cmd heading: 325.805360 deg.

2025-06-17T20:52:39.655Z,1750193559.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686376 target range: 228.399826 and range: 228.00 m.
2025-06-17T20:52:39.685Z,1750193559.685 [DAT](INFO): DAT read: Rx Time:20:52:39.2419

2025-06-17T20:52:39.685Z,1750193559.685 [DAT](INFO): Rx dataTimestamp_ set to:1750193559.685098
2025-06-17T20:52:39.686Z,1750193559.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273742
2025-06-17T20:52:39.937Z,1750193559.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524507
2025-06-17T20:52:40.108Z,1750193560.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-17T20:52:40.111Z,1750193560.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399826 m,
      nav range: 190.836517 m,
      bearing: 327.749717 deg,
      approach rate: -0.723862 m/s,
      LOS rate: -0.004588 deg/s,
      cmd heading: 325.805351 deg,
      new cmd heading: 325.798990 deg.

2025-06-17T20:52:40.112Z,1750193560.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686265 target range: 228.399826 and range: 228.00 m.
2025-06-17T20:52:40.203Z,1750193560.203 [DAT](INFO): DAT read: 20:52:39.2419 LVL= 25392, 32753, 24882, 32755, AGC= 64, IDX= 418,-0.12, 1.483, 0.430, 1.520, 0.569, PHS= 1.002,-0.093, 0.947, RAW= 147.5, -31.6, CAL= 150.7, -36.7, ROT= 359.3,  36.7

2025-06-17T20:52:40.207Z,1750193560.207 [DAT](INFO): got valid direction response:
 20:52:39.2419 LVL= 25392, 32753, 24882, 32755, AGC= 64, IDX= 418,-0.12, 1.483, 0.430, 1.520, 0.569, PHS= 1.002,-0.093, 0.947, RAW= 147.5, -31.6, CAL= 150.7, -36.7, ROT= 359.3,  36.7

2025-06-17T20:52:40.213Z,1750193560.213 [DAT](INFO): DAT read: Bearing 359.3,  36.7 (Local)

2025-06-17T20:52:40.213Z,1750193560.213 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,  36.7 (Local)

2025-06-17T20:52:40.215Z,1750193560.215 [DAT](INFO): DAT read: Range 10 to 50 : 226.9 m  (Round-trip  302.6 ms) speed  0.6 m/s

2025-06-17T20:52:40.240Z,1750193560.240 [DAT](INFO): DAT read: user:744>

2025-06-17T20:52:40.241Z,1750193560.241 [DAT](INFO): DAT read: Tx time:20:52:40.3352

2025-06-17T20:52:40.241Z,1750193560.241 [DAT](INFO): Ping request sent.
2025-06-17T20:52:40.241Z,1750193560.241 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:40.242Z,1750193560.242 [DAT](INFO): DAT read: TxSync time:20:52:40.3344

2025-06-17T20:52:40.242Z,1750193560.242 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:52:40.243Z,1750193560.243 [DAT](INFO): direction in FSK: [0.801716,-0.009795,-0.597625]
2025-06-17T20:52:40.243Z,1750193560.243 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:40.256Z,1750193560.256 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:40.259Z,1750193560.259 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:40.259Z,1750193560.259 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:40.557Z,1750193560.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 226.899994 m,
      deltaT: 3.780659 s,
      deltaX: -1.100006 m,
      approachRate: -0.290956 m/s,
      rangeRepo size: 4

2025-06-17T20:52:40.559Z,1750193560.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 224.834473 m,
      bearing: 327.957273 deg,
      lat: 36.905974 deg,
      lon: -122.115938 deg,
      deltaT: 7.576855 s,
      deltaX: -3.565353 m,
      approachRate: -0.470558 m/s,
      posRepo size: 4

2025-06-17T20:52:40.564Z,1750193560.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:40.566Z,1750193560.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 189.391281 m,
      bearing: 327.957856 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004588 deg/s,
      cmd heading: 325.798985 deg,
      new cmd heading: 325.792813 deg.

2025-06-17T20:52:40.567Z,1750193560.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686157 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:40.943Z,1750193560.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:40.951Z,1750193560.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 189.117325 m,
      bearing: 327.955560 deg,
      approach rate: -0.707011 m/s,
      LOS rate: -0.005933 deg/s,
      cmd heading: 325.792811 deg,
      new cmd heading: 325.785914 deg.

2025-06-17T20:52:40.952Z,1750193560.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686037 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:41.305Z,1750193561.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:41.307Z,1750193561.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:41.310Z,1750193561.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 188.828796 m,
      bearing: 327.953192 deg,
      approach rate: -0.793563 m/s,
      LOS rate: -0.006523 deg/s,
      cmd heading: 325.785926 deg,
      new cmd heading: 325.778811 deg.

2025-06-17T20:52:41.311Z,1750193561.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685913 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:41.449Z,1750193561.449 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:41.449Z,1750193561.449 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:41.449Z,1750193561.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:41.701Z,1750193561.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.459799
2025-06-17T20:52:41.765Z,1750193561.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:41.773Z,1750193561.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 188.516495 m,
      bearing: 327.950080 deg,
      approach rate: -0.681230 m/s,
      LOS rate: -0.006800 deg/s,
      cmd heading: 325.778823 deg,
      new cmd heading: 325.769470 deg.

2025-06-17T20:52:41.774Z,1750193561.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685750 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:41.953Z,1750193561.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711641
2025-06-17T20:52:42.122Z,1750193562.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:42.125Z,1750193562.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 188.233459 m,
      bearing: 327.947139 deg,
      approach rate: -0.794458 m/s,
      LOS rate: -0.008268 deg/s,
      cmd heading: 325.769479 deg,
      new cmd heading: 325.760642 deg.

2025-06-17T20:52:42.126Z,1750193562.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685596 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:42.206Z,1750193562.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964520
2025-06-17T20:52:42.457Z,1750193562.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215694
2025-06-17T20:52:42.550Z,1750193562.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:42.553Z,1750193562.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 187.913788 m,
      bearing: 327.945939 deg,
      approach rate: -0.746795 m/s,
      LOS rate: -0.002806 deg/s,
      cmd heading: 325.760654 deg,
      new cmd heading: 325.757051 deg.

2025-06-17T20:52:42.554Z,1750193562.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685533 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:42.709Z,1750193562.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467620
2025-06-17T20:52:42.941Z,1750193562.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:42.943Z,1750193562.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 187.622574 m,
      bearing: 327.944844 deg,
      approach rate: -0.745050 m/s,
      LOS rate: -0.002808 deg/s,
      cmd heading: 325.757048 deg,
      new cmd heading: 325.753755 deg.

2025-06-17T20:52:42.944Z,1750193562.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685475 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:42.963Z,1750193562.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721824
2025-06-17T20:52:43.213Z,1750193563.213 [DAT](INFO): DAT read: Rx Time:20:52:43.0110

2025-06-17T20:52:43.213Z,1750193563.213 [DAT](INFO): Rx dataTimestamp_ set to:1750193563.213085
2025-06-17T20:52:43.214Z,1750193563.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972809
2025-06-17T20:52:43.327Z,1750193563.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:43.330Z,1750193563.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:43.333Z,1750193563.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 187.332336 m,
      bearing: 327.943728 deg,
      approach rate: -0.746137 m/s,
      LOS rate: -0.002873 deg/s,
      cmd heading: 325.753742 deg,
      new cmd heading: 325.750390 deg.

2025-06-17T20:52:43.334Z,1750193563.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685417 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:43.465Z,1750193563.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223817
2025-06-17T20:52:43.717Z,1750193563.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475744
2025-06-17T20:52:43.825Z,1750193563.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:43.833Z,1750193563.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 186.980560 m,
      bearing: 327.940989 deg,
      approach rate: -0.709461 m/s,
      LOS rate: -0.005534 deg/s,
      cmd heading: 325.750382 deg,
      new cmd heading: 325.742149 deg.

2025-06-17T20:52:43.834Z,1750193563.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685273 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:43.975Z,1750193563.975 [DAT](INFO): DAT read: 20:52:43.0110 LVL= 22592, 22001, 21890, 29875, AGC= 66, IDX= 121,-0.12,-0.848,-2.145,-0.817,-1.725, PHS= 0.964,-0.373, 0.905, RAW= 147.7, -22.0, CAL= 152.7, -28.9, ROT= 357.3,  28.9

2025-06-17T20:52:43.976Z,1750193563.976 [DAT](INFO): got valid direction response:
 20:52:43.0110 LVL= 22592, 22001, 21890, 29875, AGC= 66, IDX= 121,-0.12,-0.848,-2.145,-0.817,-1.725, PHS= 0.964,-0.373, 0.905, RAW= 147.7, -22.0, CAL= 152.7, -28.9, ROT= 357.3,  28.9

2025-06-17T20:52:43.977Z,1750193563.977 [DAT](INFO): DAT read: Bearing 357.3,  28.9 (Local)

2025-06-17T20:52:43.977Z,1750193563.977 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  28.9 (Local)

2025-06-17T20:52:43.979Z,1750193563.979 [DAT](INFO): DAT read: Range 10 to 50 : 203.7 m  (Round-trip  271.6 ms) speed  0.5 m/s

2025-06-17T20:52:43.979Z,1750193563.979 [DAT](INFO): DAT read: user:745>

2025-06-17T20:52:43.980Z,1750193563.980 [DAT](INFO): DAT read: Tx time:20:52:44.1352

2025-06-17T20:52:43.981Z,1750193563.981 [DAT](INFO): Ping request sent.
2025-06-17T20:52:43.981Z,1750193563.981 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:43.981Z,1750193563.981 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:52:43.982Z,1750193563.982 [DAT](INFO): direction in FSK: [0.874493,-0.041240,-0.483282]
2025-06-17T20:52:43.982Z,1750193563.982 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:43.983Z,1750193563.983 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:43.986Z,1750193563.986 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:43.986Z,1750193563.986 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:44.181Z,1750193564.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 203.699997 m,
 deltaT: 3.779304 s,
 deltaX: -23.199997 m,
 approachRate: -6.138696 m/s,
 rangeRepo size: 4
2025-06-17T20:52:44.192Z,1750193564.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:44.195Z,1750193564.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 186.744461 m,
      bearing: 327.939165 deg,
      approach rate: -0.704177 m/s,
      LOS rate: -0.005446 deg/s,
      cmd heading: 325.742158 deg,
      new cmd heading: 325.736680 deg.

2025-06-17T20:52:44.200Z,1750193564.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685177 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:44.221Z,1750193564.221 [DAT](INFO): DAT read: TxSync time:20:52:44.1344

2025-06-17T20:52:44.554Z,1750193564.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:44.573Z,1750193564.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 186.437454 m,
      bearing: 327.938145 deg,
      approach rate: -0.781653 m/s,
      LOS rate: -0.002603 deg/s,
      cmd heading: 325.736667 deg,
      new cmd heading: 325.733599 deg.

2025-06-17T20:52:44.574Z,1750193564.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685124 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:44.990Z,1750193564.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:45.019Z,1750193565.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 186.125275 m,
      bearing: 327.937157 deg,
      approach rate: -0.715693 m/s,
      LOS rate: -0.002268 deg/s,
      cmd heading: 325.733607 deg,
      new cmd heading: 325.730638 deg.

2025-06-17T20:52:45.029Z,1750193565.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685072 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:45.342Z,1750193565.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:45.345Z,1750193565.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:45.348Z,1750193565.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 185.861710 m,
      bearing: 327.936349 deg,
      approach rate: -0.741898 m/s,
      LOS rate: -0.002277 deg/s,
      cmd heading: 325.730629 deg,
      new cmd heading: 325.728201 deg.

2025-06-17T20:52:45.349Z,1750193565.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685030 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:45.483Z,1750193565.483 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:45.483Z,1750193565.483 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:45.484Z,1750193565.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:45.733Z,1750193565.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752680
2025-06-17T20:52:45.790Z,1750193565.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:45.793Z,1750193565.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 185.543411 m,
      bearing: 327.935038 deg,
      approach rate: -0.715726 m/s,
      LOS rate: -0.002953 deg/s,
      cmd heading: 325.728197 deg,
      new cmd heading: 325.724257 deg.

2025-06-17T20:52:45.794Z,1750193565.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684961 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:45.985Z,1750193565.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004000
2025-06-17T20:52:46.155Z,1750193566.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:46.158Z,1750193566.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 185.282913 m,
      bearing: 327.933885 deg,
      approach rate: -0.713820 m/s,
      LOS rate: -0.003163 deg/s,
      cmd heading: 325.724263 deg,
      new cmd heading: 325.720800 deg.

2025-06-17T20:52:46.159Z,1750193566.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684900 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:46.238Z,1750193566.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256774
2025-06-17T20:52:46.490Z,1750193566.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508785
2025-06-17T20:52:46.591Z,1750193566.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:46.595Z,1750193566.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 184.967117 m,
      bearing: 327.932639 deg,
      approach rate: -0.722944 m/s,
      LOS rate: -0.002857 deg/s,
      cmd heading: 325.720793 deg,
      new cmd heading: 325.717050 deg.

2025-06-17T20:52:46.596Z,1750193566.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684835 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:46.741Z,1750193566.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760477
2025-06-17T20:52:46.975Z,1750193566.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:46.978Z,1750193566.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 184.704056 m,
      bearing: 327.931582 deg,
      approach rate: -0.691657 m/s,
      LOS rate: -0.002784 deg/s,
      cmd heading: 325.717050 deg,
      new cmd heading: 325.713874 deg.

2025-06-17T20:52:46.979Z,1750193566.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684780 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:46.993Z,1750193566.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012115
2025-06-17T20:52:47.245Z,1750193567.245 [DAT](INFO): DAT read: Rx Time:20:52:46.8082

2025-06-17T20:52:47.245Z,1750193567.245 [DAT](INFO): Rx dataTimestamp_ set to:1750193567.245061
2025-06-17T20:52:47.246Z,1750193567.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265109
2025-06-17T20:52:47.367Z,1750193567.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:47.385Z,1750193567.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-17T20:52:47.392Z,1750193567.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.834473 m,
      nav range: 184.406616 m,
      bearing: 327.930356 deg,
      approach rate: -0.719626 m/s,
      LOS rate: -0.002970 deg/s,
      cmd heading: 325.713881 deg,
      new cmd heading: 325.710198 deg.

2025-06-17T20:52:47.393Z,1750193567.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684715 target range: 224.834473 and range: 226.90 m.
2025-06-17T20:52:47.503Z,1750193567.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521862
2025-06-17T20:52:47.761Z,1750193567.761 [DAT](INFO): DAT read: 20:52:46.8082 LVL= 24240, 32753, 20626, 30899, AGC= 69, IDX= 105, 0.11, 2.645, 1.007, 2.185, 1.803, PHS= 0.930,-0.749, 0.379, RAW= 131.2,  -7.6, CAL= 136.2, -19.7, ROT=  13.8,  19.7

2025-06-17T20:52:47.763Z,1750193567.763 [DAT](INFO): got valid direction response:
 20:52:46.8082 LVL= 24240, 32753, 20626, 30899, AGC= 69, IDX= 105, 0.11, 2.645, 1.007, 2.185, 1.803, PHS= 0.930,-0.749, 0.379, RAW= 131.2,  -7.6, CAL= 136.2, -19.7, ROT=  13.8,  19.7

2025-06-17T20:52:47.769Z,1750193567.769 [DAT](INFO): DAT read: Bearing  13.8,  19.7 (Local)

2025-06-17T20:52:47.769Z,1750193567.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.8,  19.7 (Local)

2025-06-17T20:52:47.771Z,1750193567.771 [DAT](INFO): DAT read: Range 10 to 50 : 201.6 m  (Round-trip  268.8 ms) speed  0.4 m/s

2025-06-17T20:52:47.776Z,1750193567.776 [DAT](INFO): DAT read: user:746>

2025-06-17T20:52:47.777Z,1750193567.777 [DAT](INFO): DAT read: Tx time:20:52:47.8852

2025-06-17T20:52:47.777Z,1750193567.777 [DAT](INFO): Ping request sent.
2025-06-17T20:52:47.777Z,1750193567.777 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:47.778Z,1750193567.778 [DAT](INFO): DAT read: TxSync time:20:52:47.8844

2025-06-17T20:52:47.778Z,1750193567.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:52:47.779Z,1750193567.779 [DAT](INFO): direction in FSK: [0.914294,0.224572,-0.337095]
2025-06-17T20:52:47.780Z,1750193567.780 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:47.784Z,1750193567.784 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:47.787Z,1750193567.787 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:47.787Z,1750193567.787 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:47.911Z,1750193567.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 201.600006 m,
      deltaT: 7.559783 s,
      deltaX: -25.299988 m,
      approachRate: -3.346655 m/s,
      rangeRepo size: 4

2025-06-17T20:52:47.918Z,1750193567.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 199.763748 m,
      bearing: 340.362581 deg,
      lat: 36.905937 deg,
      lon: -122.115938 deg,
      deltaT: 7.559783 s,
      deltaX: -25.070724 m,
      approachRate: -3.316329 m/s,
      posRepo size: 4

2025-06-17T20:52:47.919Z,1750193567.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:47.926Z,1750193567.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 180.543671 m,
      bearing: 327.233427 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002970 deg/s,
      cmd heading: 325.710193 deg,
      new cmd heading: 325.705514 deg.

2025-06-17T20:52:47.927Z,1750193567.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684634 target range: 199.763748 and range: 201.60 m.
2025-06-17T20:52:48.201Z,1750193568.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:48.205Z,1750193568.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 180.324966 m,
      bearing: 327.232378 deg,
      approach rate: -0.750681 m/s,
      LOS rate: -0.003605 deg/s,
      cmd heading: 325.705521 deg,
      new cmd heading: 325.702370 deg.

2025-06-17T20:52:48.206Z,1750193568.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684579 target range: 199.763748 and range: 201.60 m.
2025-06-17T20:52:48.637Z,1750193568.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:48.639Z,1750193568.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 180.015396 m,
      bearing: 327.231553 deg,
      approach rate: -0.711237 m/s,
      LOS rate: -0.001900 deg/s,
      cmd heading: 325.702379 deg,
      new cmd heading: 325.699898 deg.

2025-06-17T20:52:48.641Z,1750193568.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684536 target range: 199.763748 and range: 201.60 m.
2025-06-17T20:52:49.011Z,1750193569.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:49.015Z,1750193569.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 179.748672 m,
      bearing: 327.230797 deg,
      approach rate: -0.711760 m/s,
      LOS rate: -0.002021 deg/s,
      cmd heading: 325.699893 deg,
      new cmd heading: 325.697621 deg.

2025-06-17T20:52:49.017Z,1750193569.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684496 target range: 199.763748 and range: 201.60 m.
2025-06-17T20:52:49.407Z,1750193569.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:49.409Z,1750193569.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:49.412Z,1750193569.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 179.465942 m,
      bearing: 327.229827 deg,
      approach rate: -0.710757 m/s,
      LOS rate: -0.002442 deg/s,
      cmd heading: 325.697625 deg,
      new cmd heading: 325.694711 deg.

2025-06-17T20:52:49.413Z,1750193569.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684445 target range: 199.763748 and range: 201.60 m.
2025-06-17T20:52:49.518Z,1750193569.518 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:49.519Z,1750193569.519 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:49.519Z,1750193569.519 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:49.769Z,1750193569.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991611
2025-06-17T20:52:49.868Z,1750193569.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:49.871Z,1750193569.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 179.140106 m,
      bearing: 327.227129 deg,
      approach rate: -0.711116 m/s,
      LOS rate: -0.005900 deg/s,
      cmd heading: 325.694702 deg,
      new cmd heading: 325.686592 deg.

2025-06-17T20:52:49.872Z,1750193569.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684303 target range: 199.763748 and range: 201.60 m.
2025-06-17T20:52:50.021Z,1750193570.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243751
2025-06-17T20:52:50.228Z,1750193570.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:50.231Z,1750193570.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 178.892212 m,
      bearing: 327.224893 deg,
      approach rate: -0.686840 m/s,
      LOS rate: -0.006202 deg/s,
      cmd heading: 325.686588 deg,
      new cmd heading: 325.679872 deg.

2025-06-17T20:52:50.236Z,1750193570.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684186 target range: 199.763748 and range: 201.60 m.
2025-06-17T20:52:50.273Z,1750193570.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496074
2025-06-17T20:52:50.527Z,1750193570.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749892
2025-06-17T20:52:50.653Z,1750193570.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:50.655Z,1750193570.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 178.579712 m,
      bearing: 327.222251 deg,
      approach rate: -0.736806 m/s,
      LOS rate: -0.006242 deg/s,
      cmd heading: 325.679867 deg,
      new cmd heading: 325.671925 deg.

2025-06-17T20:52:50.657Z,1750193570.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684047 target range: 199.763748 and range: 201.60 m.
2025-06-17T20:52:50.777Z,1750193570.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999705
2025-06-17T20:52:51.025Z,1750193571.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:51.029Z,1750193571.029 [DAT](INFO): DAT read: Rx Time:20:52:50.5820

2025-06-17T20:52:51.029Z,1750193571.029 [DAT](INFO): Rx dataTimestamp_ set to:1750193571.029153
2025-06-17T20:52:51.030Z,1750193571.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252811
2025-06-17T20:52:51.031Z,1750193571.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 178.312653 m,
      bearing: 327.219953 deg,
      approach rate: -0.716722 m/s,
      LOS rate: -0.006176 deg/s,
      cmd heading: 325.671916 deg,
      new cmd heading: 325.665013 deg.

2025-06-17T20:52:51.032Z,1750193571.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683927 target range: 199.763748 and range: 201.60 m.
2025-06-17T20:52:51.281Z,1750193571.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504025
2025-06-17T20:52:51.438Z,1750193571.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:51.440Z,1750193571.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:51.443Z,1750193571.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 178.018631 m,
      bearing: 327.217431 deg,
      approach rate: -0.709250 m/s,
      LOS rate: -0.006094 deg/s,
      cmd heading: 325.665004 deg,
      new cmd heading: 325.657426 deg.

2025-06-17T20:52:51.444Z,1750193571.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683794 target range: 199.763748 and range: 201.60 m.
2025-06-17T20:52:51.539Z,1750193571.539 [DAT](INFO): DAT read: Range 10 to 50 : 219.3 m  (Round-trip  292.5 ms) speed  0.8 m/s

2025-06-17T20:52:51.542Z,1750193571.542 [DAT](INFO): DAT read: user:747>

2025-06-17T20:52:51.545Z,1750193571.545 [DAT](INFO): DAT read: Tx time:20:52:51.6853

2025-06-17T20:52:51.545Z,1750193571.545 [DAT](INFO): Ping request sent.
2025-06-17T20:52:51.546Z,1750193571.546 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:51.547Z,1750193571.547 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:52:51.547Z,1750193571.547 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:51.554Z,1750193571.554 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:51.785Z,1750193571.785 [DAT](INFO): DAT read: TxSync time:20:52:51.6845

2025-06-17T20:52:51.867Z,1750193571.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 219.300003 m,
      deltaT: 3.786417 s,
      deltaX: 17.699997 m,
      approachRate: 4.674603 m/s,
      rangeRepo size: 4

2025-06-17T20:52:51.868Z,1750193571.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:51.871Z,1750193571.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 177.704788 m,
      bearing: 327.213884 deg,
      approach rate: -0.735558 m/s,
      LOS rate: -0.008327 deg/s,
      cmd heading: 325.657436 deg,
      new cmd heading: 325.646778 deg.

2025-06-17T20:52:51.872Z,1750193571.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683609 target range: 199.763748 and range: 219.30 m.
2025-06-17T20:52:52.237Z,1750193572.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:52.240Z,1750193572.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 177.434509 m,
      bearing: 327.211139 deg,
      approach rate: -0.729039 m/s,
      LOS rate: -0.007417 deg/s,
      cmd heading: 325.646781 deg,
      new cmd heading: 325.638532 deg.

2025-06-17T20:52:52.241Z,1750193572.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683465 target range: 199.763748 and range: 219.30 m.
2025-06-17T20:52:52.666Z,1750193572.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:52.669Z,1750193572.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 177.122421 m,
      bearing: 327.207813 deg,
      approach rate: -0.728515 m/s,
      LOS rate: -0.007777 deg/s,
      cmd heading: 325.638530 deg,
      new cmd heading: 325.628536 deg.

2025-06-17T20:52:52.670Z,1750193572.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683290 target range: 199.763748 and range: 219.30 m.
2025-06-17T20:52:53.053Z,1750193573.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:53.055Z,1750193573.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 176.841080 m,
      bearing: 327.204868 deg,
      approach rate: -0.726478 m/s,
      LOS rate: -0.007617 deg/s,
      cmd heading: 325.628531 deg,
      new cmd heading: 325.619682 deg.

2025-06-17T20:52:53.057Z,1750193573.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683136 target range: 199.763748 and range: 219.30 m.
2025-06-17T20:52:53.459Z,1750193573.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:53.481Z,1750193573.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:53.488Z,1750193573.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 176.543533 m,
      bearing: 327.201630 deg,
      approach rate: -0.694515 m/s,
      LOS rate: -0.007571 deg/s,
      cmd heading: 325.619679 deg,
      new cmd heading: 325.609948 deg.

2025-06-17T20:52:53.490Z,1750193573.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682966 target range: 199.763748 and range: 219.30 m.
2025-06-17T20:52:53.554Z,1750193573.554 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:53.555Z,1750193573.555 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:53.559Z,1750193573.559 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:53.801Z,1750193573.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255378
2025-06-17T20:52:53.930Z,1750193573.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:53.937Z,1750193573.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 176.201462 m,
      bearing: 327.196644 deg,
      approach rate: -0.763576 m/s,
      LOS rate: -0.011152 deg/s,
      cmd heading: 325.609953 deg,
      new cmd heading: 325.594965 deg.

2025-06-17T20:52:53.939Z,1750193573.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682704 target range: 199.763748 and range: 219.30 m.
2025-06-17T20:52:54.054Z,1750193574.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508052
2025-06-17T20:52:54.296Z,1750193574.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:54.299Z,1750193574.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 175.933914 m,
      bearing: 327.192730 deg,
      approach rate: -0.729189 m/s,
      LOS rate: -0.010684 deg/s,
      cmd heading: 325.594954 deg,
      new cmd heading: 325.583194 deg.

2025-06-17T20:52:54.300Z,1750193574.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682499 target range: 199.763748 and range: 219.30 m.
2025-06-17T20:52:54.305Z,1750193574.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759695
2025-06-17T20:52:54.469Z,1750193574.469 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:52:54.560Z,1750193574.560 [DAT](INFO): DAT read: Rx Time:20:52:54.3800

2025-06-17T20:52:54.562Z,1750193574.562 [DAT](INFO): Rx dataTimestamp_ set to:1750193574.560795
2025-06-17T20:52:54.563Z,1750193574.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017401
2025-06-17T20:52:54.730Z,1750193574.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:54.734Z,1750193574.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 175.616806 m,
      bearing: 327.189295 deg,
      approach rate: -0.731981 m/s,
      LOS rate: -0.007943 deg/s,
      cmd heading: 325.583206 deg,
      new cmd heading: 325.572883 deg.

2025-06-17T20:52:54.753Z,1750193574.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682319 target range: 199.763748 and range: 219.30 m.
2025-06-17T20:52:54.810Z,1750193574.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264243
2025-06-17T20:52:55.063Z,1750193575.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517210
2025-06-17T20:52:55.193Z,1750193575.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.76 m.
2025-06-17T20:52:55.200Z,1750193575.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.763748 m,
      nav range: 175.284668 m,
      bearing: 327.185678 deg,
      approach rate: -0.716018 m/s,
      LOS rate: -0.007811 deg/s,
      cmd heading: 325.572879 deg,
      new cmd heading: 325.562009 deg.

2025-06-17T20:52:55.201Z,1750193575.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682129 target range: 199.763748 and range: 219.30 m.
2025-06-17T20:52:55.319Z,1750193575.319 [DAT](INFO): DAT read: 20:52:54.3800 LVL= 25328, 32753, 22610, 29731, AGC= 66, IDX= 117,-0.37, 1.178,-0.197, 0.793, 0.379, PHS= 0.886,-0.530, 0.411, RAW= 130.7, -12.3, CAL= 135.7, -23.0, ROT=  14.3,  23.0

2025-06-17T20:52:55.320Z,1750193575.320 [DAT](INFO): got valid direction response:
 20:52:54.3800 LVL= 25328, 32753, 22610, 29731, AGC= 66, IDX= 117,-0.37, 1.178,-0.197, 0.793, 0.379, PHS= 0.886,-0.530, 0.411, RAW= 130.7, -12.3, CAL= 135.7, -23.0, ROT=  14.3,  23.0

2025-06-17T20:52:55.321Z,1750193575.321 [DAT](INFO): DAT read: Bearing  14.3,  23.0 (Local)

2025-06-17T20:52:55.321Z,1750193575.321 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.3,  23.0 (Local)

2025-06-17T20:52:55.323Z,1750193575.323 [DAT](INFO): DAT read: Range 10 to 50 : 217.9 m  (Round-trip  290.6 ms) speed  0.0 m/s

2025-06-17T20:52:55.323Z,1750193575.323 [DAT](INFO): DAT read: user:748>

2025-06-17T20:52:55.324Z,1750193575.324 [DAT](INFO): DAT read: Tx time:20:52:55.4853

2025-06-17T20:52:55.325Z,1750193575.325 [DAT](INFO): Ping request sent.
2025-06-17T20:52:55.325Z,1750193575.325 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:55.325Z,1750193575.325 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:52:55.326Z,1750193575.326 [DAT](INFO): direction in FSK: [0.891984,0.227364,-0.390731]
2025-06-17T20:52:55.326Z,1750193575.326 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:55.326Z,1750193575.326 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:55.330Z,1750193575.330 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:55.331Z,1750193575.331 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:55.472Z,1750193575.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:52:55.562Z,1750193575.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 217.899994 m,
      deltaT: 3.777086 s,
      deltaX: -1.400009 m,
      approachRate: -0.370659 m/s,
      rangeRepo size: 4

2025-06-17T20:52:55.565Z,1750193575.565 [DAT](INFO): DAT read: TxSync time:20:52:55.4845

2025-06-17T20:52:55.569Z,1750193575.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 215.916138 m,
      bearing: 341.004487 deg,
      lat: 36.905974 deg,
      lon: -122.115938 deg,
      deltaT: 7.563503 s,
      deltaX: 16.152390 m,
      approachRate: 2.135570 m/s,
      posRepo size: 4

2025-06-17T20:52:55.571Z,1750193575.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:52:55.595Z,1750193575.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 178.513382 m,
      bearing: 327.901837 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007811 deg/s,
      cmd heading: 325.562005 deg,
      new cmd heading: 325.553375 deg.

2025-06-17T20:52:55.609Z,1750193575.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681978 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:52:55.956Z,1750193575.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:55.959Z,1750193575.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:52:55.962Z,1750193575.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 178.203094 m,
      bearing: 327.898549 deg,
      approach rate: -0.781315 m/s,
      LOS rate: -0.008294 deg/s,
      cmd heading: 325.553372 deg,
      new cmd heading: 325.543490 deg.

2025-06-17T20:52:55.963Z,1750193575.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681806 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:52:56.069Z,1750193576.069 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:52:56.070Z,1750193576.070 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:52:56.070Z,1750193576.070 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:52:56.321Z,1750193576.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996037
2025-06-17T20:52:56.344Z,1750193576.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:52:56.347Z,1750193576.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 177.921616 m,
      bearing: 327.895556 deg,
      approach rate: -0.731234 m/s,
      LOS rate: -0.007787 deg/s,
      cmd heading: 325.543482 deg,
      new cmd heading: 325.534489 deg.

2025-06-17T20:52:56.348Z,1750193576.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681649 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:52:56.577Z,1750193576.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251466
2025-06-17T20:52:56.784Z,1750193576.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:52:56.787Z,1750193576.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 177.598175 m,
      bearing: 327.894269 deg,
      approach rate: -0.735152 m/s,
      LOS rate: -0.002931 deg/s,
      cmd heading: 325.534493 deg,
      new cmd heading: 325.530625 deg.

2025-06-17T20:52:56.788Z,1750193576.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681581 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:52:56.825Z,1750193576.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500529
2025-06-17T20:52:57.077Z,1750193577.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751985
2025-06-17T20:52:57.147Z,1750193577.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:52:57.154Z,1750193577.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 177.339508 m,
      bearing: 327.892999 deg,
      approach rate: -0.711458 m/s,
      LOS rate: -0.003499 deg/s,
      cmd heading: 325.530613 deg,
      new cmd heading: 325.526797 deg.

2025-06-17T20:52:57.155Z,1750193577.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681514 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:52:57.330Z,1750193577.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005214
2025-06-17T20:52:57.543Z,1750193577.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:52:57.546Z,1750193577.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 177.039520 m,
      bearing: 327.891411 deg,
      approach rate: -0.758119 m/s,
      LOS rate: -0.004019 deg/s,
      cmd heading: 325.526789 deg,
      new cmd heading: 325.522017 deg.

2025-06-17T20:52:57.547Z,1750193577.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681431 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:52:57.582Z,1750193577.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257059
2025-06-17T20:52:57.833Z,1750193577.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508003
2025-06-17T20:52:57.956Z,1750193577.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:52:57.959Z,1750193577.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 176.740784 m,
      bearing: 327.890916 deg,
      approach rate: -0.723691 m/s,
      LOS rate: -0.001200 deg/s,
      cmd heading: 325.522007 deg,
      new cmd heading: 325.520521 deg.

2025-06-17T20:52:57.960Z,1750193577.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681405 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:52:58.085Z,1750193578.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760103
2025-06-17T20:52:58.337Z,1750193578.337 [DAT](INFO): DAT read: Rx Time:20:52:58.1170

2025-06-17T20:52:58.337Z,1750193578.337 [DAT](INFO): Rx dataTimestamp_ set to:1750193578.337167
2025-06-17T20:52:58.338Z,1750193578.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013256
2025-06-17T20:52:58.341Z,1750193578.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:52:58.343Z,1750193578.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:52:58.347Z,1750193578.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 176.462418 m,
      bearing: 327.890423 deg,
      approach rate: -0.718079 m/s,
      LOS rate: -0.001275 deg/s,
      cmd heading: 325.520532 deg,
      new cmd heading: 325.519049 deg.

2025-06-17T20:52:58.348Z,1750193578.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681379 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:52:58.590Z,1750193578.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264830
2025-06-17T20:52:58.787Z,1750193578.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:52:58.790Z,1750193578.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 176.139069 m,
      bearing: 327.890523 deg,
      approach rate: -0.727932 m/s,
      LOS rate: 0.000227 deg/s,
      cmd heading: 325.519057 deg,
      new cmd heading: 325.519359 deg.

2025-06-17T20:52:58.791Z,1750193578.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681385 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:52:58.844Z,1750193578.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518470
2025-06-17T20:52:59.099Z,1750193579.099 [DAT](INFO): DAT read: 20:52:58.1170 LVL= 28240, 32753, 31010, 32755, AGC= 63, IDX= 310, 0.08,-2.470, 2.194,-2.815, 2.976, PHS= 0.925,-0.735, 0.490, RAW= 135.3,  -9.2, CAL= 141.2, -20.3, ROT=   8.8,  20.3

2025-06-17T20:52:59.100Z,1750193579.100 [DAT](INFO): got valid direction response:
 20:52:58.1170 LVL= 28240, 32753, 31010, 32755, AGC= 63, IDX= 310, 0.08,-2.470, 2.194,-2.815, 2.976, PHS= 0.925,-0.735, 0.490, RAW= 135.3,  -9.2, CAL= 141.2, -20.3, ROT=   8.8,  20.3

2025-06-17T20:52:59.101Z,1750193579.101 [DAT](INFO): DAT read: Bearing   8.8,  20.3 (Local)

2025-06-17T20:52:59.101Z,1750193579.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.8,  20.3 (Local)

2025-06-17T20:52:59.106Z,1750193579.106 [DAT](INFO): DAT read: Range 10 to 50 : 170.7 m  (Round-trip  227.6 ms) speed  0.0 m/s

2025-06-17T20:52:59.108Z,1750193579.108 [DAT](INFO): DAT read: user:749>

2025-06-17T20:52:59.109Z,1750193579.109 [DAT](INFO): DAT read: Tx time:20:52:59.2353

2025-06-17T20:52:59.109Z,1750193579.109 [DAT](INFO): Ping request sent.
2025-06-17T20:52:59.109Z,1750193579.109 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:52:59.110Z,1750193579.110 [DAT](INFO): DAT read: TxSync time:20:52:59.2345

2025-06-17T20:52:59.110Z,1750193579.110 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:52:59.111Z,1750193579.111 [DAT](INFO): direction in FSK: [0.926848,0.143484,-0.346936]
2025-06-17T20:52:59.112Z,1750193579.112 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:59.112Z,1750193579.112 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:59.115Z,1750193579.115 [DAT](INFO): publishing transmit ping time
2025-06-17T20:52:59.115Z,1750193579.115 [DAT](INFO): publishing direction and range info
2025-06-17T20:52:59.243Z,1750193579.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 170.699997 m,
 deltaT: 3.779990 s,
 deltaX: -47.199997 m,
 approachRate: -12.486805 m/s,
 rangeRepo size: 4
2025-06-17T20:52:59.243Z,1750193579.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:52:59.251Z,1750193579.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 175.830826 m,
      bearing: 327.890622 deg,
      approach rate: -0.677981 m/s,
      LOS rate: 0.000217 deg/s,
      cmd heading: 325.519357 deg,
      new cmd heading: 325.519653 deg.

2025-06-17T20:52:59.252Z,1750193579.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681390 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:52:59.554Z,1750193579.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:52:59.558Z,1750193579.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 175.584427 m,
      bearing: 327.890879 deg,
      approach rate: -0.788658 m/s,
      LOS rate: 0.000825 deg/s,
      cmd heading: 325.519658 deg,
      new cmd heading: 325.520431 deg.

2025-06-17T20:52:59.559Z,1750193579.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681403 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:52:59.990Z,1750193579.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:52:59.997Z,1750193579.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 175.285019 m,
      bearing: 327.891466 deg,
      approach rate: -0.687913 m/s,
      LOS rate: 0.001351 deg/s,
      cmd heading: 325.520423 deg,
      new cmd heading: 325.522187 deg.

2025-06-17T20:52:59.998Z,1750193579.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681434 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:53:00.430Z,1750193580.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:00.432Z,1750193580.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:53:00.435Z,1750193580.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 174.967331 m,
      bearing: 327.892200 deg,
      approach rate: -0.717825 m/s,
      LOS rate: 0.001660 deg/s,
      cmd heading: 325.522199 deg,
      new cmd heading: 325.524403 deg.

2025-06-17T20:53:00.437Z,1750193580.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681473 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:53:00.605Z,1750193580.605 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:00.605Z,1750193580.605 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:00.605Z,1750193580.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:00.851Z,1750193580.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:53:00.857Z,1750193580.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747606
2025-06-17T20:53:00.878Z,1750193580.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 174.663071 m,
      bearing: 327.892625 deg,
      approach rate: -0.726562 m/s,
      LOS rate: 0.001017 deg/s,
      cmd heading: 325.524412 deg,
      new cmd heading: 325.525689 deg.

2025-06-17T20:53:00.879Z,1750193580.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681495 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:53:01.109Z,1750193581.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999558
2025-06-17T20:53:01.201Z,1750193581.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:53:01.204Z,1750193581.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 174.415726 m,
      bearing: 327.892875 deg,
      approach rate: -0.707381 m/s,
      LOS rate: 0.000719 deg/s,
      cmd heading: 325.525696 deg,
      new cmd heading: 325.526449 deg.

2025-06-17T20:53:01.205Z,1750193581.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681509 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:53:01.361Z,1750193581.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251717
2025-06-17T20:53:01.571Z,1750193581.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:53:01.574Z,1750193581.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 174.141647 m,
      bearing: 327.893097 deg,
      approach rate: -0.739491 m/s,
      LOS rate: 0.000599 deg/s,
      cmd heading: 325.526461 deg,
      new cmd heading: 325.527127 deg.

2025-06-17T20:53:01.575Z,1750193581.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681520 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:53:01.613Z,1750193581.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503664
2025-06-17T20:53:01.865Z,1750193581.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755579
2025-06-17T20:53:02.001Z,1750193582.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:53:02.003Z,1750193582.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 173.838257 m,
      bearing: 327.892049 deg,
      approach rate: -0.706558 m/s,
      LOS rate: -0.002445 deg/s,
      cmd heading: 325.527116 deg,
      new cmd heading: 325.523967 deg.

2025-06-17T20:53:02.005Z,1750193582.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681465 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:53:02.117Z,1750193582.117 [DAT](INFO): DAT read: Rx Time:20:53:01.8945

2025-06-17T20:53:02.118Z,1750193582.118 [DAT](INFO): Rx dataTimestamp_ set to:1750193582.117531
2025-06-17T20:53:02.118Z,1750193582.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009136
2025-06-17T20:53:02.369Z,1750193582.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259637
2025-06-17T20:53:02.381Z,1750193582.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:53:02.384Z,1750193582.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 173.568909 m,
      bearing: 327.891070 deg,
      approach rate: -0.707705 m/s,
      LOS rate: -0.002576 deg/s,
      cmd heading: 325.523974 deg,
      new cmd heading: 325.521034 deg.

2025-06-17T20:53:02.385Z,1750193582.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681414 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:53:02.623Z,1750193582.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513525
2025-06-17T20:53:02.821Z,1750193582.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:02.823Z,1750193582.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.92 m.
2025-06-17T20:53:02.830Z,1750193582.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.916138 m,
      nav range: 173.265930 m,
      bearing: 327.889604 deg,
      approach rate: -0.686326 m/s,
      LOS rate: -0.003329 deg/s,
      cmd heading: 325.521024 deg,
      new cmd heading: 325.516615 deg.

2025-06-17T20:53:02.831Z,1750193582.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681337 target range: 215.916138 and range: 217.90 m.
2025-06-17T20:53:02.879Z,1750193582.879 [DAT](INFO): DAT read: 20:53:01.8945 LVL= 21920, 20721, 18242, 24195, AGC= 68, IDX= 208, 0.03,-2.392, 2.714,-2.392, 2.856, PHS= 1.123,-0.096, 1.032, RAW= 146.2, -31.8, CAL= 149.5, -36.7, ROT=   0.5,  36.7

2025-06-17T20:53:02.881Z,1750193582.881 [DAT](INFO): got valid direction response:
 20:53:01.8945 LVL= 21920, 20721, 18242, 24195, AGC= 68, IDX= 208, 0.03,-2.392, 2.714,-2.392, 2.856, PHS= 1.123,-0.096, 1.032, RAW= 146.2, -31.8, CAL= 149.5, -36.7, ROT=   0.5,  36.7

2025-06-17T20:53:02.882Z,1750193582.882 [DAT](INFO): DAT read: Bearing   0.5,  36.7 (Local)

2025-06-17T20:53:02.882Z,1750193582.882 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  36.7 (Local)

2025-06-17T20:53:02.884Z,1750193582.884 [DAT](INFO): DAT read: Range 10 to 50 : 191.2 m  (Round-trip  255.0 ms) speed  0.4 m/s

2025-06-17T20:53:02.885Z,1750193582.885 [DAT](INFO): DAT read: user:750>

2025-06-17T20:53:02.885Z,1750193582.885 [DAT](INFO): DAT read: Tx time:20:53:02.9853

2025-06-17T20:53:02.886Z,1750193582.886 [DAT](INFO): Ping request sent.
2025-06-17T20:53:02.886Z,1750193582.886 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:02.886Z,1750193582.886 [DAT](INFO): DAT read: TxSync time:20:53:02.9845

2025-06-17T20:53:02.887Z,1750193582.887 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:53:02.888Z,1750193582.888 [DAT](INFO): direction in FSK: [0.801745,0.006997,-0.597625]
2025-06-17T20:53:02.888Z,1750193582.888 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:02.889Z,1750193582.889 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:02.892Z,1750193582.892 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:02.892Z,1750193582.892 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:03.216Z,1750193583.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 191.199997 m,
      deltaT: 7.560224 s,
      deltaX: -26.699997 m,
      approachRate: -3.531641 m/s,
      rangeRepo size: 4

2025-06-17T20:53:03.218Z,1750193583.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 189.461105 m,
      bearing: 329.425450 deg,
      lat: 36.905962 deg,
      lon: -122.115629 deg,
      deltaT: 7.560224 s,
      deltaX: -26.455032 m,
      approachRate: -3.499239 m/s,
      posRepo size: 4

2025-06-17T20:53:03.219Z,1750193583.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:03.226Z,1750193583.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 158.841003 m,
      bearing: 336.036160 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003329 deg/s,
      cmd heading: 325.516625 deg,
      new cmd heading: 325.512708 deg.

2025-06-17T20:53:03.227Z,1750193583.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681269 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:03.593Z,1750193583.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:03.595Z,1750193583.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 158.557373 m,
      bearing: 336.049687 deg,
      approach rate: -0.750818 m/s,
      LOS rate: 0.035874 deg/s,
      cmd heading: 325.512718 deg,
      new cmd heading: 325.553374 deg.

2025-06-17T20:53:03.597Z,1750193583.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681978 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:04.031Z,1750193584.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:04.034Z,1750193584.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 158.245255 m,
      bearing: 336.061624 deg,
      approach rate: -0.712870 m/s,
      LOS rate: 0.027316 deg/s,
      cmd heading: 325.553372 deg,
      new cmd heading: 325.589252 deg.

2025-06-17T20:53:04.035Z,1750193584.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682604 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:04.421Z,1750193584.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:04.423Z,1750193584.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 157.968033 m,
      bearing: 336.072265 deg,
      approach rate: -0.710757 m/s,
      LOS rate: 0.027331 deg/s,
      cmd heading: 325.589244 deg,
      new cmd heading: 325.621224 deg.

2025-06-17T20:53:04.425Z,1750193584.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683163 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:04.826Z,1750193584.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:04.829Z,1750193584.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:04.831Z,1750193584.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 157.670578 m,
      bearing: 336.082873 deg,
      approach rate: -0.729020 m/s,
      LOS rate: 0.026048 deg/s,
      cmd heading: 325.621236 deg,
      new cmd heading: 325.653121 deg.

2025-06-17T20:53:04.834Z,1750193584.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683719 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:04.889Z,1750193584.889 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:04.890Z,1750193584.890 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:04.890Z,1750193584.890 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:05.141Z,1750193585.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254982
2025-06-17T20:53:05.209Z,1750193585.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:05.231Z,1750193585.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 157.392883 m,
      bearing: 336.092760 deg,
      approach rate: -0.730529 m/s,
      LOS rate: 0.026053 deg/s,
      cmd heading: 325.653120 deg,
      new cmd heading: 325.682831 deg.

2025-06-17T20:53:05.237Z,1750193585.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684237 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:05.397Z,1750193585.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510761
2025-06-17T20:53:05.613Z,1750193585.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:05.616Z,1750193585.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 157.098083 m,
      bearing: 336.103104 deg,
      approach rate: -0.729049 m/s,
      LOS rate: 0.025631 deg/s,
      cmd heading: 325.682817 deg,
      new cmd heading: 325.713910 deg.

2025-06-17T20:53:05.617Z,1750193585.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684780 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:05.645Z,1750193585.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759328
2025-06-17T20:53:05.897Z,1750193585.897 [DAT](INFO): DAT read: Rx Time:20:53:05.6702

2025-06-17T20:53:05.897Z,1750193585.897 [DAT](INFO): Rx dataTimestamp_ set to:1750193585.897074
2025-06-17T20:53:05.898Z,1750193585.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012116
2025-06-17T20:53:06.053Z,1750193586.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:06.055Z,1750193586.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 156.772430 m,
      bearing: 336.113906 deg,
      approach rate: -0.740956 m/s,
      LOS rate: 0.024629 deg/s,
      cmd heading: 325.713908 deg,
      new cmd heading: 325.746381 deg.

2025-06-17T20:53:06.057Z,1750193586.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685347 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:06.149Z,1750193586.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263583
2025-06-17T20:53:06.406Z,1750193586.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519184
2025-06-17T20:53:06.441Z,1750193586.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:06.444Z,1750193586.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 156.484314 m,
      bearing: 336.122937 deg,
      approach rate: -0.741223 m/s,
      LOS rate: 0.023275 deg/s,
      cmd heading: 325.746393 deg,
      new cmd heading: 325.773534 deg.

2025-06-17T20:53:06.445Z,1750193586.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685821 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:06.658Z,1750193586.658 [DAT](INFO): DAT read: Range 10 to 50 : 210.5 m  (Round-trip  280.7 ms) speed  0.0 m/s

2025-06-17T20:53:06.659Z,1750193586.659 [DAT](INFO): DAT read: user:751>

2025-06-17T20:53:06.661Z,1750193586.661 [DAT](INFO): DAT read: Tx time:20:53:06.7849

2025-06-17T20:53:06.661Z,1750193586.661 [DAT](INFO): Ping request sent.
2025-06-17T20:53:06.661Z,1750193586.661 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:06.662Z,1750193586.662 [DAT](INFO): DAT read: TxSync time:20:53:06.7841

2025-06-17T20:53:06.663Z,1750193586.663 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:53:06.663Z,1750193586.663 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:06.665Z,1750193586.665 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:06.885Z,1750193586.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:06.887Z,1750193586.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 210.500000 m,
 deltaT: 3.781335 s,
 deltaX: 19.300003 m,
 approachRate: 5.104018 m/s,
 rangeRepo size: 4
2025-06-17T20:53:06.892Z,1750193586.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:06.895Z,1750193586.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 156.163208 m,
      bearing: 336.133301 deg,
      approach rate: -0.721032 m/s,
      LOS rate: 0.023321 deg/s,
      cmd heading: 325.773522 deg,
      new cmd heading: 325.804679 deg.

2025-06-17T20:53:06.900Z,1750193586.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686364 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:06.905Z,1750193586.905 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:06.905Z,1750193586.905 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:06.905Z,1750193586.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:07.157Z,1750193587.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495590
2025-06-17T20:53:07.236Z,1750193587.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:07.239Z,1750193587.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 155.900269 m,
      bearing: 336.142121 deg,
      approach rate: -0.753397 m/s,
      LOS rate: 0.025314 deg/s,
      cmd heading: 325.804668 deg,
      new cmd heading: 325.831172 deg.

2025-06-17T20:53:07.240Z,1750193587.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686827 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:07.409Z,1750193587.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747384
2025-06-17T20:53:07.631Z,1750193587.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:07.635Z,1750193587.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 155.609543 m,
      bearing: 336.152141 deg,
      approach rate: -0.734839 m/s,
      LOS rate: 0.025373 deg/s,
      cmd heading: 325.831169 deg,
      new cmd heading: 325.861284 deg.

2025-06-17T20:53:07.636Z,1750193587.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687352 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:07.661Z,1750193587.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999401
2025-06-17T20:53:07.913Z,1750193587.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251324
2025-06-17T20:53:08.075Z,1750193588.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:08.078Z,1750193588.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 155.283615 m,
      bearing: 336.164534 deg,
      approach rate: -0.735408 m/s,
      LOS rate: 0.028024 deg/s,
      cmd heading: 325.861277 deg,
      new cmd heading: 325.898536 deg.

2025-06-17T20:53:08.079Z,1750193588.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688003 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:08.166Z,1750193588.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504279
2025-06-17T20:53:08.417Z,1750193588.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755410
2025-06-17T20:53:08.462Z,1750193588.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:08.469Z,1750193588.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 155.013535 m,
      bearing: 336.174652 deg,
      approach rate: -0.697821 m/s,
      LOS rate: 0.026186 deg/s,
      cmd heading: 325.898542 deg,
      new cmd heading: 325.928947 deg.

2025-06-17T20:53:08.470Z,1750193588.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688533 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:08.669Z,1750193588.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007563
2025-06-17T20:53:08.876Z,1750193588.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:08.879Z,1750193588.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 154.690887 m,
      bearing: 336.187673 deg,
      approach rate: -0.778735 m/s,
      LOS rate: 0.031493 deg/s,
      cmd heading: 325.928950 deg,
      new cmd heading: 325.968094 deg.

2025-06-17T20:53:08.880Z,1750193588.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689217 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:08.921Z,1750193588.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259490
2025-06-17T20:53:09.173Z,1750193589.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511254
2025-06-17T20:53:09.255Z,1750193589.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:09.257Z,1750193589.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:09.260Z,1750193589.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 154.407257 m,
      bearing: 336.199071 deg,
      approach rate: -0.743787 m/s,
      LOS rate: 0.029945 deg/s,
      cmd heading: 325.968101 deg,
      new cmd heading: 326.002357 deg.

2025-06-17T20:53:09.261Z,1750193589.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689815 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:09.425Z,1750193589.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763328
2025-06-17T20:53:09.677Z,1750193589.677 [DAT](INFO): DAT read: Rx Time:20:53:09.4061

2025-06-17T20:53:09.677Z,1750193589.677 [DAT](INFO): Rx dataTimestamp_ set to:1750193589.677131
2025-06-17T20:53:09.678Z,1750193589.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016552
2025-06-17T20:53:09.768Z,1750193589.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.46 m.
2025-06-17T20:53:09.771Z,1750193589.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.461105 m,
      nav range: 154.069611 m,
      bearing: 336.212693 deg,
      approach rate: -0.666525 m/s,
      LOS rate: 0.026951 deg/s,
      cmd heading: 326.002361 deg,
      new cmd heading: 326.043319 deg.

2025-06-17T20:53:09.776Z,1750193589.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690529 target range: 189.461105 and range: 191.20 m.
2025-06-17T20:53:09.929Z,1750193589.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267373
2025-06-17T20:53:10.196Z,1750193590.196 [DAT](INFO): DAT read: 20:53:09.4061 LVL= 32752, 32753, 31506, 32755, AGC= 63, IDX= 294, 0.10,-2.664, 2.097,-3.001, 2.910, PHS= 0.797,-0.766, 0.369, RAW= 134.6,  -5.8, CAL= 140.2, -16.5, ROT=   9.8,  16.5

2025-06-17T20:53:10.197Z,1750193590.197 [DAT](INFO): got valid direction response:
 20:53:09.4061 LVL= 32752, 32753, 31506, 32755, AGC= 63, IDX= 294, 0.10,-2.664, 2.097,-3.001, 2.910, PHS= 0.797,-0.766, 0.369, RAW= 134.6,  -5.8, CAL= 140.2, -16.5, ROT=   9.8,  16.5

2025-06-17T20:53:10.198Z,1750193590.198 [DAT](INFO): DAT read: Bearing   9.8,  16.5 (Local)

2025-06-17T20:53:10.198Z,1750193590.198 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.8,  16.5 (Local)

2025-06-17T20:53:10.219Z,1750193590.219 [DAT](INFO): DAT read: Range 10 to 50 : 162.4 m  (Round-trip  216.6 ms) speed  0.4 m/s

2025-06-17T20:53:10.228Z,1750193590.228 [DAT](INFO): DAT read: user:752>

2025-06-17T20:53:10.229Z,1750193590.229 [DAT](INFO): DAT read: Tx time:20:53:10.4854

2025-06-17T20:53:10.229Z,1750193590.229 [DAT](INFO): Ping request sent.
2025-06-17T20:53:10.229Z,1750193590.229 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:10.229Z,1750193590.229 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:53:10.230Z,1750193590.230 [DAT](INFO): direction in FSK: [0.944829,0.163200,-0.284015]
2025-06-17T20:53:10.231Z,1750193590.231 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:10.231Z,1750193590.231 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:10.255Z,1750193590.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 162.399994 m,
      deltaT: 7.309746 s,
      deltaX: -28.800003 m,
      approachRate: -3.939946 m/s,
      rangeRepo size: 4

2025-06-17T20:53:10.259Z,1750193590.259 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:10.259Z,1750193590.259 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:10.266Z,1750193590.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.923218 m,
      bearing: 336.686667 deg,
      lat: 36.905981 deg,
      lon: -122.115625 deg,
      deltaT: 7.309746 s,
      deltaX: -28.537888 m,
      approachRate: -3.904088 m/s,
      posRepo size: 4

2025-06-17T20:53:10.277Z,1750193590.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:10.279Z,1750193590.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 155.534897 m,
      bearing: 336.687050 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026951 deg/s,
      cmd heading: 326.043315 deg,
      new cmd heading: 326.083002 deg.

2025-06-17T20:53:10.286Z,1750193590.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691222 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:10.433Z,1750193590.433 [DAT](INFO): DAT read: TxSync time:20:53:10.4846

2025-06-17T20:53:10.606Z,1750193590.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:10.613Z,1750193590.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 155.258545 m,
      bearing: 336.700498 deg,
      approach rate: -0.786830 m/s,
      LOS rate: 0.038356 deg/s,
      cmd heading: 326.083012 deg,
      new cmd heading: 326.123427 deg.

2025-06-17T20:53:10.614Z,1750193590.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691927 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:11.005Z,1750193591.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:11.007Z,1750193591.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 154.962814 m,
      bearing: 336.717231 deg,
      approach rate: -0.741813 m/s,
      LOS rate: 0.042053 deg/s,
      cmd heading: 326.123419 deg,
      new cmd heading: 326.173713 deg.

2025-06-17T20:53:11.008Z,1750193591.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692805 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:11.377Z,1750193591.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:11.380Z,1750193591.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:11.382Z,1750193591.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 154.693024 m,
      bearing: 336.732760 deg,
      approach rate: -0.719549 m/s,
      LOS rate: 0.041489 deg/s,
      cmd heading: 326.173717 deg,
      new cmd heading: 326.220385 deg.

2025-06-17T20:53:11.383Z,1750193591.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693620 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:11.445Z,1750193591.445 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:11.445Z,1750193591.445 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:11.445Z,1750193591.445 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:11.697Z,1750193591.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467612
2025-06-17T20:53:11.844Z,1750193591.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:11.862Z,1750193591.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 154.393066 m,
      bearing: 336.749991 deg,
      approach rate: -0.653859 m/s,
      LOS rate: 0.037634 deg/s,
      cmd heading: 326.220381 deg,
      new cmd heading: 326.272174 deg.

2025-06-17T20:53:11.870Z,1750193591.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694524 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:11.950Z,1750193591.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720337
2025-06-17T20:53:12.201Z,1750193592.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971691
2025-06-17T20:53:12.205Z,1750193592.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:12.208Z,1750193592.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 154.106186 m,
      bearing: 336.767556 deg,
      approach rate: -0.782260 m/s,
      LOS rate: 0.047984 deg/s,
      cmd heading: 326.272181 deg,
      new cmd heading: 326.324972 deg.

2025-06-17T20:53:12.209Z,1750193592.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695445 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:12.453Z,1750193592.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223905
2025-06-17T20:53:12.586Z,1750193592.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:12.588Z,1750193592.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 153.837143 m,
      bearing: 336.783953 deg,
      approach rate: -0.707085 m/s,
      LOS rate: 0.043170 deg/s,
      cmd heading: 326.324964 deg,
      new cmd heading: 326.374242 deg.

2025-06-17T20:53:12.589Z,1750193592.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696305 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:12.705Z,1750193592.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475767
2025-06-17T20:53:12.957Z,1750193592.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727640
2025-06-17T20:53:13.023Z,1750193593.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:13.026Z,1750193593.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 153.534256 m,
      bearing: 336.804203 deg,
      approach rate: -0.692084 m/s,
      LOS rate: 0.046362 deg/s,
      cmd heading: 326.374251 deg,
      new cmd heading: 326.435121 deg.

2025-06-17T20:53:13.027Z,1750193593.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697368 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:13.209Z,1750193593.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979648
2025-06-17T20:53:13.389Z,1750193593.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:13.391Z,1750193593.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:13.394Z,1750193593.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 153.279755 m,
      bearing: 336.821154 deg,
      approach rate: -0.691662 m/s,
      LOS rate: 0.046144 deg/s,
      cmd heading: 326.435122 deg,
      new cmd heading: 326.486058 deg.

2025-06-17T20:53:13.395Z,1750193593.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698256 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:13.461Z,1750193593.461 [DAT](INFO): DAT read: Rx Time:20:53:13.1338

2025-06-17T20:53:13.461Z,1750193593.461 [DAT](INFO): Rx dataTimestamp_ set to:1750193593.461212
2025-06-17T20:53:13.462Z,1750193593.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232881
2025-06-17T20:53:13.713Z,1750193593.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483678
2025-06-17T20:53:13.798Z,1750193593.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:13.801Z,1750193593.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 152.998260 m,
      bearing: 336.839809 deg,
      approach rate: -0.691718 m/s,
      LOS rate: 0.045927 deg/s,
      cmd heading: 326.486048 deg,
      new cmd heading: 326.542118 deg.

2025-06-17T20:53:13.802Z,1750193593.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699235 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:13.966Z,1750193593.966 [DAT](INFO): DAT read: Range 10 to 50 : 183.2 m  (Round-trip  244.3 ms) speed  0.6 m/s

2025-06-17T20:53:13.967Z,1750193593.967 [DAT](INFO): DAT read: user:753>

2025-06-17T20:53:13.967Z,1750193593.967 [DAT](INFO): DAT read: Tx time:20:53:14.2354

2025-06-17T20:53:13.968Z,1750193593.968 [DAT](INFO): Ping request sent.
2025-06-17T20:53:13.968Z,1750193593.968 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:13.968Z,1750193593.968 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:53:13.968Z,1750193593.968 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:13.969Z,1750193593.969 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:14.217Z,1750193594.217 [DAT](INFO): DAT read: TxSync time:20:53:14.2346

2025-06-17T20:53:14.278Z,1750193594.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 183.199997 m,
 deltaT: 3.782006 s,
 deltaX: 20.800003 m,
 approachRate: 5.499728 m/s,
 rangeRepo size: 4
2025-06-17T20:53:14.278Z,1750193594.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:14.281Z,1750193594.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 152.667694 m,
      bearing: 336.860577 deg,
      approach rate: -0.692982 m/s,
      LOS rate: 0.043630 deg/s,
      cmd heading: 326.542110 deg,
      new cmd heading: 326.604548 deg.

2025-06-17T20:53:14.282Z,1750193594.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700325 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:14.604Z,1750193594.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:14.607Z,1750193594.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 152.439926 m,
      bearing: 336.875055 deg,
      approach rate: -0.693499 m/s,
      LOS rate: 0.044148 deg/s,
      cmd heading: 326.604538 deg,
      new cmd heading: 326.648036 deg.

2025-06-17T20:53:14.608Z,1750193594.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701084 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:15.038Z,1750193595.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:15.041Z,1750193595.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 152.138504 m,
      bearing: 336.894864 deg,
      approach rate: -0.694470 m/s,
      LOS rate: 0.045730 deg/s,
      cmd heading: 326.648032 deg,
      new cmd heading: 326.707577 deg.

2025-06-17T20:53:15.042Z,1750193595.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702123 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:15.498Z,1750193595.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:15.501Z,1750193595.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:15.503Z,1750193595.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 151.825333 m,
      bearing: 336.915455 deg,
      approach rate: -0.676171 m/s,
      LOS rate: 0.044549 deg/s,
      cmd heading: 326.707564 deg,
      new cmd heading: 326.769464 deg.

2025-06-17T20:53:15.505Z,1750193595.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703203 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:15.730Z,1750193595.730 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:15.730Z,1750193595.730 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:15.731Z,1750193595.731 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:15.827Z,1750193595.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:15.830Z,1750193595.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 151.589844 m,
      bearing: 336.930814 deg,
      approach rate: -0.720886 m/s,
      LOS rate: 0.047091 deg/s,
      cmd heading: 326.769473 deg,
      new cmd heading: 326.815622 deg.

2025-06-17T20:53:15.831Z,1750193595.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704009 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:15.981Z,1750193595.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012948
2025-06-17T20:53:16.233Z,1750193596.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265135
2025-06-17T20:53:16.259Z,1750193596.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:16.266Z,1750193596.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 151.309921 m,
      bearing: 336.947349 deg,
      approach rate: -0.648601 m/s,
      LOS rate: 0.038384 deg/s,
      cmd heading: 326.815618 deg,
      new cmd heading: 326.865316 deg.

2025-06-17T20:53:16.267Z,1750193596.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704876 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:16.485Z,1750193596.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517043
2025-06-17T20:53:16.632Z,1750193596.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:16.635Z,1750193596.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 151.037140 m,
      bearing: 336.963416 deg,
      approach rate: -0.731049 m/s,
      LOS rate: 0.043137 deg/s,
      cmd heading: 326.865314 deg,
      new cmd heading: 326.913602 deg.

2025-06-17T20:53:16.636Z,1750193596.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705719 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:16.737Z,1750193596.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769504
2025-06-17T20:53:16.989Z,1750193596.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021129
2025-06-17T20:53:17.062Z,1750193597.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:17.069Z,1750193597.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 150.735123 m,
      bearing: 336.978670 deg,
      approach rate: -0.702696 m/s,
      LOS rate: 0.035562 deg/s,
      cmd heading: 326.913590 deg,
      new cmd heading: 326.959444 deg.

2025-06-17T20:53:17.070Z,1750193597.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706519 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:17.241Z,1750193597.241 [DAT](INFO): DAT read: Rx Time:20:53:16.9122

2025-06-17T20:53:17.242Z,1750193597.242 [DAT](INFO): Rx dataTimestamp_ set to:1750193597.241251
2025-06-17T20:53:17.242Z,1750193597.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274187
2025-06-17T20:53:17.429Z,1750193597.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:17.432Z,1750193597.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 150.467865 m,
      bearing: 336.992154 deg,
      approach rate: -0.727505 m/s,
      LOS rate: 0.036770 deg/s,
      cmd heading: 326.959434 deg,
      new cmd heading: 326.999958 deg.

2025-06-17T20:53:17.433Z,1750193597.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707226 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:17.493Z,1750193597.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525480
2025-06-17T20:53:17.747Z,1750193597.747 [DAT](INFO): DAT read: Range 10 to 50 : 204.4 m  (Round-trip  272.6 ms) speed  0.8 m/s

2025-06-17T20:53:17.749Z,1750193597.749 [DAT](INFO): DAT read: user:754>

2025-06-17T20:53:17.751Z,1750193597.751 [DAT](INFO): DAT read: Tx time:20:53:17.9854

2025-06-17T20:53:17.751Z,1750193597.751 [DAT](INFO): Ping request sent.
2025-06-17T20:53:17.751Z,1750193597.751 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:17.752Z,1750193597.752 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:53:17.752Z,1750193597.752 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:17.753Z,1750193597.753 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:17.879Z,1750193597.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:17.893Z,1750193597.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 204.399994 m,
 deltaT: 7.562348 s,
 deltaX: 42.000000 m,
 approachRate: 5.553831 m/s,
 rangeRepo size: 4
2025-06-17T20:53:17.893Z,1750193597.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:17.902Z,1750193597.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 150.148026 m,
      bearing: 337.008354 deg,
      approach rate: -0.697199 m/s,
      LOS rate: 0.035389 deg/s,
      cmd heading: 326.999951 deg,
      new cmd heading: 327.048656 deg.

2025-06-17T20:53:17.910Z,1750193597.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708076 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:17.998Z,1750193597.998 [DAT](INFO): DAT read: TxSync time:20:53:17.9846

2025-06-17T20:53:17.998Z,1750193597.998 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:17.999Z,1750193597.999 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:17.999Z,1750193597.999 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:18.249Z,1750193598.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497812
2025-06-17T20:53:18.270Z,1750193598.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:18.273Z,1750193598.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 149.867126 m,
      bearing: 337.020904 deg,
      approach rate: -0.735731 m/s,
      LOS rate: 0.032932 deg/s,
      cmd heading: 327.048664 deg,
      new cmd heading: 327.086384 deg.

2025-06-17T20:53:18.274Z,1750193598.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708735 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:18.501Z,1750193598.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749782
2025-06-17T20:53:18.649Z,1750193598.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:18.651Z,1750193598.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 149.594986 m,
      bearing: 337.033255 deg,
      approach rate: -0.718272 m/s,
      LOS rate: 0.032658 deg/s,
      cmd heading: 327.086394 deg,
      new cmd heading: 327.123515 deg.

2025-06-17T20:53:18.653Z,1750193598.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709383 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:18.755Z,1750193598.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004518
2025-06-17T20:53:19.005Z,1750193599.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253730
2025-06-17T20:53:19.085Z,1750193599.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:19.087Z,1750193599.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 149.276154 m,
      bearing: 337.047841 deg,
      approach rate: -0.731480 m/s,
      LOS rate: 0.033535 deg/s,
      cmd heading: 327.123523 deg,
      new cmd heading: 327.167374 deg.

2025-06-17T20:53:19.088Z,1750193599.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710148 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:19.257Z,1750193599.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505765
2025-06-17T20:53:19.471Z,1750193599.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:19.474Z,1750193599.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 148.992996 m,
      bearing: 337.060847 deg,
      approach rate: -0.731788 m/s,
      LOS rate: 0.033676 deg/s,
      cmd heading: 327.167373 deg,
      new cmd heading: 327.206464 deg.

2025-06-17T20:53:19.475Z,1750193599.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710830 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:19.509Z,1750193599.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757924
2025-06-17T20:53:19.761Z,1750193599.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010301
2025-06-17T20:53:19.887Z,1750193599.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:19.891Z,1750193599.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:19.897Z,1750193599.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 148.693375 m,
      bearing: 337.074665 deg,
      approach rate: -0.714499 m/s,
      LOS rate: 0.033016 deg/s,
      cmd heading: 327.206469 deg,
      new cmd heading: 327.248004 deg.

2025-06-17T20:53:19.899Z,1750193599.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711555 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:20.015Z,1750193600.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263614
2025-06-17T20:53:20.265Z,1750193600.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513922
2025-06-17T20:53:20.286Z,1750193600.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:20.289Z,1750193600.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 148.392700 m,
      bearing: 337.086569 deg,
      approach rate: -0.761712 m/s,
      LOS rate: 0.030219 deg/s,
      cmd heading: 327.247996 deg,
      new cmd heading: 327.283782 deg.

2025-06-17T20:53:20.289Z,1750193600.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712180 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:20.518Z,1750193600.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766941
2025-06-17T20:53:20.693Z,1750193600.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:20.702Z,1750193600.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 148.095230 m,
      bearing: 337.098260 deg,
      approach rate: -0.729224 m/s,
      LOS rate: 0.028718 deg/s,
      cmd heading: 327.283786 deg,
      new cmd heading: 327.318930 deg.

2025-06-17T20:53:20.703Z,1750193600.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712793 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:20.769Z,1750193600.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017944
2025-06-17T20:53:21.022Z,1750193601.022 [DAT](INFO): DAT read: Rx Time:20:53:20.6601

2025-06-17T20:53:21.023Z,1750193601.023 [DAT](INFO): Rx dataTimestamp_ set to:1750193601.022090
2025-06-17T20:53:21.024Z,1750193601.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272586
2025-06-17T20:53:21.109Z,1750193601.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:21.121Z,1750193601.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 147.779373 m,
      bearing: 337.107444 deg,
      approach rate: -0.759772 m/s,
      LOS rate: 0.022139 deg/s,
      cmd heading: 327.318921 deg,
      new cmd heading: 327.346532 deg.

2025-06-17T20:53:21.122Z,1750193601.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713275 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:21.273Z,1750193601.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521728
2025-06-17T20:53:21.484Z,1750193601.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.92 m.
2025-06-17T20:53:21.486Z,1750193601.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.923218 m,
      nav range: 147.500229 m,
      bearing: 337.115499 deg,
      approach rate: -0.745612 m/s,
      LOS rate: 0.021554 deg/s,
      cmd heading: 327.346542 deg,
      new cmd heading: 327.370751 deg.

2025-06-17T20:53:21.487Z,1750193601.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713697 target range: 160.923218 and range: 162.40 m.
2025-06-17T20:53:21.534Z,1750193601.534 [DAT](INFO): DAT read: 20:53:20.6602 LVL= 28320, 32753, 27554, 29859, AGC= 65, IDX= 414, 0.16, 1.971, 1.144, 2.027, 0.890, PHS= 1.169, 0.301, 1.134, RAW= 148.0, -47.2, CAL= 152.5, -46.8, ROT= 357.5,  46.8

2025-06-17T20:53:21.536Z,1750193601.536 [DAT](INFO): got valid direction response:
 20:53:20.6602 LVL= 28320, 32753, 27554, 29859, AGC= 65, IDX= 414, 0.16, 1.971, 1.144, 2.027, 0.890, PHS= 1.169, 0.301, 1.134, RAW= 148.0, -47.2, CAL= 152.5, -46.8, ROT= 357.5,  46.8

2025-06-17T20:53:21.537Z,1750193601.537 [DAT](INFO): DAT read: Bearing 357.5,  46.8 (Local)

2025-06-17T20:53:21.538Z,1750193601.538 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,  46.8 (Local)

2025-06-17T20:53:21.540Z,1750193601.540 [DAT](INFO): DAT read: Range 10 to 50 : 202.9 m  (Round-trip  270.6 ms) speed  0.0 m/s

2025-06-17T20:53:21.541Z,1750193601.541 [DAT](INFO): DAT read: user:755>

2025-06-17T20:53:21.542Z,1750193601.542 [DAT](INFO): DAT read: Tx time:20:53:21.7355

2025-06-17T20:53:21.543Z,1750193601.543 [DAT](INFO): Ping request sent.
2025-06-17T20:53:21.543Z,1750193601.543 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:21.543Z,1750193601.543 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:53:21.546Z,1750193601.546 [DAT](INFO): direction in FSK: [0.683896,-0.029860,-0.728969]
2025-06-17T20:53:21.547Z,1750193601.547 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:21.547Z,1750193601.547 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:21.550Z,1750193601.550 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:21.550Z,1750193601.550 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:21.777Z,1750193601.777 [DAT](INFO): DAT read: TxSync time:20:53:21.7347

2025-06-17T20:53:21.902Z,1750193601.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 202.899994 m,
      deltaT: 11.342217 s,
      deltaX: 40.500000 m,
      approachRate: 3.570730 m/s,
      rangeRepo size: 4

2025-06-17T20:53:21.908Z,1750193601.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 201.054688 m,
      bearing: 329.593979 deg,
      lat: 36.905962 deg,
      lon: -122.115629 deg,
      deltaT: 11.342217 s,
      deltaX: 40.131470 m,
      approachRate: 3.538239 m/s,
      posRepo size: 4

2025-06-17T20:53:21.909Z,1750193601.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.05 m.
2025-06-17T20:53:21.916Z,1750193601.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.054688 m,
      nav range: 145.357147 m,
      bearing: 336.645823 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021554 deg/s,
      cmd heading: 327.370748 deg,
      new cmd heading: 327.397756 deg.

2025-06-17T20:53:21.917Z,1750193601.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714169 target range: 201.054688 and range: 202.90 m.
2025-06-17T20:53:22.299Z,1750193602.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:22.301Z,1750193602.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.05 m.
2025-06-17T20:53:22.303Z,1750193602.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.054688 m,
      nav range: 145.046875 m,
      bearing: 336.656987 deg,
      approach rate: -0.776513 m/s,
      LOS rate: 0.028000 deg/s,
      cmd heading: 327.397769 deg,
      new cmd heading: 327.431333 deg.

2025-06-17T20:53:22.305Z,1750193602.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714755 target range: 201.054688 and range: 202.90 m.
2025-06-17T20:53:22.533Z,1750193602.533 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:22.533Z,1750193602.533 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:22.534Z,1750193602.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:22.693Z,1750193602.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.05 m.
2025-06-17T20:53:22.696Z,1750193602.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.054688 m,
      nav range: 144.755829 m,
      bearing: 336.667640 deg,
      approach rate: -0.741825 m/s,
      LOS rate: 0.027207 deg/s,
      cmd heading: 327.431346 deg,
      new cmd heading: 327.463369 deg.

2025-06-17T20:53:22.697Z,1750193602.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715314 target range: 201.054688 and range: 202.90 m.
2025-06-17T20:53:22.785Z,1750193602.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242038
2025-06-17T20:53:23.037Z,1750193603.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494170
2025-06-17T20:53:23.121Z,1750193603.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.05 m.
2025-06-17T20:53:23.124Z,1750193603.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.054688 m,
      nav range: 144.444260 m,
      bearing: 336.681497 deg,
      approach rate: -0.728636 m/s,
      LOS rate: 0.032475 deg/s,
      cmd heading: 327.463366 deg,
      new cmd heading: 327.505025 deg.

2025-06-17T20:53:23.125Z,1750193603.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716041 target range: 201.054688 and range: 202.90 m.
2025-06-17T20:53:23.294Z,1750193603.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748788
2025-06-17T20:53:23.501Z,1750193603.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.05 m.
2025-06-17T20:53:23.504Z,1750193603.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.054688 m,
      nav range: 144.166824 m,
      bearing: 336.693619 deg,
      approach rate: -0.729141 m/s,
      LOS rate: 0.031919 deg/s,
      cmd heading: 327.505030 deg,
      new cmd heading: 327.541465 deg.

2025-06-17T20:53:23.505Z,1750193603.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716677 target range: 201.054688 and range: 202.90 m.
2025-06-17T20:53:23.541Z,1750193603.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998121
2025-06-17T20:53:23.793Z,1750193603.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249907
2025-06-17T20:53:23.897Z,1750193603.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.05 m.
2025-06-17T20:53:23.901Z,1750193603.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.054688 m,
      nav range: 143.877945 m,
      bearing: 336.705823 deg,
      approach rate: -0.729575 m/s,
      LOS rate: 0.030883 deg/s,
      cmd heading: 327.541476 deg,
      new cmd heading: 327.578161 deg.

2025-06-17T20:53:23.902Z,1750193603.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717318 target range: 201.054688 and range: 202.90 m.
2025-06-17T20:53:24.048Z,1750193604.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505089
2025-06-17T20:53:24.297Z,1750193604.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753950
2025-06-17T20:53:24.327Z,1750193604.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:24.329Z,1750193604.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.05 m.
2025-06-17T20:53:24.332Z,1750193604.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.054688 m,
      nav range: 143.569794 m,
      bearing: 336.719044 deg,
      approach rate: -0.713316 m/s,
      LOS rate: 0.030671 deg/s,
      cmd heading: 327.578168 deg,
      new cmd heading: 327.617916 deg.

2025-06-17T20:53:24.333Z,1750193604.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718011 target range: 201.054688 and range: 202.90 m.
2025-06-17T20:53:24.549Z,1750193604.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005955
2025-06-17T20:53:24.707Z,1750193604.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.05 m.
2025-06-17T20:53:24.727Z,1750193604.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.054688 m,
      nav range: 143.299301 m,
      bearing: 336.730451 deg,
      approach rate: -0.715233 m/s,
      LOS rate: 0.030220 deg/s,
      cmd heading: 327.617919 deg,
      new cmd heading: 327.652206 deg.

2025-06-17T20:53:24.753Z,1750193604.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718610 target range: 201.054688 and range: 202.90 m.
2025-06-17T20:53:24.802Z,1750193604.802 [DAT](INFO): DAT read: Rx Time:20:53:24.4058

2025-06-17T20:53:24.803Z,1750193604.803 [DAT](INFO): Rx dataTimestamp_ set to:1750193604.802115
2025-06-17T20:53:24.804Z,1750193604.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260422
2025-06-17T20:53:25.055Z,1750193605.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512004
2025-06-17T20:53:25.204Z,1750193605.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.05 m.
2025-06-17T20:53:25.206Z,1750193605.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.054688 m,
      nav range: 142.988541 m,
      bearing: 336.745010 deg,
      approach rate: -0.631413 m/s,
      LOS rate: 0.029645 deg/s,
      cmd heading: 327.652207 deg,
      new cmd heading: 327.695978 deg.

2025-06-17T20:53:25.207Z,1750193605.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719374 target range: 201.054688 and range: 202.90 m.
2025-06-17T20:53:25.314Z,1750193605.314 [DAT](INFO): DAT read: 20:53:24.4058 LVL= 32752, 32753, 27346, 32755, AGC= 65, IDX= 401, 0.27, 0.097,-0.897, 0.149,-1.140, PHS= 1.325, 0.290, 1.286, RAW= 148.1, -45.3, CAL= 152.2, -45.7, ROT= 357.8,  45.7

2025-06-17T20:53:25.315Z,1750193605.315 [DAT](INFO): got valid direction response:
 20:53:24.4058 LVL= 32752, 32753, 27346, 32755, AGC= 65, IDX= 401, 0.27, 0.097,-0.897, 0.149,-1.140, PHS= 1.325, 0.290, 1.286, RAW= 148.1, -45.3, CAL= 152.2, -45.7, ROT= 357.8,  45.7

2025-06-17T20:53:25.319Z,1750193605.319 [DAT](INFO): DAT read: Bearing 357.8,  45.7 (Local)

2025-06-17T20:53:25.321Z,1750193605.321 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.8,  45.7 (Local)

2025-06-17T20:53:25.322Z,1750193605.322 [DAT](INFO): DAT read: Range 10 to 50 : 199.6 m  (Round-trip  266.2 ms) speed  0.6 m/s

2025-06-17T20:53:25.323Z,1750193605.323 [DAT](INFO): DAT read: user:756>

2025-06-17T20:53:25.342Z,1750193605.342 [DAT](INFO): DAT read: Tx time:20:53:25.4855

2025-06-17T20:53:25.342Z,1750193605.342 [DAT](INFO): Ping request sent.
2025-06-17T20:53:25.342Z,1750193605.342 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:25.343Z,1750193605.343 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:53:25.353Z,1750193605.353 [DAT](INFO): direction in FSK: [0.697900,-0.026811,-0.715693]
2025-06-17T20:53:25.354Z,1750193605.354 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:25.355Z,1750193605.355 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:25.367Z,1750193605.367 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:25.368Z,1750193605.368 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:25.557Z,1750193605.557 [DAT](INFO): DAT read: TxSync time:20:53:25.4847

2025-06-17T20:53:25.563Z,1750193605.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 199.600006 m,
      deltaT: 3.781124 s,
      deltaX: -3.299988 m,
      approachRate: -0.872753 m/s,
      rangeRepo size: 4

2025-06-17T20:53:25.569Z,1750193605.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 197.785019 m,
      bearing: 330.484928 deg,
      lat: 36.905867 deg,
      lon: -122.115764 deg,
      deltaT: 3.781124 s,
      deltaX: -3.269669 m,
      approachRate: -0.864735 m/s,
      posRepo size: 4

2025-06-17T20:53:25.570Z,1750193605.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.79 m.
2025-06-17T20:53:25.577Z,1750193605.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.785019 m,
      nav range: 138.612885 m,
      bearing: 330.485333 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029645 deg/s,
      cmd heading: 327.695975 deg,
      new cmd heading: 327.728219 deg.

2025-06-17T20:53:25.578Z,1750193605.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719936 target range: 197.785019 and range: 199.60 m.
2025-06-17T20:53:25.596Z,1750193605.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:53:25.916Z,1750193605.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.79 m.
2025-06-17T20:53:25.923Z,1750193605.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.785019 m,
      nav range: 138.342514 m,
      bearing: 330.485986 deg,
      approach rate: -0.765120 m/s,
      LOS rate: 0.001850 deg/s,
      cmd heading: 327.728213 deg,
      new cmd heading: 327.730174 deg.

2025-06-17T20:53:25.940Z,1750193605.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719971 target range: 197.785019 and range: 199.60 m.
2025-06-17T20:53:26.350Z,1750193606.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:26.353Z,1750193606.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.79 m.
2025-06-17T20:53:26.356Z,1750193606.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.785019 m,
      nav range: 138.035904 m,
      bearing: 330.488782 deg,
      approach rate: -0.700292 m/s,
      LOS rate: 0.006401 deg/s,
      cmd heading: 327.730180 deg,
      new cmd heading: 327.738588 deg.

2025-06-17T20:53:26.357Z,1750193606.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720118 target range: 197.785019 and range: 199.60 m.
2025-06-17T20:53:26.565Z,1750193606.565 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:26.565Z,1750193606.565 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:26.565Z,1750193606.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:26.600Z,1750193606.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:53:26.737Z,1750193606.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.79 m.
2025-06-17T20:53:26.741Z,1750193606.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.785019 m,
      nav range: 137.767990 m,
      bearing: 330.490805 deg,
      approach rate: -0.699059 m/s,
      LOS rate: 0.005288 deg/s,
      cmd heading: 327.738595 deg,
      new cmd heading: 327.744675 deg.

2025-06-17T20:53:26.743Z,1750193606.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720224 target range: 197.785019 and range: 199.60 m.
2025-06-17T20:53:26.817Z,1750193606.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474781
2025-06-17T20:53:27.072Z,1750193607.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728635
2025-06-17T20:53:27.177Z,1750193607.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.79 m.
2025-06-17T20:53:27.179Z,1750193607.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.785019 m,
      nav range: 137.458618 m,
      bearing: 330.494349 deg,
      approach rate: -0.702779 m/s,
      LOS rate: 0.008069 deg/s,
      cmd heading: 327.744688 deg,
      new cmd heading: 327.755344 deg.

2025-06-17T20:53:27.181Z,1750193607.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720410 target range: 197.785019 and range: 199.60 m.
2025-06-17T20:53:27.321Z,1750193607.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978479
2025-06-17T20:53:27.532Z,1750193607.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.79 m.
2025-06-17T20:53:27.535Z,1750193607.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.785019 m,
      nav range: 137.201233 m,
      bearing: 330.497213 deg,
      approach rate: -0.724625 m/s,
      LOS rate: 0.008076 deg/s,
      cmd heading: 327.755343 deg,
      new cmd heading: 327.763949 deg.

2025-06-17T20:53:27.536Z,1750193607.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720560 target range: 197.785019 and range: 199.60 m.
2025-06-17T20:53:27.575Z,1750193607.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232870
2025-06-17T20:53:27.827Z,1750193607.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484739
2025-06-17T20:53:27.947Z,1750193607.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.79 m.
2025-06-17T20:53:27.950Z,1750193607.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.785019 m,
      nav range: 136.907349 m,
      bearing: 330.500464 deg,
      approach rate: -0.708712 m/s,
      LOS rate: 0.007858 deg/s,
      cmd heading: 327.763949 deg,
      new cmd heading: 327.773724 deg.

2025-06-17T20:53:27.951Z,1750193607.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720731 target range: 197.785019 and range: 199.60 m.
2025-06-17T20:53:28.085Z,1750193608.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740969
2025-06-17T20:53:28.333Z,1750193608.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990698
2025-06-17T20:53:28.385Z,1750193608.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:28.387Z,1750193608.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.79 m.
2025-06-17T20:53:28.394Z,1750193608.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.785019 m,
      nav range: 136.614761 m,
      bearing: 330.501137 deg,
      approach rate: -0.664427 m/s,
      LOS rate: 0.001533 deg/s,
      cmd heading: 327.773730 deg,
      new cmd heading: 327.775754 deg.

2025-06-17T20:53:28.395Z,1750193608.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720766 target range: 197.785019 and range: 199.60 m.
2025-06-17T20:53:28.585Z,1750193608.585 [DAT](INFO): DAT read: Rx Time:20:53:28.1548

2025-06-17T20:53:28.585Z,1750193608.585 [DAT](INFO): Rx dataTimestamp_ set to:1750193608.585152
2025-06-17T20:53:28.586Z,1750193608.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243730
2025-06-17T20:53:28.767Z,1750193608.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.79 m.
2025-06-17T20:53:28.770Z,1750193608.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.785019 m,
      nav range: 136.328110 m,
      bearing: 330.501808 deg,
      approach rate: -0.754597 m/s,
      LOS rate: 0.001769 deg/s,
      cmd heading: 327.775751 deg,
      new cmd heading: 327.777767 deg.

2025-06-17T20:53:28.771Z,1750193608.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720801 target range: 197.785019 and range: 199.60 m.
2025-06-17T20:53:28.838Z,1750193608.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495499
2025-06-17T20:53:29.132Z,1750193609.132 [DAT](INFO): DAT read: 20:53:28.1548 LVL= 29216, 32753, 27090, 31651, AGC= 65, IDX= 413, 0.46, 1.493, 0.785, 1.658, 0.456, PHS= 1.124, 0.376, 1.199, RAW= 154.7, -50.4, CAL= 158.5, -49.0, ROT= 351.5,  49.0

2025-06-17T20:53:29.133Z,1750193609.133 [DAT](INFO): got valid direction response:
 20:53:28.1548 LVL= 29216, 32753, 27090, 31651, AGC= 65, IDX= 413, 0.46, 1.493, 0.785, 1.658, 0.456, PHS= 1.124, 0.376, 1.199, RAW= 154.7, -50.4, CAL= 158.5, -49.0, ROT= 351.5,  49.0

2025-06-17T20:53:29.134Z,1750193609.134 [DAT](INFO): DAT read: Bearing 351.5,  49.0 (Local)

2025-06-17T20:53:29.135Z,1750193609.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.5,  49.0 (Local)

2025-06-17T20:53:29.138Z,1750193609.138 [DAT](INFO): DAT read: Range 10 to 50 : 198.9 m  (Round-trip  265.2 ms) speed  0.7 m/s

2025-06-17T20:53:29.139Z,1750193609.139 [DAT](INFO): DAT read: user:757>

2025-06-17T20:53:29.140Z,1750193609.140 [DAT](INFO): DAT read: Tx time:20:53:29.2355

2025-06-17T20:53:29.140Z,1750193609.140 [DAT](INFO): Ping request sent.
2025-06-17T20:53:29.140Z,1750193609.140 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:29.141Z,1750193609.141 [DAT](INFO): DAT read: TxSync time:20:53:29.2347

2025-06-17T20:53:29.142Z,1750193609.142 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:53:29.143Z,1750193609.143 [DAT](INFO): direction in FSK: [0.648853,-0.096972,-0.754710]
2025-06-17T20:53:29.143Z,1750193609.143 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:29.143Z,1750193609.143 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:29.146Z,1750193609.146 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:29.146Z,1750193609.146 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:29.305Z,1750193609.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 198.899994 m,
      deltaT: 3.784866 s,
      deltaX: -0.700012 m,
      approachRate: -0.184950 m/s,
      rangeRepo size: 4

2025-06-17T20:53:29.307Z,1750193609.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 197.091400 m,
      bearing: 324.990225 deg,
      lat: 36.905867 deg,
      lon: -122.115764 deg,
      deltaT: 3.784866 s,
      deltaX: -0.693619 m,
      approachRate: -0.183261 m/s,
      posRepo size: 4

2025-06-17T20:53:29.312Z,1750193609.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.09 m.
2025-06-17T20:53:29.315Z,1750193609.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.091400 m,
      nav range: 135.966263 m,
      bearing: 330.504296 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001769 deg/s,
      cmd heading: 327.777773 deg,
      new cmd heading: 327.780625 deg.

2025-06-17T20:53:29.320Z,1750193609.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720851 target range: 197.091400 and range: 198.90 m.
2025-06-17T20:53:29.595Z,1750193609.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.09 m.
2025-06-17T20:53:29.602Z,1750193609.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.091400 m,
      nav range: 135.732162 m,
      bearing: 330.506179 deg,
      approach rate: -0.806025 m/s,
      LOS rate: 0.006492 deg/s,
      cmd heading: 327.780614 deg,
      new cmd heading: 327.786271 deg.

2025-06-17T20:53:29.603Z,1750193609.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720950 target range: 197.091400 and range: 198.90 m.
2025-06-17T20:53:30.014Z,1750193610.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.09 m.
2025-06-17T20:53:30.017Z,1750193610.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.091400 m,
      nav range: 135.443787 m,
      bearing: 330.508418 deg,
      approach rate: -0.687652 m/s,
      LOS rate: 0.005351 deg/s,
      cmd heading: 327.786270 deg,
      new cmd heading: 327.793002 deg.

2025-06-17T20:53:30.018Z,1750193610.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721067 target range: 197.091400 and range: 198.90 m.
2025-06-17T20:53:30.429Z,1750193610.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:30.432Z,1750193610.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.09 m.
2025-06-17T20:53:30.434Z,1750193610.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.091400 m,
      nav range: 135.122498 m,
      bearing: 330.509435 deg,
      approach rate: -0.769717 m/s,
      LOS rate: 0.002441 deg/s,
      cmd heading: 327.792991 deg,
      new cmd heading: 327.796048 deg.

2025-06-17T20:53:30.435Z,1750193610.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721120 target range: 197.091400 and range: 198.90 m.
2025-06-17T20:53:30.601Z,1750193610.601 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:30.601Z,1750193610.601 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:30.601Z,1750193610.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:30.806Z,1750193610.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.09 m.
2025-06-17T20:53:30.809Z,1750193610.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.091400 m,
      nav range: 134.846481 m,
      bearing: 330.510147 deg,
      approach rate: -0.737308 m/s,
      LOS rate: 0.001907 deg/s,
      cmd heading: 327.796051 deg,
      new cmd heading: 327.798192 deg.

2025-06-17T20:53:30.810Z,1750193610.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721158 target range: 197.091400 and range: 198.90 m.
2025-06-17T20:53:30.853Z,1750193610.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712665
2025-06-17T20:53:31.107Z,1750193611.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966058
2025-06-17T20:53:31.246Z,1750193611.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.09 m.
2025-06-17T20:53:31.249Z,1750193611.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.091400 m,
      nav range: 134.515564 m,
      bearing: 330.506806 deg,
      approach rate: -0.751808 m/s,
      LOS rate: -0.007609 deg/s,
      cmd heading: 327.798182 deg,
      new cmd heading: 327.788134 deg.

2025-06-17T20:53:31.250Z,1750193611.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720982 target range: 197.091400 and range: 198.90 m.
2025-06-17T20:53:31.357Z,1750193611.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216408
2025-06-17T20:53:31.609Z,1750193611.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468476
2025-06-17T20:53:31.637Z,1750193611.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.09 m.
2025-06-17T20:53:31.644Z,1750193611.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.091400 m,
      nav range: 134.241150 m,
      bearing: 330.504051 deg,
      approach rate: -0.701891 m/s,
      LOS rate: -0.007062 deg/s,
      cmd heading: 327.788128 deg,
      new cmd heading: 327.779845 deg.

2025-06-17T20:53:31.645Z,1750193611.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720838 target range: 197.091400 and range: 198.90 m.
2025-06-17T20:53:31.861Z,1750193611.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720354
2025-06-17T20:53:32.015Z,1750193612.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.09 m.
2025-06-17T20:53:32.018Z,1750193612.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.091400 m,
      nav range: 133.937973 m,
      bearing: 330.501030 deg,
      approach rate: -0.801491 m/s,
      LOS rate: -0.008003 deg/s,
      cmd heading: 327.779849 deg,
      new cmd heading: 327.770768 deg.

2025-06-17T20:53:32.019Z,1750193612.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720679 target range: 197.091400 and range: 198.90 m.
2025-06-17T20:53:32.117Z,1750193612.117 [DAT](INFO): DAT read: Rx Time:20:53:31.9006

2025-06-17T20:53:32.118Z,1750193612.118 [DAT](INFO): Rx dataTimestamp_ set to:1750193612.117507
2025-06-17T20:53:32.121Z,1750193612.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979198
2025-06-17T20:53:32.365Z,1750193612.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224446
2025-06-17T20:53:32.457Z,1750193612.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:32.459Z,1750193612.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.09 m.
2025-06-17T20:53:32.462Z,1750193612.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.091400 m,
      nav range: 133.607544 m,
      bearing: 330.497636 deg,
      approach rate: -0.744755 m/s,
      LOS rate: -0.007669 deg/s,
      cmd heading: 327.770779 deg,
      new cmd heading: 327.760572 deg.

2025-06-17T20:53:32.463Z,1750193612.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720501 target range: 197.091400 and range: 198.90 m.
2025-06-17T20:53:32.630Z,1750193612.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488432
2025-06-17T20:53:32.840Z,1750193612.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.09 m.
2025-06-17T20:53:32.842Z,1750193612.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.091400 m,
      nav range: 133.335342 m,
      bearing: 330.494790 deg,
      approach rate: -0.746561 m/s,
      LOS rate: -0.007822 deg/s,
      cmd heading: 327.760561 deg,
      new cmd heading: 327.752005 deg.

2025-06-17T20:53:32.843Z,1750193612.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720352 target range: 197.091400 and range: 198.90 m.
2025-06-17T20:53:32.875Z,1750193612.875 [DAT](INFO): DAT read: 20:53:31.9006 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX=  56, 0.37, 2.599, 1.281, 2.417, 1.983, PHS= 0.704,-0.655, 0.431, RAW= 139.1,  -7.8, CAL= 145.2, -17.8, ROT=   4.8,  17.8

2025-06-17T20:53:32.876Z,1750193612.876 [DAT](INFO): got valid direction response:
 20:53:31.9006 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX=  56, 0.37, 2.599, 1.281, 2.417, 1.983, PHS= 0.704,-0.655, 0.431, RAW= 139.1,  -7.8, CAL= 145.2, -17.8, ROT=   4.8,  17.8

2025-06-17T20:53:32.878Z,1750193612.878 [DAT](INFO): DAT read: Bearing   4.8,  17.8 (Local)

2025-06-17T20:53:32.878Z,1750193612.878 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.8,  17.8 (Local)

2025-06-17T20:53:32.879Z,1750193612.879 [DAT](INFO): DAT read: Range 10 to 50 : 195.7 m  (Round-trip  261.0 ms) speed  0.0 m/s

2025-06-17T20:53:32.880Z,1750193612.880 [DAT](INFO): DAT read: user:758>

2025-06-17T20:53:32.881Z,1750193612.881 [DAT](INFO): DAT read: Tx time:20:53:32.9855

2025-06-17T20:53:32.881Z,1750193612.881 [DAT](INFO): Ping request sent.
2025-06-17T20:53:32.881Z,1750193612.881 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:32.882Z,1750193612.882 [DAT](INFO): DAT read: TxSync time:20:53:32.9847

2025-06-17T20:53:32.883Z,1750193612.883 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:53:32.900Z,1750193612.900 [DAT](INFO): direction in FSK: [0.948790,0.079672,-0.305695]
2025-06-17T20:53:32.900Z,1750193612.900 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:32.900Z,1750193612.900 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:32.909Z,1750193612.909 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:32.910Z,1750193612.910 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:33.261Z,1750193613.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 195.699997 m,
      deltaT: 3.777945 s,
      deltaX: -3.199997 m,
      approachRate: -0.847021 m/s,
      rangeRepo size: 4

2025-06-17T20:53:33.263Z,1750193613.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 193.920670 m,
      bearing: 334.087481 deg,
      lat: 36.905867 deg,
      lon: -122.115767 deg,
      deltaT: 3.777945 s,
      deltaX: -3.170731 m,
      approachRate: -0.839274 m/s,
      posRepo size: 4

2025-06-17T20:53:33.264Z,1750193613.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:33.266Z,1750193613.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 133.160782 m,
      bearing: 330.376984 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007822 deg/s,
      cmd heading: 327.752010 deg,
      new cmd heading: 327.741768 deg.

2025-06-17T20:53:33.267Z,1750193613.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720173 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:33.649Z,1750193613.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:33.652Z,1750193613.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 132.867218 m,
      bearing: 330.372391 deg,
      approach rate: -0.754797 m/s,
      LOS rate: -0.011836 deg/s,
      cmd heading: 327.741764 deg,
      new cmd heading: 327.727954 deg.

2025-06-17T20:53:33.653Z,1750193613.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719932 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:34.037Z,1750193614.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:34.039Z,1750193614.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 132.578339 m,
      bearing: 330.367854 deg,
      approach rate: -0.745238 m/s,
      LOS rate: -0.011729 deg/s,
      cmd heading: 327.727967 deg,
      new cmd heading: 327.714328 deg.

2025-06-17T20:53:34.040Z,1750193614.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719694 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:34.447Z,1750193614.447 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       -6.76,19.25-0.30,   7.26,  0.00
2025-06-17T20:53:34.461Z,1750193614.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:34.463Z,1750193614.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:34.466Z,1750193614.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 132.259308 m,
      bearing: 330.362948 deg,
      approach rate: -0.748057 m/s,
      LOS rate: -0.011531 deg/s,
      cmd heading: 327.714334 deg,
      new cmd heading: 327.699581 deg.

2025-06-17T20:53:34.467Z,1750193614.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719437 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:34.633Z,1750193614.633 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:34.633Z,1750193614.633 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:34.633Z,1750193614.633 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:34.856Z,1750193614.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:34.859Z,1750193614.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 131.965317 m,
      bearing: 330.358418 deg,
      approach rate: -0.748004 m/s,
      LOS rate: -0.011551 deg/s,
      cmd heading: 327.699581 deg,
      new cmd heading: 327.685961 deg.

2025-06-17T20:53:34.860Z,1750193614.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719199 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:34.885Z,1750193614.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003160
2025-06-17T20:53:35.137Z,1750193615.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255217
2025-06-17T20:53:35.299Z,1750193615.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:35.302Z,1750193615.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 131.640564 m,
      bearing: 330.352315 deg,
      approach rate: -0.733126 m/s,
      LOS rate: -0.013810 deg/s,
      cmd heading: 327.685948 deg,
      new cmd heading: 327.667595 deg.

2025-06-17T20:53:35.303Z,1750193615.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718878 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:35.393Z,1750193615.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510424
2025-06-17T20:53:35.641Z,1750193615.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759313
2025-06-17T20:53:35.687Z,1750193615.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:35.704Z,1750193615.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 131.362259 m,
      bearing: 330.347173 deg,
      approach rate: -0.719088 m/s,
      LOS rate: -0.013316 deg/s,
      cmd heading: 327.667588 deg,
      new cmd heading: 327.652127 deg.

2025-06-17T20:53:35.705Z,1750193615.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718608 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:35.894Z,1750193615.894 [DAT](INFO): DAT read: Rx Time:20:53:35.5808

2025-06-17T20:53:35.895Z,1750193615.895 [DAT](INFO): Rx dataTimestamp_ set to:1750193615.894356
2025-06-17T20:53:35.896Z,1750193615.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013979
2025-06-17T20:53:36.126Z,1750193616.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:36.129Z,1750193616.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 131.033981 m,
      bearing: 330.341102 deg,
      approach rate: -0.746413 m/s,
      LOS rate: -0.013838 deg/s,
      cmd heading: 327.652125 deg,
      new cmd heading: 327.633867 deg.

2025-06-17T20:53:36.130Z,1750193616.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718290 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:36.145Z,1750193616.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263205
2025-06-17T20:53:36.403Z,1750193616.403 [DAT](INFO): DAT read: 20:53:35.5808 LVL= 32752, 32753, 29474, 32755, AGC= 64, IDX= 241, 0.02,-0.840,-2.227,-1.082,-1.438, PHS= 0.686,-0.742, 0.353, RAW= 137.1,  -4.6, CAL= 142.7, -14.6, ROT=   7.3,  14.6

2025-06-17T20:53:36.404Z,1750193616.404 [DAT](INFO): got valid direction response:
 20:53:35.5808 LVL= 32752, 32753, 29474, 32755, AGC= 64, IDX= 241, 0.02,-0.840,-2.227,-1.082,-1.438, PHS= 0.686,-0.742, 0.353, RAW= 137.1,  -4.6, CAL= 142.7, -14.6, ROT=   7.3,  14.6

2025-06-17T20:53:36.405Z,1750193616.405 [DAT](INFO): DAT read: Bearing   7.3,  14.6 (Local)

2025-06-17T20:53:36.405Z,1750193616.405 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.3,  14.6 (Local)

2025-06-17T20:53:36.407Z,1750193616.407 [DAT](INFO): DAT read: Range 10 to 50 : 143.3 m  (Round-trip  191.1 ms) speed  0.6 m/s

2025-06-17T20:53:36.407Z,1750193616.407 [DAT](INFO): DAT read: user:759>

2025-06-17T20:53:36.408Z,1750193616.408 [DAT](INFO): DAT read: Tx time:20:53:36.6856

2025-06-17T20:53:36.408Z,1750193616.408 [DAT](INFO): Ping request sent.
2025-06-17T20:53:36.409Z,1750193616.409 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:36.409Z,1750193616.409 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:53:36.410Z,1750193616.410 [DAT](INFO): direction in FSK: [0.959865,0.122962,-0.252069]
2025-06-17T20:53:36.410Z,1750193616.410 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:36.410Z,1750193616.410 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:36.414Z,1750193616.414 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:36.414Z,1750193616.414 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:36.617Z,1750193616.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 143.300003 m,
 deltaT: 3.527838 s,
 deltaX: -52.399994 m,
 approachRate: -14.853288 m/s,
 rangeRepo size: 4
2025-06-17T20:53:36.618Z,1750193616.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:36.630Z,1750193616.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 130.692505 m,
      bearing: 330.336264 deg,
      approach rate: -0.708321 m/s,
      LOS rate: -0.010061 deg/s,
      cmd heading: 327.633875 deg,
      new cmd heading: 327.619323 deg.

2025-06-17T20:53:36.631Z,1750193616.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718036 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:36.649Z,1750193616.649 [DAT](INFO): DAT read: TxSync time:20:53:36.6848

2025-06-17T20:53:36.953Z,1750193616.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:36.955Z,1750193616.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:36.958Z,1750193616.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 130.431366 m,
      bearing: 330.332547 deg,
      approach rate: -0.751942 m/s,
      LOS rate: -0.010724 deg/s,
      cmd heading: 327.619313 deg,
      new cmd heading: 327.608140 deg.

2025-06-17T20:53:36.959Z,1750193616.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717841 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:37.155Z,1750193617.155 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:37.155Z,1750193617.155 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:37.156Z,1750193617.156 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:37.356Z,1750193617.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:37.359Z,1750193617.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 130.147324 m,
      bearing: 330.329768 deg,
      approach rate: -0.709117 m/s,
      LOS rate: -0.006953 deg/s,
      cmd heading: 327.608138 deg,
      new cmd heading: 327.599784 deg.

2025-06-17T20:53:37.360Z,1750193617.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717695 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:37.407Z,1750193617.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998511
2025-06-17T20:53:37.657Z,1750193617.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248219
2025-06-17T20:53:37.751Z,1750193617.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:37.755Z,1750193617.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 129.870728 m,
      bearing: 330.327074 deg,
      approach rate: -0.700529 m/s,
      LOS rate: -0.006839 deg/s,
      cmd heading: 327.599778 deg,
      new cmd heading: 327.591677 deg.

2025-06-17T20:53:37.758Z,1750193617.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717553 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:37.909Z,1750193617.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500098
2025-06-17T20:53:38.161Z,1750193618.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752289
2025-06-17T20:53:38.169Z,1750193618.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:38.171Z,1750193618.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 129.589355 m,
      bearing: 330.323947 deg,
      approach rate: -0.673210 m/s,
      LOS rate: -0.007497 deg/s,
      cmd heading: 327.591664 deg,
      new cmd heading: 327.582264 deg.

2025-06-17T20:53:38.186Z,1750193618.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717389 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:38.413Z,1750193618.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004180
2025-06-17T20:53:38.593Z,1750193618.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:38.600Z,1750193618.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 129.286850 m,
      bearing: 330.322622 deg,
      approach rate: -0.712299 m/s,
      LOS rate: -0.003127 deg/s,
      cmd heading: 327.582266 deg,
      new cmd heading: 327.578282 deg.

2025-06-17T20:53:38.601Z,1750193618.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717319 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:38.666Z,1750193618.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256947
2025-06-17T20:53:38.917Z,1750193618.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508158
2025-06-17T20:53:38.969Z,1750193618.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:38.971Z,1750193618.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:38.974Z,1750193618.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 129.007187 m,
      bearing: 330.320954 deg,
      approach rate: -0.740500 m/s,
      LOS rate: -0.004427 deg/s,
      cmd heading: 327.578277 deg,
      new cmd heading: 327.573262 deg.

2025-06-17T20:53:38.975Z,1750193618.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717232 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:39.171Z,1750193619.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762191
2025-06-17T20:53:39.376Z,1750193619.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:39.379Z,1750193619.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 128.722061 m,
      bearing: 330.318942 deg,
      approach rate: -0.704271 m/s,
      LOS rate: -0.004980 deg/s,
      cmd heading: 327.573250 deg,
      new cmd heading: 327.567202 deg.

2025-06-17T20:53:39.396Z,1750193619.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717126 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:39.421Z,1750193619.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012301
2025-06-17T20:53:39.673Z,1750193619.673 [DAT](INFO): DAT read: Rx Time:20:53:39.3456

2025-06-17T20:53:39.673Z,1750193619.673 [DAT](INFO): Rx dataTimestamp_ set to:1750193619.673052
2025-06-17T20:53:39.674Z,1750193619.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265273
2025-06-17T20:53:39.782Z,1750193619.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:39.785Z,1750193619.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 128.436615 m,
      bearing: 330.316816 deg,
      approach rate: -0.703355 m/s,
      LOS rate: -0.005251 deg/s,
      cmd heading: 327.567212 deg,
      new cmd heading: 327.560819 deg.

2025-06-17T20:53:39.786Z,1750193619.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717015 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:39.925Z,1750193619.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516159
2025-06-17T20:53:40.165Z,1750193620.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:40.167Z,1750193620.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 128.166916 m,
      bearing: 330.314753 deg,
      approach rate: -0.703942 m/s,
      LOS rate: -0.005396 deg/s,
      cmd heading: 327.560819 deg,
      new cmd heading: 327.554616 deg.

2025-06-17T20:53:40.169Z,1750193620.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716907 target range: 193.920670 and range: 195.70 m.
2025-06-17T20:53:40.179Z,1750193620.179 [DAT](INFO): DAT read: Range 10 to 50 : 191.8 m  (Round-trip  255.8 ms) speed  0.3 m/s

2025-06-17T20:53:40.181Z,1750193620.181 [DAT](INFO): DAT read: user:760>

2025-06-17T20:53:40.182Z,1750193620.182 [DAT](INFO): DAT read: Tx time:20:53:40.4356

2025-06-17T20:53:40.183Z,1750193620.183 [DAT](INFO): Ping request sent.
2025-06-17T20:53:40.183Z,1750193620.183 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:40.187Z,1750193620.187 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:53:40.187Z,1750193620.187 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:40.189Z,1750193620.189 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:40.429Z,1750193620.429 [DAT](INFO): DAT read: TxSync time:20:53:40.4348

2025-06-17T20:53:40.610Z,1750193620.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 191.800003 m,
      deltaT: 7.307885 s,
      deltaX: -3.899994 m,
      approachRate: -0.533669 m/s,
      rangeRepo size: 4

2025-06-17T20:53:40.611Z,1750193620.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:40.613Z,1750193620.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 127.862816 m,
      bearing: 330.314656 deg,
      approach rate: -0.684173 m/s,
      LOS rate: -0.000218 deg/s,
      cmd heading: 327.554617 deg,
      new cmd heading: 327.554326 deg.

2025-06-17T20:53:40.614Z,1750193620.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716901 target range: 193.920670 and range: 191.80 m.
2025-06-17T20:53:40.987Z,1750193620.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:40.989Z,1750193620.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:40.992Z,1750193620.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 127.602936 m,
      bearing: 330.314958 deg,
      approach rate: -0.683861 m/s,
      LOS rate: 0.000797 deg/s,
      cmd heading: 327.554317 deg,
      new cmd heading: 327.555225 deg.

2025-06-17T20:53:40.993Z,1750193620.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716917 target range: 193.920670 and range: 191.80 m.
2025-06-17T20:53:41.185Z,1750193621.185 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:41.185Z,1750193621.185 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:41.185Z,1750193621.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:41.414Z,1750193621.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:41.421Z,1750193621.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 127.314011 m,
      bearing: 330.314539 deg,
      approach rate: -0.680541 m/s,
      LOS rate: -0.000991 deg/s,
      cmd heading: 327.555218 deg,
      new cmd heading: 327.553956 deg.

2025-06-17T20:53:41.422Z,1750193621.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716895 target range: 193.920670 and range: 191.80 m.
2025-06-17T20:53:41.437Z,1750193621.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253878
2025-06-17T20:53:41.689Z,1750193621.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505630
2025-06-17T20:53:41.795Z,1750193621.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:41.798Z,1750193621.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 127.033066 m,
      bearing: 330.314218 deg,
      approach rate: -0.736275 m/s,
      LOS rate: -0.000841 deg/s,
      cmd heading: 327.553961 deg,
      new cmd heading: 327.552998 deg.

2025-06-17T20:53:41.799Z,1750193621.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716878 target range: 193.920670 and range: 191.80 m.
2025-06-17T20:53:41.941Z,1750193621.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757668
2025-06-17T20:53:42.193Z,1750193622.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009637
2025-06-17T20:53:42.211Z,1750193622.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:42.213Z,1750193622.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 126.739807 m,
      bearing: 330.313876 deg,
      approach rate: -0.706351 m/s,
      LOS rate: -0.000827 deg/s,
      cmd heading: 327.553005 deg,
      new cmd heading: 327.551975 deg.

2025-06-17T20:53:42.214Z,1750193622.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716860 target range: 193.920670 and range: 191.80 m.
2025-06-17T20:53:42.446Z,1750193622.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262551
2025-06-17T20:53:42.627Z,1750193622.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:42.634Z,1750193622.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 126.450218 m,
      bearing: 330.312781 deg,
      approach rate: -0.695811 m/s,
      LOS rate: -0.002637 deg/s,
      cmd heading: 327.551967 deg,
      new cmd heading: 327.548675 deg.

2025-06-17T20:53:42.635Z,1750193622.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716803 target range: 193.920670 and range: 191.80 m.
2025-06-17T20:53:42.699Z,1750193622.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516382
2025-06-17T20:53:42.953Z,1750193622.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769700
2025-06-17T20:53:43.001Z,1750193623.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:43.003Z,1750193623.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:43.005Z,1750193623.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 126.166878 m,
      bearing: 330.311681 deg,
      approach rate: -0.753936 m/s,
      LOS rate: -0.002934 deg/s,
      cmd heading: 327.548661 deg,
      new cmd heading: 327.545353 deg.

2025-06-17T20:53:43.006Z,1750193623.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716745 target range: 193.920670 and range: 191.80 m.
2025-06-17T20:53:43.205Z,1750193623.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021623
2025-06-17T20:53:43.447Z,1750193623.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:43.453Z,1750193623.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 125.845215 m,
      bearing: 330.307369 deg,
      approach rate: -0.724495 m/s,
      LOS rate: -0.009737 deg/s,
      cmd heading: 327.545355 deg,
      new cmd heading: 327.532387 deg.

2025-06-17T20:53:43.454Z,1750193623.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716518 target range: 193.920670 and range: 191.80 m.
2025-06-17T20:53:43.457Z,1750193623.457 [DAT](INFO): DAT read: Rx Time:20:53:43.0940

2025-06-17T20:53:43.458Z,1750193623.458 [DAT](INFO): Rx dataTimestamp_ set to:1750193623.457414
2025-06-17T20:53:43.458Z,1750193623.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275166
2025-06-17T20:53:43.709Z,1750193623.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525806
2025-06-17T20:53:43.813Z,1750193623.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:43.826Z,1750193623.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 125.570023 m,
      bearing: 330.303661 deg,
      approach rate: -0.753889 m/s,
      LOS rate: -0.010180 deg/s,
      cmd heading: 327.532378 deg,
      new cmd heading: 327.521230 deg.

2025-06-17T20:53:43.828Z,1750193623.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716324 target range: 193.920670 and range: 191.80 m.
2025-06-17T20:53:43.962Z,1750193623.962 [DAT](INFO): DAT read: Range 10 to 50 : 190.6 m  (Round-trip  254.2 ms) speed  0.2 m/s

2025-06-17T20:53:43.963Z,1750193623.963 [DAT](INFO): DAT read: user:761>

2025-06-17T20:53:43.963Z,1750193623.963 [DAT](INFO): DAT read: Tx time:20:53:44.1856

2025-06-17T20:53:43.964Z,1750193623.964 [DAT](INFO): Ping request sent.
2025-06-17T20:53:43.964Z,1750193623.964 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:43.964Z,1750193623.964 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:53:43.964Z,1750193623.964 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:43.965Z,1750193623.965 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:44.215Z,1750193624.215 [DAT](INFO): DAT read: TxSync time:20:53:44.1848

2025-06-17T20:53:44.237Z,1750193624.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 190.600006 m,
      deltaT: 3.783939 s,
      deltaX: -1.199997 m,
      approachRate: -0.317129 m/s,
      rangeRepo size: 4

2025-06-17T20:53:44.238Z,1750193624.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:44.256Z,1750193624.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 125.276268 m,
      bearing: 330.299725 deg,
      approach rate: -0.708300 m/s,
      LOS rate: -0.009512 deg/s,
      cmd heading: 327.521231 deg,
      new cmd heading: 327.509396 deg.

2025-06-17T20:53:44.257Z,1750193624.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716117 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:44.653Z,1750193624.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:44.660Z,1750193624.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 124.944267 m,
      bearing: 330.294198 deg,
      approach rate: -0.778314 m/s,
      LOS rate: -0.012993 deg/s,
      cmd heading: 327.509401 deg,
      new cmd heading: 327.492775 deg.

2025-06-17T20:53:44.661Z,1750193624.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715827 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:45.019Z,1750193625.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:45.021Z,1750193625.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:45.024Z,1750193625.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 124.668213 m,
      bearing: 330.289546 deg,
      approach rate: -0.749128 m/s,
      LOS rate: -0.012651 deg/s,
      cmd heading: 327.492763 deg,
      new cmd heading: 327.478777 deg.

2025-06-17T20:53:45.025Z,1750193625.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715583 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:45.221Z,1750193625.221 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:45.221Z,1750193625.221 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:45.221Z,1750193625.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:45.445Z,1750193625.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:45.448Z,1750193625.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 124.349335 m,
      bearing: 330.284143 deg,
      approach rate: -0.752289 m/s,
      LOS rate: -0.012779 deg/s,
      cmd heading: 327.478775 deg,
      new cmd heading: 327.462524 deg.

2025-06-17T20:53:45.449Z,1750193625.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715299 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:45.486Z,1750193625.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522095
2025-06-17T20:53:45.738Z,1750193625.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773315
2025-06-17T20:53:45.842Z,1750193625.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:45.847Z,1750193625.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 124.056190 m,
      bearing: 330.279022 deg,
      approach rate: -0.739507 m/s,
      LOS rate: -0.012949 deg/s,
      cmd heading: 327.462519 deg,
      new cmd heading: 327.447120 deg.

2025-06-17T20:53:45.850Z,1750193625.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715030 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:45.989Z,1750193625.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025105
2025-06-17T20:53:46.229Z,1750193626.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:46.232Z,1750193626.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 123.759727 m,
      bearing: 330.273802 deg,
      approach rate: -0.764559 m/s,
      LOS rate: -0.013494 deg/s,
      cmd heading: 327.447110 deg,
      new cmd heading: 327.431413 deg.

2025-06-17T20:53:46.233Z,1750193626.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714756 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:46.241Z,1750193626.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277017
2025-06-17T20:53:46.493Z,1750193626.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529008
2025-06-17T20:53:46.683Z,1750193626.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:46.689Z,1750193626.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 123.443283 m,
      bearing: 330.267187 deg,
      approach rate: -0.698426 m/s,
      LOS rate: -0.014637 deg/s,
      cmd heading: 327.431400 deg,
      new cmd heading: 327.411505 deg.

2025-06-17T20:53:46.690Z,1750193626.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714409 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:46.747Z,1750193626.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783449
2025-06-17T20:53:46.997Z,1750193626.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032917
2025-06-17T20:53:47.061Z,1750193627.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:47.063Z,1750193627.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:47.071Z,1750193627.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 123.144295 m,
      bearing: 330.261000 deg,
      approach rate: -0.784928 m/s,
      LOS rate: -0.016283 deg/s,
      cmd heading: 327.411511 deg,
      new cmd heading: 327.392903 deg.

2025-06-17T20:53:47.076Z,1750193627.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714084 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:47.249Z,1750193627.249 [DAT](INFO): DAT read: Rx Time:20:53:46.8046

2025-06-17T20:53:47.250Z,1750193627.250 [DAT](INFO): Rx dataTimestamp_ set to:1750193627.249278
2025-06-17T20:53:47.250Z,1750193627.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286265
2025-06-17T20:53:47.478Z,1750193627.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:47.481Z,1750193627.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 122.825607 m,
      bearing: 330.254690 deg,
      approach rate: -0.768364 m/s,
      LOS rate: -0.015252 deg/s,
      cmd heading: 327.392905 deg,
      new cmd heading: 327.373928 deg.

2025-06-17T20:53:47.482Z,1750193627.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713753 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:47.502Z,1750193627.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537988
2025-06-17T20:53:47.761Z,1750193627.761 [DAT](INFO): DAT read: 20:53:46.8046 LVL= 26064, 32753, 25522, 30195, AGC= 67, IDX=  37,-0.13,-1.571,-3.005,-1.875,-2.017, PHS= 0.534,-0.941, 0.138, RAW= 135.0,   4.1, CAL= 140.1,  -3.5, ROT=   9.9,   3.5

2025-06-17T20:53:47.763Z,1750193627.763 [DAT](INFO): got valid direction response:
 20:53:46.8046 LVL= 26064, 32753, 25522, 30195, AGC= 67, IDX=  37,-0.13,-1.571,-3.005,-1.875,-2.017, PHS= 0.534,-0.941, 0.138, RAW= 135.0,   4.1, CAL= 140.1,  -3.5, ROT=   9.9,   3.5

2025-06-17T20:53:47.769Z,1750193627.769 [DAT](INFO): DAT read: Bearing   9.9,   3.5 (Local)

2025-06-17T20:53:47.769Z,1750193627.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.9,   3.5 (Local)

2025-06-17T20:53:47.771Z,1750193627.771 [DAT](INFO): DAT read: Range 10 to 50 : 161.1 m  (Round-trip  214.9 ms) speed  0.5 m/s

2025-06-17T20:53:47.772Z,1750193627.772 [DAT](INFO): DAT read: user:762>

2025-06-17T20:53:47.772Z,1750193627.772 [DAT](INFO): DAT read: Tx time:20:53:47.9356

2025-06-17T20:53:47.773Z,1750193627.773 [DAT](INFO): Ping request sent.
2025-06-17T20:53:47.773Z,1750193627.773 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:47.773Z,1750193627.773 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:53:47.774Z,1750193627.774 [DAT](INFO): direction in FSK: [0.983272,0.171608,-0.061049]
2025-06-17T20:53:47.774Z,1750193627.774 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:47.775Z,1750193627.775 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:47.782Z,1750193627.782 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:47.782Z,1750193627.782 [DAT](INFO): publishing direction and range info
2025-06-17T20:53:47.893Z,1750193627.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 161.100006 m,
 deltaT: 3.792365 s,
 deltaX: -29.500000 m,
 approachRate: -7.778787 m/s,
 rangeRepo size: 4
2025-06-17T20:53:47.894Z,1750193627.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:47.908Z,1750193627.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 122.531990 m,
      bearing: 330.248848 deg,
      approach rate: -0.716465 m/s,
      LOS rate: -0.014290 deg/s,
      cmd heading: 327.373918 deg,
      new cmd heading: 327.356348 deg.

2025-06-17T20:53:47.909Z,1750193627.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713446 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:48.006Z,1750193628.006 [DAT](INFO): DAT read: TxSync time:20:53:47.9348

2025-06-17T20:53:48.268Z,1750193628.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:48.271Z,1750193628.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 122.245674 m,
      bearing: 330.243200 deg,
      approach rate: -0.795782 m/s,
      LOS rate: -0.015735 deg/s,
      cmd heading: 327.356350 deg,
      new cmd heading: 327.339366 deg.

2025-06-17T20:53:48.276Z,1750193628.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713150 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:48.770Z,1750193628.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:48.773Z,1750193628.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 121.860931 m,
      bearing: 330.235861 deg,
      approach rate: -0.736202 m/s,
      LOS rate: -0.014087 deg/s,
      cmd heading: 327.339357 deg,
      new cmd heading: 327.317271 deg.

2025-06-17T20:53:48.774Z,1750193628.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712764 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:49.084Z,1750193629.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:49.086Z,1750193629.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:49.089Z,1750193629.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 121.633003 m,
      bearing: 330.231491 deg,
      approach rate: -0.721130 m/s,
      LOS rate: -0.013851 deg/s,
      cmd heading: 327.317282 deg,
      new cmd heading: 327.304148 deg.

2025-06-17T20:53:49.090Z,1750193629.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712535 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:49.265Z,1750193629.265 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:53:49.265Z,1750193629.265 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:53:49.266Z,1750193629.266 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:49.517Z,1750193629.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744029
2025-06-17T20:53:49.520Z,1750193629.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:49.523Z,1750193629.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 121.308258 m,
      bearing: 330.224916 deg,
      approach rate: -0.749741 m/s,
      LOS rate: -0.015221 deg/s,
      cmd heading: 327.304140 deg,
      new cmd heading: 327.284362 deg.

2025-06-17T20:53:49.524Z,1750193629.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712190 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:49.769Z,1750193629.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996310
2025-06-17T20:53:49.898Z,1750193629.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:49.901Z,1750193629.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 121.029648 m,
      bearing: 330.219023 deg,
      approach rate: -0.736094 m/s,
      LOS rate: -0.015606 deg/s,
      cmd heading: 327.284360 deg,
      new cmd heading: 327.266639 deg.

2025-06-17T20:53:49.902Z,1750193629.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711880 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:50.021Z,1750193630.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247892
2025-06-17T20:53:50.273Z,1750193630.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499958
2025-06-17T20:53:50.307Z,1750193630.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:50.326Z,1750193630.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 120.729355 m,
      bearing: 330.212562 deg,
      approach rate: -0.733588 m/s,
      LOS rate: -0.015822 deg/s,
      cmd heading: 327.266629 deg,
      new cmd heading: 327.247199 deg.

2025-06-17T20:53:50.327Z,1750193630.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711541 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:50.525Z,1750193630.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751998
2025-06-17T20:53:50.777Z,1750193630.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003954
2025-06-17T20:53:50.840Z,1750193630.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:50.843Z,1750193630.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 120.348045 m,
      bearing: 330.209676 deg,
      approach rate: -0.716267 m/s,
      LOS rate: -0.005438 deg/s,
      cmd heading: 327.247204 deg,
      new cmd heading: 327.238520 deg.

2025-06-17T20:53:50.844Z,1750193630.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711390 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:51.029Z,1750193631.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256174
2025-06-17T20:53:51.210Z,1750193631.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:51.213Z,1750193631.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:51.215Z,1750193631.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 120.081985 m,
      bearing: 330.207716 deg,
      approach rate: -0.713460 m/s,
      LOS rate: -0.005268 deg/s,
      cmd heading: 327.238516 deg,
      new cmd heading: 327.232622 deg.

2025-06-17T20:53:51.217Z,1750193631.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711287 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:51.281Z,1750193631.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508129
2025-06-17T20:53:51.533Z,1750193631.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759886
2025-06-17T20:53:51.647Z,1750193631.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:51.649Z,1750193631.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 119.781555 m,
      bearing: 330.206425 deg,
      approach rate: -0.692667 m/s,
      LOS rate: -0.002984 deg/s,
      cmd heading: 327.232615 deg,
      new cmd heading: 327.228732 deg.

2025-06-17T20:53:51.650Z,1750193631.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711219 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:51.785Z,1750193631.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.011987
2025-06-17T20:53:52.013Z,1750193632.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:52.017Z,1750193632.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 119.528664 m,
      bearing: 330.205484 deg,
      approach rate: -0.689813 m/s,
      LOS rate: -0.002572 deg/s,
      cmd heading: 327.228735 deg,
      new cmd heading: 327.225906 deg.

2025-06-17T20:53:52.018Z,1750193632.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711169 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:52.037Z,1750193632.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.264029
2025-06-17T20:53:52.289Z,1750193632.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.515888
2025-06-17T20:53:52.479Z,1750193632.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:52.486Z,1750193632.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 119.236031 m,
      bearing: 330.204602 deg,
      approach rate: -0.627585 m/s,
      LOS rate: -0.001898 deg/s,
      cmd heading: 327.225894 deg,
      new cmd heading: 327.223239 deg.

2025-06-17T20:53:52.487Z,1750193632.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711123 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:52.541Z,1750193632.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.768141
2025-06-17T20:53:52.793Z,1750193632.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.020062
2025-06-17T20:53:52.852Z,1750193632.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:52.855Z,1750193632.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 118.943962 m,
      bearing: 330.204352 deg,
      approach rate: -0.784512 m/s,
      LOS rate: -0.000672 deg/s,
      cmd heading: 327.223244 deg,
      new cmd heading: 327.222493 deg.

2025-06-17T20:53:52.856Z,1750193632.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711110 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:53.045Z,1750193633.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.271861
2025-06-17T20:53:53.231Z,1750193633.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:53.233Z,1750193633.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:53.235Z,1750193633.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 118.675934 m,
      bearing: 330.204317 deg,
      approach rate: -0.703095 m/s,
      LOS rate: -0.000093 deg/s,
      cmd heading: 327.222506 deg,
      new cmd heading: 327.222399 deg.

2025-06-17T20:53:53.237Z,1750193633.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711108 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:53.297Z,1750193633.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.524379
2025-06-17T20:53:53.551Z,1750193633.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.778450
2025-06-17T20:53:53.672Z,1750193633.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:53.675Z,1750193633.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 118.383926 m,
      bearing: 330.205011 deg,
      approach rate: -0.671269 m/s,
      LOS rate: 0.001600 deg/s,
      cmd heading: 327.222397 deg,
      new cmd heading: 327.224485 deg.

2025-06-17T20:53:53.680Z,1750193633.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711144 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:53.801Z,1750193633.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.027843
2025-06-17T20:53:54.038Z,1750193634.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:54.041Z,1750193634.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 118.115692 m,
      bearing: 330.205743 deg,
      approach rate: -0.723819 m/s,
      LOS rate: 0.001980 deg/s,
      cmd heading: 327.224473 deg,
      new cmd heading: 327.226674 deg.

2025-06-17T20:53:54.042Z,1750193634.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711183 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:54.053Z,1750193634.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.280012
2025-06-17T20:53:54.305Z,1750193634.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.531988
2025-06-17T20:53:54.487Z,1750193634.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:54.510Z,1750193634.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 117.832863 m,
      bearing: 330.206614 deg,
      approach rate: -0.632871 m/s,
      LOS rate: 0.001953 deg/s,
      cmd heading: 327.226686 deg,
      new cmd heading: 327.229304 deg.

2025-06-17T20:53:54.511Z,1750193634.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711229 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:54.558Z,1750193634.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.784881
2025-06-17T20:53:54.809Z,1750193634.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.036238
2025-06-17T20:53:54.899Z,1750193634.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:54.901Z,1750193634.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 117.516136 m,
      bearing: 330.207251 deg,
      approach rate: -0.766470 m/s,
      LOS rate: 0.001546 deg/s,
      cmd heading: 327.229309 deg,
      new cmd heading: 327.231225 deg.

2025-06-17T20:53:54.902Z,1750193634.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711262 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:55.061Z,1750193635.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.288056
2025-06-17T20:53:55.266Z,1750193635.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:55.268Z,1750193635.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:55.271Z,1750193635.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 117.271622 m,
      bearing: 330.207827 deg,
      approach rate: -0.661172 m/s,
      LOS rate: 0.001562 deg/s,
      cmd heading: 327.231221 deg,
      new cmd heading: 327.232954 deg.

2025-06-17T20:53:55.272Z,1750193635.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711292 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:55.314Z,1750193635.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.540517
2025-06-17T20:53:55.565Z,1750193635.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.791860
2025-06-17T20:53:55.692Z,1750193635.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:55.695Z,1750193635.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 116.969040 m,
      bearing: 330.207938 deg,
      approach rate: -0.721634 m/s,
      LOS rate: 0.000265 deg/s,
      cmd heading: 327.232942 deg,
      new cmd heading: 327.233276 deg.

2025-06-17T20:53:55.703Z,1750193635.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711298 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:55.818Z,1750193635.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.044649
2025-06-17T20:53:56.059Z,1750193636.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:56.062Z,1750193636.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 116.692375 m,
      bearing: 330.208033 deg,
      approach rate: -0.745291 m/s,
      LOS rate: 0.000255 deg/s,
      cmd heading: 327.233270 deg,
      new cmd heading: 327.233554 deg.

2025-06-17T20:53:56.063Z,1750193636.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711303 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:56.069Z,1750193636.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.296018
2025-06-17T20:53:56.321Z,1750193636.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.547949
2025-06-17T20:53:56.489Z,1750193636.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:56.507Z,1750193636.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 116.399429 m,
      bearing: 330.208085 deg,
      approach rate: -0.684073 m/s,
      LOS rate: 0.000122 deg/s,
      cmd heading: 327.233544 deg,
      new cmd heading: 327.233701 deg.

2025-06-17T20:53:56.515Z,1750193636.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711306 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:56.575Z,1750193636.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.802052
2025-06-17T20:53:56.723Z,1750193636.723 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:53:56.829Z,1750193636.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.055939
2025-06-17T20:53:56.894Z,1750193636.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:56.897Z,1750193636.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 116.093056 m,
      bearing: 330.205612 deg,
      approach rate: -0.753284 m/s,
      LOS rate: -0.006097 deg/s,
      cmd heading: 327.233707 deg,
      new cmd heading: 327.226269 deg.

2025-06-17T20:53:56.898Z,1750193636.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711176 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:57.081Z,1750193637.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.308176
2025-06-17T20:53:57.275Z,1750193637.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:57.277Z,1750193637.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:57.280Z,1750193637.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 115.818512 m,
      bearing: 330.203379 deg,
      approach rate: -0.716671 m/s,
      LOS rate: -0.005843 deg/s,
      cmd heading: 327.226276 deg,
      new cmd heading: 327.219561 deg.

2025-06-17T20:53:57.281Z,1750193637.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711059 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:57.334Z,1750193637.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.560831
2025-06-17T20:53:57.585Z,1750193637.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.811926
2025-06-17T20:53:57.713Z,1750193637.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:57.715Z,1750193637.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 115.501854 m,
      bearing: 330.197965 deg,
      approach rate: -0.726538 m/s,
      LOS rate: -0.012454 deg/s,
      cmd heading: 327.219555 deg,
      new cmd heading: 327.203271 deg.

2025-06-17T20:53:57.717Z,1750193637.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710774 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:57.724Z,1750193637.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:53:57.836Z,1750193637.836 [DAT](INFO): Reached modem response timeout
2025-06-17T20:53:57.837Z,1750193637.837 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:53:57.837Z,1750193637.837 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:58.082Z,1750193638.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:58.085Z,1750193638.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 115.229210 m,
      bearing: 330.193304 deg,
      approach rate: -0.737685 m/s,
      LOS rate: -0.012641 deg/s,
      cmd heading: 327.203272 deg,
      new cmd heading: 327.189256 deg.

2025-06-17T20:53:58.086Z,1750193638.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710530 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:58.089Z,1750193638.089 [DAT](INFO): Reached modem response timeout
2025-06-17T20:53:58.089Z,1750193638.089 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:53:58.089Z,1750193638.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:58.340Z,1750193638.340 [DAT](INFO): Reached modem response timeout
2025-06-17T20:53:58.341Z,1750193638.341 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:53:58.341Z,1750193638.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:53:58.523Z,1750193638.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:58.533Z,1750193638.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 114.920776 m,
      bearing: 330.188005 deg,
      approach rate: -0.702537 m/s,
      LOS rate: -0.012103 deg/s,
      cmd heading: 327.189257 deg,
      new cmd heading: 327.173316 deg.

2025-06-17T20:53:58.537Z,1750193638.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710252 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:58.593Z,1750193638.593 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:53:58.593Z,1750193638.593 [DAT](INFO): response not received
2025-06-17T20:53:58.594Z,1750193638.594 [DAT](INFO): DAT read: user:763>

2025-06-17T20:53:58.594Z,1750193638.594 [DAT](INFO): DAT read: Tx time:20:53:58.8858

2025-06-17T20:53:58.595Z,1750193638.595 [DAT](INFO): Ping request sent.
2025-06-17T20:53:58.595Z,1750193638.595 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:53:58.595Z,1750193638.595 [DAT](INFO): publishing transmit ping time
2025-06-17T20:53:58.596Z,1750193638.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-06-17T20:53:58.845Z,1750193638.845 [DAT](INFO): DAT read: TxSync time:20:53:58.8850

2025-06-17T20:53:58.846Z,1750193638.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250834
2025-06-17T20:53:58.930Z,1750193638.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:58.933Z,1750193638.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 114.603035 m,
      bearing: 330.183762 deg,
      approach rate: -0.777343 m/s,
      LOS rate: -0.010410 deg/s,
      cmd heading: 327.173329 deg,
      new cmd heading: 327.160564 deg.

2025-06-17T20:53:58.934Z,1750193638.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710029 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:59.097Z,1750193639.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501977
2025-06-17T20:53:59.300Z,1750193639.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:53:59.302Z,1750193639.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:59.305Z,1750193639.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 114.326271 m,
      bearing: 330.180373 deg,
      approach rate: -0.743789 m/s,
      LOS rate: -0.009130 deg/s,
      cmd heading: 327.160570 deg,
      new cmd heading: 327.150377 deg.

2025-06-17T20:53:59.306Z,1750193639.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709851 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:59.350Z,1750193639.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755135
2025-06-17T20:53:59.601Z,1750193639.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005962
2025-06-17T20:53:59.734Z,1750193639.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:53:59.739Z,1750193639.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 114.001297 m,
      bearing: 330.177031 deg,
      approach rate: -0.752715 m/s,
      LOS rate: -0.007763 deg/s,
      cmd heading: 327.150379 deg,
      new cmd heading: 327.140325 deg.

2025-06-17T20:53:59.741Z,1750193639.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709676 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:53:59.854Z,1750193639.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258452
2025-06-17T20:54:00.105Z,1750193640.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510012
2025-06-17T20:54:00.127Z,1750193640.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:54:00.130Z,1750193640.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 113.714539 m,
      bearing: 330.174227 deg,
      approach rate: -0.730611 m/s,
      LOS rate: -0.007162 deg/s,
      cmd heading: 327.140325 deg,
      new cmd heading: 327.131892 deg.

2025-06-17T20:54:00.131Z,1750193640.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709528 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:54:00.358Z,1750193640.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763196
2025-06-17T20:54:00.543Z,1750193640.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:54:00.571Z,1750193640.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 113.392738 m,
      bearing: 330.170935 deg,
      approach rate: -0.773711 m/s,
      LOS rate: -0.007938 deg/s,
      cmd heading: 327.131883 deg,
      new cmd heading: 327.121979 deg.

2025-06-17T20:54:00.585Z,1750193640.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709355 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:54:00.609Z,1750193640.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013969
2025-06-17T20:54:00.861Z,1750193640.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265949
2025-06-17T20:54:00.951Z,1750193640.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:54:00.958Z,1750193640.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 113.091133 m,
      bearing: 330.166738 deg,
      approach rate: -0.737993 m/s,
      LOS rate: -0.010296 deg/s,
      cmd heading: 327.121966 deg,
      new cmd heading: 327.109342 deg.

2025-06-17T20:54:00.959Z,1750193640.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709135 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:54:01.113Z,1750193641.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517910
2025-06-17T20:54:01.316Z,1750193641.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:01.318Z,1750193641.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:54:01.321Z,1750193641.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 112.798759 m,
      bearing: 330.162555 deg,
      approach rate: -0.795902 m/s,
      LOS rate: -0.011417 deg/s,
      cmd heading: 327.109343 deg,
      new cmd heading: 327.096761 deg.

2025-06-17T20:54:01.322Z,1750193641.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708915 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:54:01.366Z,1750193641.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770748
2025-06-17T20:54:01.619Z,1750193641.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023431
2025-06-17T20:54:01.774Z,1750193641.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:54:01.781Z,1750193641.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 112.462120 m,
      bearing: 330.157872 deg,
      approach rate: -0.738620 m/s,
      LOS rate: -0.010306 deg/s,
      cmd heading: 327.096748 deg,
      new cmd heading: 327.082658 deg.

2025-06-17T20:54:01.782Z,1750193641.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708669 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:54:01.870Z,1750193641.870 [DAT](INFO): DAT read: Rx Time:20:54:01.4557

2025-06-17T20:54:01.870Z,1750193641.870 [DAT](INFO): Rx dataTimestamp_ set to:1750193641.869827
2025-06-17T20:54:01.871Z,1750193641.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275805
2025-06-17T20:54:02.121Z,1750193642.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525988
2025-06-17T20:54:02.134Z,1750193642.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.92 m.
2025-06-17T20:54:02.137Z,1750193642.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.920670 m,
      nav range: 112.190269 m,
      bearing: 330.154086 deg,
      approach rate: -0.755627 m/s,
      LOS rate: -0.010549 deg/s,
      cmd heading: 327.082651 deg,
      new cmd heading: 327.071266 deg.

2025-06-17T20:54:02.138Z,1750193642.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708470 target range: 193.920670 and range: 190.60 m.
2025-06-17T20:54:02.379Z,1750193642.379 [DAT](INFO): DAT read: 20:54:01.4557 LVL= 30240, 32753, 27682, 32755, AGC= 69, IDX= 414, 0.09, 2.975, 1.635, 2.740, 2.518, PHS= 0.545,-0.836, 0.219, RAW= 136.9,   1.2, CAL= 141.8,  -7.4, ROT=   8.2,   7.4

2025-06-17T20:54:02.383Z,1750193642.383 [DAT](INFO): got valid direction response:
 20:54:01.4557 LVL= 30240, 32753, 27682, 32755, AGC= 69, IDX= 414, 0.09, 2.975, 1.635, 2.740, 2.518, PHS= 0.545,-0.836, 0.219, RAW= 136.9,   1.2, CAL= 141.8,  -7.4, ROT=   8.2,   7.4

2025-06-17T20:54:02.391Z,1750193642.391 [DAT](INFO): DAT read: Bearing   8.2,   7.4 (Local)

2025-06-17T20:54:02.391Z,1750193642.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.2,   7.4 (Local)

2025-06-17T20:54:02.401Z,1750193642.401 [DAT](INFO): DAT read: Range 10 to 50 : 124.3 m  (Round-trip  165.8 ms) speed  0.8 m/s

2025-06-17T20:54:02.402Z,1750193642.402 [DAT](INFO): DAT read: user:764>

2025-06-17T20:54:02.403Z,1750193642.403 [DAT](INFO): DAT read: Tx time:20:54:02.5858

2025-06-17T20:54:02.403Z,1750193642.403 [DAT](INFO): Ping request sent.
2025-06-17T20:54:02.403Z,1750193642.403 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:54:02.403Z,1750193642.403 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:54:02.429Z,1750193642.429 [DAT](INFO): direction in FSK: [0.981533,0.141441,-0.128796]
2025-06-17T20:54:02.429Z,1750193642.429 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:02.429Z,1750193642.429 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:02.449Z,1750193642.449 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:02.449Z,1750193642.449 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:02.623Z,1750193642.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 124.300003 m,
      deltaT: 18.412004 s,
      deltaX: -66.300003 m,
      approachRate: -3.600912 m/s,
      rangeRepo size: 4

2025-06-17T20:54:02.630Z,1750193642.630 [DAT](INFO): DAT read: TxSync time:20:54:02.5850

2025-06-17T20:54:02.634Z,1750193642.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 123.169334 m,
      bearing: 336.121490 deg,
      lat: 36.905994 deg,
      lon: -122.115752 deg,
      deltaT: 29.503828 s,
      deltaX: -70.751335 m,
      approachRate: -2.398039 m/s,
      posRepo size: 4

2025-06-17T20:54:02.634Z,1750193642.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:02.641Z,1750193642.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 123.765778 m,
      bearing: 333.960529 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010549 deg/s,
      cmd heading: 327.071258 deg,
      new cmd heading: 327.056057 deg.

2025-06-17T20:54:02.642Z,1750193642.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708205 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:03.079Z,1750193643.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:03.082Z,1750193643.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 123.371391 m,
      bearing: 333.970934 deg,
      approach rate: -0.848090 m/s,
      LOS rate: 0.022446 deg/s,
      cmd heading: 327.056068 deg,
      new cmd heading: 327.087382 deg.

2025-06-17T20:54:03.083Z,1750193643.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708752 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:03.459Z,1750193643.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:03.462Z,1750193643.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:03.481Z,1750193643.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 123.088150 m,
      bearing: 333.978505 deg,
      approach rate: -0.739653 m/s,
      LOS rate: 0.019815 deg/s,
      cmd heading: 327.087377 deg,
      new cmd heading: 327.110142 deg.

2025-06-17T20:54:03.482Z,1750193643.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709149 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:03.633Z,1750193643.633 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:03.633Z,1750193643.633 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:03.633Z,1750193643.633 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:03.886Z,1750193643.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482667
2025-06-17T20:54:03.925Z,1750193643.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:03.928Z,1750193643.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 122.750969 m,
      bearing: 333.988636 deg,
      approach rate: -0.728163 m/s,
      LOS rate: 0.021940 deg/s,
      cmd heading: 327.110136 deg,
      new cmd heading: 327.140613 deg.

2025-06-17T20:54:03.929Z,1750193643.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709681 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:04.138Z,1750193644.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734517
2025-06-17T20:54:04.301Z,1750193644.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:04.304Z,1750193644.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 122.478325 m,
      bearing: 333.996764 deg,
      approach rate: -0.725841 m/s,
      LOS rate: 0.021686 deg/s,
      cmd heading: 327.140626 deg,
      new cmd heading: 327.165063 deg.

2025-06-17T20:54:04.305Z,1750193644.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710107 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:04.390Z,1750193644.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986559
2025-06-17T20:54:04.644Z,1750193644.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240225
2025-06-17T20:54:04.734Z,1750193644.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:04.740Z,1750193644.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 122.186424 m,
      bearing: 334.005544 deg,
      approach rate: -0.675283 m/s,
      LOS rate: 0.020360 deg/s,
      cmd heading: 327.165050 deg,
      new cmd heading: 327.191453 deg.

2025-06-17T20:54:04.742Z,1750193644.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710568 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:04.893Z,1750193644.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489732
2025-06-17T20:54:05.095Z,1750193645.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:05.098Z,1750193645.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 121.913742 m,
      bearing: 334.013783 deg,
      approach rate: -0.753289 m/s,
      LOS rate: 0.022813 deg/s,
      cmd heading: 327.191442 deg,
      new cmd heading: 327.216217 deg.

2025-06-17T20:54:05.099Z,1750193645.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711000 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:05.145Z,1750193645.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742136
2025-06-17T20:54:05.397Z,1750193645.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993950
2025-06-17T20:54:05.483Z,1750193645.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:05.485Z,1750193645.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:05.488Z,1750193645.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 121.637123 m,
      bearing: 334.022292 deg,
      approach rate: -0.709090 m/s,
      LOS rate: 0.021862 deg/s,
      cmd heading: 327.216222 deg,
      new cmd heading: 327.241807 deg.

2025-06-17T20:54:05.489Z,1750193645.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711447 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:05.652Z,1750193645.652 [DAT](INFO): DAT read: Rx Time:20:54:05.2272

2025-06-17T20:54:05.653Z,1750193645.653 [DAT](INFO): Rx dataTimestamp_ set to:1750193645.652541
2025-06-17T20:54:05.655Z,1750193645.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251661
2025-06-17T20:54:05.901Z,1750193645.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497654
2025-06-17T20:54:05.926Z,1750193645.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:05.929Z,1750193645.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 121.325638 m,
      bearing: 334.032682 deg,
      approach rate: -0.707159 m/s,
      LOS rate: 0.023648 deg/s,
      cmd heading: 327.241794 deg,
      new cmd heading: 327.273044 deg.

2025-06-17T20:54:05.930Z,1750193645.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711992 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:06.163Z,1750193646.163 [DAT](INFO): DAT read: 20:54:05.2272 LVL= 23936, 29873, 22482, 25683, AGC= 71, IDX= 151,-0.20,-1.970,-2.542,-1.832,-3.060, PHS= 1.178, 0.566, 1.225, RAW= 153.7, -58.7, CAL= 158.6, -53.6, ROT= 351.4,  53.6

2025-06-17T20:54:06.174Z,1750193646.174 [DAT](INFO): got valid direction response:
 20:54:05.2272 LVL= 23936, 29873, 22482, 25683, AGC= 71, IDX= 151,-0.20,-1.970,-2.542,-1.832,-3.060, PHS= 1.178, 0.566, 1.225, RAW= 153.7, -58.7, CAL= 158.6, -53.6, ROT= 351.4,  53.6

2025-06-17T20:54:06.181Z,1750193646.181 [DAT](INFO): DAT read: Bearing 351.4,  53.6 (Local)

2025-06-17T20:54:06.181Z,1750193646.181 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.4,  53.6 (Local)

2025-06-17T20:54:06.183Z,1750193646.183 [DAT](INFO): DAT read: Range 10 to 50 : 177.9 m  (Round-trip  237.3 ms) speed  0.0 m/s

2025-06-17T20:54:06.195Z,1750193646.195 [DAT](INFO): DAT read: user:765>

2025-06-17T20:54:06.207Z,1750193646.207 [DAT](INFO): DAT read: Tx time:20:54:06.3358

2025-06-17T20:54:06.220Z,1750193646.220 [DAT](INFO): Ping request sent.
2025-06-17T20:54:06.220Z,1750193646.220 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:54:06.221Z,1750193646.221 [DAT](INFO): DAT read: TxSync time:20:54:06.3350

2025-06-17T20:54:06.221Z,1750193646.221 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:54:06.222Z,1750193646.222 [DAT](INFO): direction in FSK: [0.586747,-0.088737,-0.804894]
2025-06-17T20:54:06.223Z,1750193646.223 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:06.223Z,1750193646.223 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:06.226Z,1750193646.226 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:06.226Z,1750193646.226 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:06.333Z,1750193646.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 177.899994 m,
 deltaT: 3.780431 s,
 deltaX: 53.599991 m,
 approachRate: 14.178275 m/s,
 rangeRepo size: 4
2025-06-17T20:54:06.334Z,1750193646.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:06.341Z,1750193646.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 121.055702 m,
      bearing: 334.041806 deg,
      approach rate: -0.671378 m/s,
      LOS rate: 0.022745 deg/s,
      cmd heading: 327.273049 deg,
      new cmd heading: 327.300484 deg.

2025-06-17T20:54:06.342Z,1750193646.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712471 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:06.774Z,1750193646.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:06.781Z,1750193646.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 120.749252 m,
      bearing: 334.053613 deg,
      approach rate: -0.697046 m/s,
      LOS rate: 0.026924 deg/s,
      cmd heading: 327.300479 deg,
      new cmd heading: 327.335990 deg.

2025-06-17T20:54:06.782Z,1750193646.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713091 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:07.120Z,1750193647.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:07.122Z,1750193647.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 120.507607 m,
      bearing: 334.063026 deg,
      approach rate: -0.686461 m/s,
      LOS rate: 0.026793 deg/s,
      cmd heading: 327.335996 deg,
      new cmd heading: 327.364291 deg.

2025-06-17T20:54:07.123Z,1750193647.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713585 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:07.506Z,1750193647.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:07.508Z,1750193647.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:07.511Z,1750193647.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 120.225441 m,
      bearing: 334.074184 deg,
      approach rate: -0.726933 m/s,
      LOS rate: 0.028812 deg/s,
      cmd heading: 327.364301 deg,
      new cmd heading: 327.397851 deg.

2025-06-17T20:54:07.528Z,1750193647.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714170 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:07.667Z,1750193647.667 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:07.667Z,1750193647.667 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:07.668Z,1750193647.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:07.917Z,1750193647.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.696878
2025-06-17T20:54:07.941Z,1750193647.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:07.945Z,1750193647.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 119.920647 m,
      bearing: 334.087063 deg,
      approach rate: -0.703132 m/s,
      LOS rate: 0.029788 deg/s,
      cmd heading: 327.397851 deg,
      new cmd heading: 327.436588 deg.

2025-06-17T20:54:07.946Z,1750193647.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714847 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:08.170Z,1750193648.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.949824
2025-06-17T20:54:08.317Z,1750193648.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:08.320Z,1750193648.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 119.656334 m,
      bearing: 334.098055 deg,
      approach rate: -0.702860 m/s,
      LOS rate: 0.029294 deg/s,
      cmd heading: 327.436591 deg,
      new cmd heading: 327.469640 deg.

2025-06-17T20:54:08.321Z,1750193648.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715424 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:08.421Z,1750193648.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200820
2025-06-17T20:54:08.675Z,1750193648.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454750
2025-06-17T20:54:08.794Z,1750193648.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:08.809Z,1750193648.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 119.318031 m,
      bearing: 334.114149 deg,
      approach rate: -0.709612 m/s,
      LOS rate: 0.033853 deg/s,
      cmd heading: 327.469649 deg,
      new cmd heading: 327.518067 deg.

2025-06-17T20:54:08.813Z,1750193648.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716269 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:08.925Z,1750193648.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704732
2025-06-17T20:54:09.129Z,1750193649.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:09.131Z,1750193649.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 119.080460 m,
      bearing: 334.125487 deg,
      approach rate: -0.709987 m/s,
      LOS rate: 0.033952 deg/s,
      cmd heading: 327.518062 deg,
      new cmd heading: 327.552144 deg.

2025-06-17T20:54:09.132Z,1750193649.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716863 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:09.178Z,1750193649.178 [DAT](INFO): DAT read: Rx Time:20:54:08.9366

2025-06-17T20:54:09.179Z,1750193649.179 [DAT](INFO): Rx dataTimestamp_ set to:1750193649.178371
2025-06-17T20:54:09.180Z,1750193649.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959523
2025-06-17T20:54:09.429Z,1750193649.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208793
2025-06-17T20:54:09.539Z,1750193649.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:09.558Z,1750193649.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.17 m.
2025-06-17T20:54:09.565Z,1750193649.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.169334 m,
      nav range: 118.792419 m,
      bearing: 334.139310 deg,
      approach rate: -0.671363 m/s,
      LOS rate: 0.032296 deg/s,
      cmd heading: 327.552131 deg,
      new cmd heading: 327.593700 deg.

2025-06-17T20:54:09.566Z,1750193649.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717589 target range: 123.169334 and range: 124.30 m.
2025-06-17T20:54:09.685Z,1750193649.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.464129
2025-06-17T20:54:09.939Z,1750193649.939 [DAT](INFO): DAT read: 20:54:08.9366 LVL= 32752, 27569, 31346, 32755, AGC= 67, IDX=  26,-0.46, 0.998,-0.438, 0.604, 0.403, PHS= 0.683,-0.794, 0.198, RAW= 131.2,  -1.4, CAL= 136.9, -10.6, ROT=  13.1,  10.6

2025-06-17T20:54:09.940Z,1750193649.940 [DAT](INFO): got valid direction response:
 20:54:08.9366 LVL= 32752, 27569, 31346, 32755, AGC= 67, IDX=  26,-0.46, 0.998,-0.438, 0.604, 0.403, PHS= 0.683,-0.794, 0.198, RAW= 131.2,  -1.4, CAL= 136.9, -10.6, ROT=  13.1,  10.6

2025-06-17T20:54:09.941Z,1750193649.941 [DAT](INFO): DAT read: Bearing  13.1,  10.6 (Local)

2025-06-17T20:54:09.942Z,1750193649.942 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.1,  10.6 (Local)

2025-06-17T20:54:09.943Z,1750193649.943 [DAT](INFO): DAT read: Range 10 to 50 : 147.4 m  (Round-trip  196.6 ms) speed  0.5 m/s

2025-06-17T20:54:09.944Z,1750193649.944 [DAT](INFO): DAT read: user:766>

2025-06-17T20:54:09.945Z,1750193649.945 [DAT](INFO): DAT read: Tx time:20:54:10.0358

2025-06-17T20:54:09.945Z,1750193649.945 [DAT](INFO): Ping request sent.
2025-06-17T20:54:09.945Z,1750193649.945 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:54:09.946Z,1750193649.946 [DAT](INFO): DAT read: TxSync time:20:54:10.0350

2025-06-17T20:54:09.946Z,1750193649.946 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:54:09.947Z,1750193649.947 [DAT](INFO): direction in FSK: [0.957355,0.222784,-0.183951]
2025-06-17T20:54:09.948Z,1750193649.948 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:09.948Z,1750193649.948 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:09.951Z,1750193649.951 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:09.951Z,1750193649.951 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:10.021Z,1750193650.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.399994 m,
      deltaT: 7.560023 s,
      deltaX: 23.099991 m,
      approachRate: 3.055545 m/s,
      rangeRepo size: 4

2025-06-17T20:54:10.023Z,1750193650.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 146.058945 m,
      bearing: 340.966926 deg,
      lat: 36.905994 deg,
      lon: -122.115697 deg,
      deltaT: 7.560023 s,
      deltaX: 22.889610 m,
      approachRate: 3.027717 m/s,
      posRepo size: 4

2025-06-17T20:54:10.029Z,1750193650.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:10.031Z,1750193650.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 116.424904 m,
      bearing: 336.303941 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.032296 deg/s,
      cmd heading: 327.593713 deg,
      new cmd heading: 327.638542 deg.

2025-06-17T20:54:10.037Z,1750193650.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718371 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:10.350Z,1750193650.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:10.356Z,1750193650.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 116.179886 m,
      bearing: 336.318007 deg,
      approach rate: -0.744290 m/s,
      LOS rate: 0.042817 deg/s,
      cmd heading: 327.638546 deg,
      new cmd heading: 327.680832 deg.

2025-06-17T20:54:10.357Z,1750193650.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719110 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:10.824Z,1750193650.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:10.826Z,1750193650.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 115.834190 m,
      bearing: 336.333603 deg,
      approach rate: -0.729178 m/s,
      LOS rate: 0.032996 deg/s,
      cmd heading: 327.680839 deg,
      new cmd heading: 327.727768 deg.

2025-06-17T20:54:10.827Z,1750193650.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719929 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:11.144Z,1750193651.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:11.146Z,1750193651.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 115.603088 m,
      bearing: 336.344035 deg,
      approach rate: -0.722171 m/s,
      LOS rate: 0.032664 deg/s,
      cmd heading: 327.727776 deg,
      new cmd heading: 327.759135 deg.

2025-06-17T20:54:11.147Z,1750193651.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720476 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:11.543Z,1750193651.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:11.545Z,1750193651.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:11.564Z,1750193651.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 115.313583 m,
      bearing: 336.357010 deg,
      approach rate: -0.721360 m/s,
      LOS rate: 0.032412 deg/s,
      cmd heading: 327.759140 deg,
      new cmd heading: 327.798164 deg.

2025-06-17T20:54:11.565Z,1750193651.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721157 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:11.698Z,1750193651.698 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:11.699Z,1750193651.699 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:11.699Z,1750193651.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:11.949Z,1750193651.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003276
2025-06-17T20:54:11.989Z,1750193651.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:11.992Z,1750193651.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 114.991837 m,
      bearing: 336.371557 deg,
      approach rate: -0.724502 m/s,
      LOS rate: 0.032848 deg/s,
      cmd heading: 327.798154 deg,
      new cmd heading: 327.841917 deg.

2025-06-17T20:54:11.993Z,1750193651.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721921 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:12.201Z,1750193652.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255397
2025-06-17T20:54:12.371Z,1750193652.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:12.374Z,1750193652.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 114.714973 m,
      bearing: 336.384140 deg,
      approach rate: -0.724370 m/s,
      LOS rate: 0.033002 deg/s,
      cmd heading: 327.841922 deg,
      new cmd heading: 327.879763 deg.

2025-06-17T20:54:12.375Z,1750193652.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722581 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:12.454Z,1750193652.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508364
2025-06-17T20:54:12.705Z,1750193652.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759584
2025-06-17T20:54:12.841Z,1750193652.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:12.844Z,1750193652.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 114.366623 m,
      bearing: 336.396163 deg,
      approach rate: -0.741814 m/s,
      LOS rate: 0.025681 deg/s,
      cmd heading: 327.879761 deg,
      new cmd heading: 327.915940 deg.

2025-06-17T20:54:12.845Z,1750193652.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723213 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:12.958Z,1750193652.958 [DAT](INFO): DAT read: Rx Time:20:54:12.5950

2025-06-17T20:54:12.958Z,1750193652.958 [DAT](INFO): Rx dataTimestamp_ set to:1750193652.957792
2025-06-17T20:54:12.959Z,1750193652.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013294
2025-06-17T20:54:13.174Z,1750193653.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:13.176Z,1750193653.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 114.128479 m,
      bearing: 336.404430 deg,
      approach rate: -0.715738 m/s,
      LOS rate: 0.024897 deg/s,
      cmd heading: 327.915934 deg,
      new cmd heading: 327.940786 deg.

2025-06-17T20:54:13.177Z,1750193653.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723647 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:13.209Z,1750193653.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263860
2025-06-17T20:54:13.467Z,1750193653.467 [DAT](INFO): DAT read: 20:54:12.5950 LVL= 32752, 32753, 29074, 32755, AGC= 66, IDX= 415, 0.41,-0.544,-1.270,-0.552,-1.824, PHS= 1.369, 0.601, 1.269, RAW= 143.1, -57.7, CAL= 150.6, -52.8, ROT= 359.4,  52.8

2025-06-17T20:54:13.468Z,1750193653.468 [DAT](INFO): got valid direction response:
 20:54:12.5950 LVL= 32752, 32753, 29074, 32755, AGC= 66, IDX= 415, 0.41,-0.544,-1.270,-0.552,-1.824, PHS= 1.369, 0.601, 1.269, RAW= 143.1, -57.7, CAL= 150.6, -52.8, ROT= 359.4,  52.8

2025-06-17T20:54:13.469Z,1750193653.469 [DAT](INFO): DAT read: Bearing 359.4,  52.8 (Local)

2025-06-17T20:54:13.469Z,1750193653.469 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,  52.8 (Local)

2025-06-17T20:54:13.471Z,1750193653.471 [DAT](INFO): DAT read: Range 10 to 50 : 116.2 m  (Round-trip  155.0 ms) speed  0.7 m/s

2025-06-17T20:54:13.471Z,1750193653.471 [DAT](INFO): DAT read: user:767>

2025-06-17T20:54:13.472Z,1750193653.472 [DAT](INFO): DAT read: Tx time:20:54:13.6858

2025-06-17T20:54:13.472Z,1750193653.472 [DAT](INFO): Ping request sent.
2025-06-17T20:54:13.472Z,1750193653.472 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:54:13.473Z,1750193653.473 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:54:13.474Z,1750193653.474 [DAT](INFO): direction in FSK: [0.604566,-0.006331,-0.796530]
2025-06-17T20:54:13.474Z,1750193653.474 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:13.474Z,1750193653.474 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:13.477Z,1750193653.477 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:13.478Z,1750193653.478 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:13.607Z,1750193653.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 116.199997 m,
 deltaT: 3.527894 s,
 deltaX: -31.199997 m,
 approachRate: -8.843802 m/s,
 rangeRepo size: 4
2025-06-17T20:54:13.620Z,1750193653.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:13.623Z,1750193653.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 113.805969 m,
      bearing: 336.415693 deg,
      approach rate: -0.744670 m/s,
      LOS rate: 0.026079 deg/s,
      cmd heading: 327.940796 deg,
      new cmd heading: 327.974679 deg.

2025-06-17T20:54:13.628Z,1750193653.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724238 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:13.715Z,1750193653.715 [DAT](INFO): DAT read: TxSync time:20:54:13.6850

2025-06-17T20:54:14.002Z,1750193654.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:14.004Z,1750193654.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:14.007Z,1750193654.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 113.504173 m,
      bearing: 336.426334 deg,
      approach rate: -0.759529 m/s,
      LOS rate: 0.026853 deg/s,
      cmd heading: 327.974674 deg,
      new cmd heading: 328.006683 deg.

2025-06-17T20:54:14.008Z,1750193654.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724797 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:14.217Z,1750193654.217 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:14.217Z,1750193654.217 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:14.218Z,1750193654.218 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:14.387Z,1750193654.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:14.389Z,1750193654.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 113.220848 m,
      bearing: 336.436617 deg,
      approach rate: -0.740518 m/s,
      LOS rate: 0.026943 deg/s,
      cmd heading: 328.006694 deg,
      new cmd heading: 328.037619 deg.

2025-06-17T20:54:14.390Z,1750193654.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725337 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:14.471Z,1750193654.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998298
2025-06-17T20:54:14.722Z,1750193654.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249142
2025-06-17T20:54:14.873Z,1750193654.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:14.880Z,1750193654.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 112.869781 m,
      bearing: 336.451616 deg,
      approach rate: -0.721767 m/s,
      LOS rate: 0.030934 deg/s,
      cmd heading: 328.037621 deg,
      new cmd heading: 328.082759 deg.

2025-06-17T20:54:14.881Z,1750193654.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726124 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:14.974Z,1750193654.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501046
2025-06-17T20:54:15.237Z,1750193655.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764000
2025-06-17T20:54:15.329Z,1750193655.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:15.350Z,1750193655.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 112.594872 m,
      bearing: 336.463244 deg,
      approach rate: -0.656732 m/s,
      LOS rate: 0.027846 deg/s,
      cmd heading: 328.082755 deg,
      new cmd heading: 328.117724 deg.

2025-06-17T20:54:15.351Z,1750193655.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726735 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:15.477Z,1750193655.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004303
2025-06-17T20:54:15.730Z,1750193655.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256975
2025-06-17T20:54:15.731Z,1750193655.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:15.736Z,1750193655.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 112.222557 m,
      bearing: 336.478369 deg,
      approach rate: -0.847111 m/s,
      LOS rate: 0.034526 deg/s,
      cmd heading: 328.117725 deg,
      new cmd heading: 328.163249 deg.

2025-06-17T20:54:15.738Z,1750193655.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727529 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:15.981Z,1750193655.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508242
2025-06-17T20:54:16.149Z,1750193656.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:16.151Z,1750193656.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:16.154Z,1750193656.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 111.906631 m,
      bearing: 336.491527 deg,
      approach rate: -0.752322 m/s,
      LOS rate: 0.031422 deg/s,
      cmd heading: 328.163242 deg,
      new cmd heading: 328.202826 deg.

2025-06-17T20:54:16.155Z,1750193656.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728220 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:16.234Z,1750193656.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761190
2025-06-17T20:54:16.485Z,1750193656.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012198
2025-06-17T20:54:16.541Z,1750193656.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:16.543Z,1750193656.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 111.624100 m,
      bearing: 336.503117 deg,
      approach rate: -0.725072 m/s,
      LOS rate: 0.029821 deg/s,
      cmd heading: 328.202829 deg,
      new cmd heading: 328.237689 deg.

2025-06-17T20:54:16.549Z,1750193656.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728828 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:16.738Z,1750193656.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265033
2025-06-17T20:54:16.965Z,1750193656.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:16.967Z,1750193656.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 111.300194 m,
      bearing: 336.518529 deg,
      approach rate: -0.763742 m/s,
      LOS rate: 0.036445 deg/s,
      cmd heading: 328.237691 deg,
      new cmd heading: 328.284060 deg.

2025-06-17T20:54:16.969Z,1750193656.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729638 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:16.989Z,1750193656.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516346
2025-06-17T20:54:17.241Z,1750193657.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768425
2025-06-17T20:54:17.339Z,1750193657.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:17.342Z,1750193657.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 111.019501 m,
      bearing: 336.531395 deg,
      approach rate: -0.749688 m/s,
      LOS rate: 0.034450 deg/s,
      cmd heading: 328.284054 deg,
      new cmd heading: 328.322750 deg.

2025-06-17T20:54:17.343Z,1750193657.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730313 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:17.493Z,1750193657.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020291
2025-06-17T20:54:17.746Z,1750193657.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273104
2025-06-17T20:54:17.760Z,1750193657.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:17.764Z,1750193657.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 110.713501 m,
      bearing: 336.545309 deg,
      approach rate: -0.727608 m/s,
      LOS rate: 0.033176 deg/s,
      cmd heading: 328.322740 deg,
      new cmd heading: 328.364597 deg.

2025-06-17T20:54:17.765Z,1750193657.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731043 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:17.997Z,1750193657.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524210
2025-06-17T20:54:18.162Z,1750193658.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:18.165Z,1750193658.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:18.168Z,1750193658.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 110.405609 m,
      bearing: 336.560809 deg,
      approach rate: -0.759392 m/s,
      LOS rate: 0.038337 deg/s,
      cmd heading: 328.364596 deg,
      new cmd heading: 328.411226 deg.

2025-06-17T20:54:18.169Z,1750193658.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731857 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:18.249Z,1750193658.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776741
2025-06-17T20:54:18.501Z,1750193658.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028326
2025-06-17T20:54:18.570Z,1750193658.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:18.573Z,1750193658.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 110.106873 m,
      bearing: 336.575932 deg,
      approach rate: -0.738339 m/s,
      LOS rate: 0.037478 deg/s,
      cmd heading: 328.411232 deg,
      new cmd heading: 328.456724 deg.

2025-06-17T20:54:18.574Z,1750193658.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732651 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:18.753Z,1750193658.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280805
2025-06-17T20:54:19.005Z,1750193659.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532382
2025-06-17T20:54:19.013Z,1750193659.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:19.015Z,1750193659.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 109.805725 m,
      bearing: 336.592247 deg,
      approach rate: -0.680104 m/s,
      LOS rate: 0.036946 deg/s,
      cmd heading: 328.456721 deg,
      new cmd heading: 328.505800 deg.

2025-06-17T20:54:19.021Z,1750193659.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733508 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:19.260Z,1750193659.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.786984
2025-06-17T20:54:19.372Z,1750193659.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:19.374Z,1750193659.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 109.542534 m,
      bearing: 336.605989 deg,
      approach rate: -0.741265 m/s,
      LOS rate: 0.038796 deg/s,
      cmd heading: 328.505789 deg,
      new cmd heading: 328.547114 deg.

2025-06-17T20:54:19.375Z,1750193659.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734229 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:19.509Z,1750193659.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036316
2025-06-17T20:54:19.765Z,1750193659.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.292183
2025-06-17T20:54:19.877Z,1750193659.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:19.888Z,1750193659.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 109.217949 m,
      bearing: 336.622818 deg,
      approach rate: -0.637011 m/s,
      LOS rate: 0.033126 deg/s,
      cmd heading: 328.547125 deg,
      new cmd heading: 328.597764 deg.

2025-06-17T20:54:19.893Z,1750193659.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735113 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:20.017Z,1750193660.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.544401
2025-06-17T20:54:20.269Z,1750193660.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.796960
2025-06-17T20:54:20.355Z,1750193660.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:20.358Z,1750193660.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:20.361Z,1750193660.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 108.824799 m,
      bearing: 336.649771 deg,
      approach rate: -0.818127 m/s,
      LOS rate: 0.056291 deg/s,
      cmd heading: 328.597751 deg,
      new cmd heading: 328.678902 deg.

2025-06-17T20:54:20.362Z,1750193660.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736529 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:20.521Z,1750193660.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048358
2025-06-17T20:54:20.773Z,1750193660.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300382
2025-06-17T20:54:20.940Z,1750193660.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:20.943Z,1750193660.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 108.416481 m,
      bearing: 336.678041 deg,
      approach rate: -0.701313 m/s,
      LOS rate: 0.048739 deg/s,
      cmd heading: 328.678894 deg,
      new cmd heading: 328.764024 deg.

2025-06-17T20:54:20.944Z,1750193660.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738015 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:21.025Z,1750193661.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552431
2025-06-17T20:54:21.245Z,1750193661.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:21.248Z,1750193661.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 108.214203 m,
      bearing: 336.692079 deg,
      approach rate: -0.663372 m/s,
      LOS rate: 0.046123 deg/s,
      cmd heading: 328.764025 deg,
      new cmd heading: 328.806217 deg.

2025-06-17T20:54:21.249Z,1750193661.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738751 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:21.277Z,1750193661.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.804412
2025-06-17T20:54:21.529Z,1750193661.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.056320
2025-06-17T20:54:21.634Z,1750193661.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:21.637Z,1750193661.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 107.930641 m,
      bearing: 336.711760 deg,
      approach rate: -0.729052 m/s,
      LOS rate: 0.050734 deg/s,
      cmd heading: 328.806208 deg,
      new cmd heading: 328.865406 deg.

2025-06-17T20:54:21.638Z,1750193661.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739784 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:21.781Z,1750193661.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308231
2025-06-17T20:54:22.033Z,1750193662.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560341
2025-06-17T20:54:22.067Z,1750193662.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:22.070Z,1750193662.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 107.630440 m,
      bearing: 336.729440 deg,
      approach rate: -0.692896 m/s,
      LOS rate: 0.040921 deg/s,
      cmd heading: 328.865412 deg,
      new cmd heading: 328.918600 deg.

2025-06-17T20:54:22.071Z,1750193662.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740713 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:22.285Z,1750193662.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812443
2025-06-17T20:54:22.440Z,1750193662.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:22.442Z,1750193662.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:22.445Z,1750193662.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 107.371368 m,
      bearing: 336.744797 deg,
      approach rate: -0.691318 m/s,
      LOS rate: 0.041078 deg/s,
      cmd heading: 328.918606 deg,
      new cmd heading: 328.964788 deg.

2025-06-17T20:54:22.446Z,1750193662.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741518 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:22.537Z,1750193662.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064377
2025-06-17T20:54:22.789Z,1750193662.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.316583
2025-06-17T20:54:22.921Z,1750193662.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:22.930Z,1750193662.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 107.076324 m,
      bearing: 336.762282 deg,
      approach rate: -0.622956 m/s,
      LOS rate: 0.037018 deg/s,
      cmd heading: 328.964778 deg,
      new cmd heading: 329.017376 deg.

2025-06-17T20:54:22.931Z,1750193662.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742436 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:23.052Z,1750193663.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579116
2025-06-17T20:54:23.288Z,1750193663.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:23.291Z,1750193663.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 106.778305 m,
      bearing: 336.779980 deg,
      approach rate: -0.800400 m/s,
      LOS rate: 0.047666 deg/s,
      cmd heading: 329.017370 deg,
      new cmd heading: 329.070614 deg.

2025-06-17T20:54:23.292Z,1750193663.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743366 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:23.301Z,1750193663.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828336
2025-06-17T20:54:23.552Z,1750193663.552 [DAT](INFO): Reached modem response timeout
2025-06-17T20:54:23.553Z,1750193663.553 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:54:23.553Z,1750193663.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:23.659Z,1750193663.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:23.662Z,1750193663.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 106.515099 m,
      bearing: 336.795722 deg,
      approach rate: -0.708302 m/s,
      LOS rate: 0.042467 deg/s,
      cmd heading: 329.070619 deg,
      new cmd heading: 329.117961 deg.

2025-06-17T20:54:23.663Z,1750193663.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744192 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:23.804Z,1750193663.804 [DAT](INFO): Reached modem response timeout
2025-06-17T20:54:23.805Z,1750193663.805 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:54:23.805Z,1750193663.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:24.056Z,1750193664.056 [DAT](INFO): Reached modem response timeout
2025-06-17T20:54:24.057Z,1750193664.057 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:54:24.057Z,1750193664.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:24.106Z,1750193664.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:24.113Z,1750193664.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 106.201035 m,
      bearing: 336.811283 deg,
      approach rate: -0.703869 m/s,
      LOS rate: 0.034978 deg/s,
      cmd heading: 329.117965 deg,
      new cmd heading: 329.164787 deg.

2025-06-17T20:54:24.114Z,1750193664.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745009 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:24.310Z,1750193664.310 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:54:24.311Z,1750193664.311 [DAT](INFO): response not received
2025-06-17T20:54:24.311Z,1750193664.311 [DAT](INFO): DAT read: user:768>

2025-06-17T20:54:24.312Z,1750193664.312 [DAT](INFO): DAT read: Tx time:20:54:24.6360

2025-06-17T20:54:24.312Z,1750193664.312 [DAT](INFO): Ping request sent.
2025-06-17T20:54:24.312Z,1750193664.312 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:54:24.312Z,1750193664.312 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:24.313Z,1750193664.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000769
2025-06-17T20:54:24.467Z,1750193664.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:24.470Z,1750193664.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:24.473Z,1750193664.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 105.939575 m,
      bearing: 336.824255 deg,
      approach rate: -0.718317 m/s,
      LOS rate: 0.035726 deg/s,
      cmd heading: 329.164793 deg,
      new cmd heading: 329.203805 deg.

2025-06-17T20:54:24.474Z,1750193664.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745690 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:24.562Z,1750193664.562 [DAT](INFO): DAT read: TxSync time:20:54:24.6352

2025-06-17T20:54:24.563Z,1750193664.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250455
2025-06-17T20:54:24.813Z,1750193664.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500457
2025-06-17T20:54:24.909Z,1750193664.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:24.927Z,1750193664.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 105.643448 m,
      bearing: 336.839001 deg,
      approach rate: -0.683474 m/s,
      LOS rate: 0.034129 deg/s,
      cmd heading: 329.203807 deg,
      new cmd heading: 329.248168 deg.

2025-06-17T20:54:24.934Z,1750193664.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746465 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:25.065Z,1750193665.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752708
2025-06-17T20:54:25.333Z,1750193665.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.020652
2025-06-17T20:54:25.346Z,1750193665.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:25.353Z,1750193665.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 105.338615 m,
      bearing: 336.851208 deg,
      approach rate: -0.688465 m/s,
      LOS rate: 0.027650 deg/s,
      cmd heading: 329.248176 deg,
      new cmd heading: 329.284903 deg.

2025-06-17T20:54:25.354Z,1750193665.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747106 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:25.585Z,1750193665.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.272445
2025-06-17T20:54:25.704Z,1750193665.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:25.707Z,1750193665.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 105.063957 m,
      bearing: 336.862346 deg,
      approach rate: -0.765446 m/s,
      LOS rate: 0.031123 deg/s,
      cmd heading: 329.284895 deg,
      new cmd heading: 329.318398 deg.

2025-06-17T20:54:25.708Z,1750193665.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747690 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:25.837Z,1750193665.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.524419
2025-06-17T20:54:26.089Z,1750193666.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.776622
2025-06-17T20:54:26.130Z,1750193666.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:26.133Z,1750193666.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 104.742958 m,
      bearing: 336.874147 deg,
      approach rate: -0.753979 m/s,
      LOS rate: 0.027803 deg/s,
      cmd heading: 329.318390 deg,
      new cmd heading: 329.353901 deg.

2025-06-17T20:54:26.134Z,1750193666.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748310 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:26.342Z,1750193666.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029603
2025-06-17T20:54:26.514Z,1750193666.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:26.517Z,1750193666.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:26.519Z,1750193666.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 104.460472 m,
      bearing: 336.884592 deg,
      approach rate: -0.730833 m/s,
      LOS rate: 0.027096 deg/s,
      cmd heading: 329.353907 deg,
      new cmd heading: 329.385328 deg.

2025-06-17T20:54:26.521Z,1750193666.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748858 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:26.594Z,1750193666.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281442
2025-06-17T20:54:26.845Z,1750193666.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532559
2025-06-17T20:54:26.946Z,1750193666.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:26.956Z,1750193666.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 104.161179 m,
      bearing: 336.894956 deg,
      approach rate: -0.699129 m/s,
      LOS rate: 0.024278 deg/s,
      cmd heading: 329.385326 deg,
      new cmd heading: 329.416506 deg.

2025-06-17T20:54:26.960Z,1750193666.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749403 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:27.100Z,1750193667.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787921
2025-06-17T20:54:27.323Z,1750193667.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:27.326Z,1750193667.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 103.865761 m,
      bearing: 336.903833 deg,
      approach rate: -0.780601 m/s,
      LOS rate: 0.023524 deg/s,
      cmd heading: 329.416499 deg,
      new cmd heading: 329.443207 deg.

2025-06-17T20:54:27.327Z,1750193667.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749869 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:27.349Z,1750193667.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036641
2025-06-17T20:54:27.601Z,1750193667.601 [DAT](INFO): DAT read: Rx Time:20:54:27.1809

2025-06-17T20:54:27.601Z,1750193667.601 [DAT](INFO): Rx dataTimestamp_ set to:1750193667.601076
2025-06-17T20:54:27.602Z,1750193667.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289633
2025-06-17T20:54:27.718Z,1750193667.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m.
2025-06-17T20:54:27.721Z,1750193667.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.058945 m,
      nav range: 103.573219 m,
      bearing: 336.912593 deg,
      approach rate: -0.741714 m/s,
      LOS rate: 0.022271 deg/s,
      cmd heading: 329.443219 deg,
      new cmd heading: 329.469571 deg.

2025-06-17T20:54:27.722Z,1750193667.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750329 target range: 146.058945 and range: 147.40 m.
2025-06-17T20:54:27.848Z,1750193667.848 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:54:27.853Z,1750193667.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540533
2025-06-17T20:54:28.110Z,1750193668.110 [DAT](INFO): DAT read: 20:54:27.1809 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 269, 0.20,-1.940, 2.959,-2.147,-2.587, PHS= 0.735,-0.691, 0.437, RAW= 138.6,  -7.4, CAL= 144.6, -17.6, ROT=   5.4,  17.6

2025-06-17T20:54:28.112Z,1750193668.112 [DAT](INFO): got valid direction response:
 20:54:27.1809 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 269, 0.20,-1.940, 2.959,-2.147,-2.587, PHS= 0.735,-0.691, 0.437, RAW= 138.6,  -7.4, CAL= 144.6, -17.6, ROT=   5.4,  17.6

2025-06-17T20:54:28.113Z,1750193668.113 [DAT](INFO): DAT read: Bearing   5.4,  17.6 (Local)

2025-06-17T20:54:28.113Z,1750193668.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.4,  17.6 (Local)

2025-06-17T20:54:28.114Z,1750193668.114 [DAT](INFO): DAT read: Range 10 to 50 : 105.6 m  (Round-trip  140.8 ms) speed  0.6 m/s

2025-06-17T20:54:28.115Z,1750193668.115 [DAT](INFO): DAT read: user:769>

2025-06-17T20:54:28.116Z,1750193668.116 [DAT](INFO): DAT read: Tx time:20:54:28.2860

2025-06-17T20:54:28.116Z,1750193668.116 [DAT](INFO): Ping request sent.
2025-06-17T20:54:28.116Z,1750193668.116 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:54:28.117Z,1750193668.117 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:54:28.118Z,1750193668.118 [DAT](INFO): direction in FSK: [0.948960,0.089703,-0.302370]
2025-06-17T20:54:28.118Z,1750193668.118 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:28.118Z,1750193668.118 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:28.121Z,1750193668.121 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:28.122Z,1750193668.122 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:28.247Z,1750193668.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.599998 m,
      deltaT: 18.171847 s,
      deltaX: -41.799995 m,
      approachRate: -2.300261 m/s,
      rangeRepo size: 4

2025-06-17T20:54:28.253Z,1750193668.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 104.639046 m,
      bearing: 335.854108 deg,
      lat: 36.905969 deg,
      lon: -122.115697 deg,
      deltaT: 18.171847 s,
      deltaX: -41.419899 m,
      approachRate: -2.279345 m/s,
      posRepo size: 4

2025-06-17T20:54:28.254Z,1750193668.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:28.257Z,1750193668.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 100.576881 m,
      bearing: 336.286985 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022271 deg/s,
      cmd heading: 329.469584 deg,
      new cmd heading: 329.504885 deg.

2025-06-17T20:54:28.258Z,1750193668.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750945 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:28.358Z,1750193668.358 [DAT](INFO): DAT read: TxSync time:20:54:28.2852

2025-06-17T20:54:28.563Z,1750193668.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:28.565Z,1750193668.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:28.568Z,1750193668.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 100.317421 m,
      bearing: 336.293124 deg,
      approach rate: -0.812263 m/s,
      LOS rate: 0.019270 deg/s,
      cmd heading: 329.504882 deg,
      new cmd heading: 329.523348 deg.

2025-06-17T20:54:28.569Z,1750193668.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751267 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:28.609Z,1750193668.609 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:28.609Z,1750193668.609 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:28.609Z,1750193668.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:28.852Z,1750193668.852 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:54:28.861Z,1750193668.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744406
2025-06-17T20:54:29.034Z,1750193669.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:29.037Z,1750193669.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 99.963928 m,
      bearing: 336.301652 deg,
      approach rate: -0.754730 m/s,
      LOS rate: 0.018271 deg/s,
      cmd heading: 329.523351 deg,
      new cmd heading: 329.549024 deg.

2025-06-17T20:54:29.038Z,1750193669.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751716 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:29.113Z,1750193669.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996640
2025-06-17T20:54:29.365Z,1750193669.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248403
2025-06-17T20:54:29.416Z,1750193669.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:29.419Z,1750193669.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 99.693626 m,
      bearing: 336.310588 deg,
      approach rate: -0.715048 m/s,
      LOS rate: 0.023704 deg/s,
      cmd heading: 329.549032 deg,
      new cmd heading: 329.575914 deg.

2025-06-17T20:54:29.424Z,1750193669.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752185 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:29.617Z,1750193669.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500292
2025-06-17T20:54:29.803Z,1750193669.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:29.829Z,1750193669.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 99.383003 m,
      bearing: 336.320918 deg,
      approach rate: -0.793564 m/s,
      LOS rate: 0.026473 deg/s,
      cmd heading: 329.575916 deg,
      new cmd heading: 329.607002 deg.

2025-06-17T20:54:29.830Z,1750193669.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752728 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:29.869Z,1750193669.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752653
2025-06-17T20:54:30.121Z,1750193670.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004328
2025-06-17T20:54:30.204Z,1750193670.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:30.207Z,1750193670.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 99.079659 m,
      bearing: 336.328789 deg,
      approach rate: -0.757288 m/s,
      LOS rate: 0.019710 deg/s,
      cmd heading: 329.607007 deg,
      new cmd heading: 329.630693 deg.

2025-06-17T20:54:30.208Z,1750193670.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753141 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:30.373Z,1750193670.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256325
2025-06-17T20:54:30.594Z,1750193670.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:30.597Z,1750193670.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:30.599Z,1750193670.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 98.791862 m,
      bearing: 336.336134 deg,
      approach rate: -0.732697 m/s,
      LOS rate: 0.018753 deg/s,
      cmd heading: 329.630694 deg,
      new cmd heading: 329.652792 deg.

2025-06-17T20:54:30.601Z,1750193670.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753527 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:30.625Z,1750193670.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508393
2025-06-17T20:54:30.877Z,1750193670.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760324
2025-06-17T20:54:31.062Z,1750193671.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:31.069Z,1750193671.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 98.442284 m,
      bearing: 336.345176 deg,
      approach rate: -0.751287 m/s,
      LOS rate: 0.019501 deg/s,
      cmd heading: 329.652797 deg,
      new cmd heading: 329.680019 deg.

2025-06-17T20:54:31.070Z,1750193671.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754002 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:31.130Z,1750193671.130 [DAT](INFO): DAT read: Rx Time:20:54:30.8273

2025-06-17T20:54:31.131Z,1750193671.131 [DAT](INFO): Rx dataTimestamp_ set to:1750193671.130398
2025-06-17T20:54:31.132Z,1750193671.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015154
2025-06-17T20:54:31.381Z,1750193671.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264527
2025-06-17T20:54:31.428Z,1750193671.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:31.430Z,1750193671.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 98.156982 m,
      bearing: 336.354525 deg,
      approach rate: -0.780405 m/s,
      LOS rate: 0.025648 deg/s,
      cmd heading: 329.680008 deg,
      new cmd heading: 329.708137 deg.

2025-06-17T20:54:31.431Z,1750193671.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754493 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:31.639Z,1750193671.639 [DAT](INFO): DAT read: 20:54:30.8273 LVL= 32752, 31857, 28354, 32755, AGC= 68, IDX= 408, 0.30,-0.160,-1.567,-0.378,-0.739, PHS= 0.667,-0.781, 0.358, RAW= 138.3,  -3.7, CAL= 143.7, -13.3, ROT=   6.3,  13.3

2025-06-17T20:54:31.641Z,1750193671.641 [DAT](INFO): got valid direction response:
 20:54:30.8273 LVL= 32752, 31857, 28354, 32755, AGC= 68, IDX= 408, 0.30,-0.160,-1.567,-0.378,-0.739, PHS= 0.667,-0.781, 0.358, RAW= 138.3,  -3.7, CAL= 143.7, -13.3, ROT=   6.3,  13.3

2025-06-17T20:54:31.642Z,1750193671.642 [DAT](INFO): DAT read: $Error in header

2025-06-17T20:54:31.643Z,1750193671.643 [DAT](INFO): Received a bad header
2025-06-17T20:54:31.658Z,1750193671.658 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-17T20:54:31.659Z,1750193671.659 [DAT](INFO): direction in FSK: [0.967302,0.106791,-0.230050]
2025-06-17T20:54:31.670Z,1750193671.670 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:31.670Z,1750193671.670 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:31.670Z,1750193671.670 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:31.816Z,1750193671.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:31.818Z,1750193671.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 97.873833 m,
      bearing: 336.363818 deg,
      approach rate: -0.737290 m/s,
      LOS rate: 0.024268 deg/s,
      cmd heading: 329.708148 deg,
      new cmd heading: 329.736108 deg.

2025-06-17T20:54:31.819Z,1750193671.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754981 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:31.885Z,1750193671.885 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:31.885Z,1750193671.885 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:31.885Z,1750193671.885 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:32.137Z,1750193672.137 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:32.137Z,1750193672.137 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:32.137Z,1750193672.137 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:32.257Z,1750193672.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:32.264Z,1750193672.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 97.558975 m,
      bearing: 336.378782 deg,
      approach rate: -0.706205 m/s,
      LOS rate: 0.033670 deg/s,
      cmd heading: 329.736098 deg,
      new cmd heading: 329.781133 deg.

2025-06-17T20:54:32.265Z,1750193672.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755766 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:32.389Z,1750193672.389 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:32.389Z,1750193672.389 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:32.389Z,1750193672.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:32.604Z,1750193672.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:32.606Z,1750193672.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:32.609Z,1750193672.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 97.285568 m,
      bearing: 336.391756 deg,
      approach rate: -0.784368 m/s,
      LOS rate: 0.037328 deg/s,
      cmd heading: 329.781122 deg,
      new cmd heading: 329.820156 deg.

2025-06-17T20:54:32.610Z,1750193672.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756448 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:32.641Z,1750193672.641 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:32.641Z,1750193672.641 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:32.641Z,1750193672.641 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:32.893Z,1750193672.893 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:32.893Z,1750193672.893 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:32.893Z,1750193672.893 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:33.045Z,1750193673.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:33.063Z,1750193673.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 96.988373 m,
      bearing: 336.405841 deg,
      approach rate: -0.680296 m/s,
      LOS rate: 0.032340 deg/s,
      cmd heading: 329.820163 deg,
      new cmd heading: 329.862548 deg.

2025-06-17T20:54:33.071Z,1750193673.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757187 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:33.145Z,1750193673.145 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:33.145Z,1750193673.145 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:33.146Z,1750193673.146 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:33.398Z,1750193673.398 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:33.398Z,1750193673.398 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:33.399Z,1750193673.399 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:33.472Z,1750193673.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:33.475Z,1750193673.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 96.667336 m,
      bearing: 336.423583 deg,
      approach rate: -0.748124 m/s,
      LOS rate: 0.041480 deg/s,
      cmd heading: 329.862538 deg,
      new cmd heading: 329.915938 deg.

2025-06-17T20:54:33.480Z,1750193673.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758120 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:33.649Z,1750193673.649 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:33.649Z,1750193673.649 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:33.649Z,1750193673.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:33.837Z,1750193673.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:33.844Z,1750193673.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 96.397247 m,
      bearing: 336.438340 deg,
      approach rate: -0.739097 m/s,
      LOS rate: 0.040497 deg/s,
      cmd heading: 329.915950 deg,
      new cmd heading: 329.960346 deg.

2025-06-17T20:54:33.845Z,1750193673.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758894 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:33.901Z,1750193673.901 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:33.901Z,1750193673.901 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:33.901Z,1750193673.901 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:34.153Z,1750193674.153 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:34.153Z,1750193674.153 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:34.153Z,1750193674.153 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:34.300Z,1750193674.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:34.303Z,1750193674.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 96.082611 m,
      bearing: 336.456942 deg,
      approach rate: -0.686125 m/s,
      LOS rate: 0.040699 deg/s,
      cmd heading: 329.960346 deg,
      new cmd heading: 330.016337 deg.

2025-06-17T20:54:34.308Z,1750193674.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759871 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:34.405Z,1750193674.405 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:34.405Z,1750193674.405 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:34.405Z,1750193674.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:34.627Z,1750193674.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:34.630Z,1750193674.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:34.632Z,1750193674.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 95.815414 m,
      bearing: 336.472512 deg,
      approach rate: -0.801141 m/s,
      LOS rate: 0.046813 deg/s,
      cmd heading: 330.016327 deg,
      new cmd heading: 330.063165 deg.

2025-06-17T20:54:34.633Z,1750193674.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760689 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:34.657Z,1750193674.657 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:34.657Z,1750193674.657 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:34.657Z,1750193674.657 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:34.909Z,1750193674.909 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:34.909Z,1750193674.909 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:34.909Z,1750193674.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:35.098Z,1750193675.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:35.113Z,1750193675.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 95.520432 m,
      bearing: 336.489815 deg,
      approach rate: -0.631490 m/s,
      LOS rate: 0.037157 deg/s,
      cmd heading: 330.063154 deg,
      new cmd heading: 330.115225 deg.

2025-06-17T20:54:35.114Z,1750193675.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761598 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:35.161Z,1750193675.161 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:35.161Z,1750193675.161 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:35.161Z,1750193675.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:35.413Z,1750193675.413 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:35.413Z,1750193675.413 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:35.413Z,1750193675.413 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:35.497Z,1750193675.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:35.500Z,1750193675.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 95.198456 m,
      bearing: 336.512045 deg,
      approach rate: -0.803369 m/s,
      LOS rate: 0.055653 deg/s,
      cmd heading: 330.115228 deg,
      new cmd heading: 330.182142 deg.

2025-06-17T20:54:35.501Z,1750193675.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762765 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:35.665Z,1750193675.665 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:35.665Z,1750193675.665 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:35.665Z,1750193675.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:35.855Z,1750193675.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:35.858Z,1750193675.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 94.947227 m,
      bearing: 336.529495 deg,
      approach rate: -0.702185 m/s,
      LOS rate: 0.048903 deg/s,
      cmd heading: 330.182136 deg,
      new cmd heading: 330.234625 deg.

2025-06-17T20:54:35.859Z,1750193675.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763681 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:35.917Z,1750193675.917 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:35.918Z,1750193675.918 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:35.918Z,1750193675.918 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:36.168Z,1750193676.168 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:36.169Z,1750193676.169 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:36.169Z,1750193676.169 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:36.261Z,1750193676.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:36.264Z,1750193676.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 94.662552 m,
      bearing: 336.549818 deg,
      approach rate: -0.701137 m/s,
      LOS rate: 0.050203 deg/s,
      cmd heading: 330.234619 deg,
      new cmd heading: 330.295770 deg.

2025-06-17T20:54:36.265Z,1750193676.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764749 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:36.421Z,1750193676.421 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:36.421Z,1750193676.421 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:36.421Z,1750193676.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:36.673Z,1750193676.673 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:36.673Z,1750193676.673 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:36.673Z,1750193676.673 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:36.696Z,1750193676.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:36.698Z,1750193676.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:36.701Z,1750193676.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 94.356163 m,
      bearing: 336.571843 deg,
      approach rate: -0.700700 m/s,
      LOS rate: 0.050536 deg/s,
      cmd heading: 330.295763 deg,
      new cmd heading: 330.362055 deg.

2025-06-17T20:54:36.702Z,1750193676.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765905 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:36.924Z,1750193676.924 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:36.925Z,1750193676.925 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:36.925Z,1750193676.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:37.163Z,1750193677.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:37.166Z,1750193677.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 94.037888 m,
      bearing: 336.594964 deg,
      approach rate: -0.685602 m/s,
      LOS rate: 0.049973 deg/s,
      cmd heading: 330.362043 deg,
      new cmd heading: 330.431640 deg.

2025-06-17T20:54:37.167Z,1750193677.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767120 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:37.177Z,1750193677.177 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:37.177Z,1750193677.177 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:37.177Z,1750193677.177 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:37.429Z,1750193677.429 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:37.429Z,1750193677.429 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:37.429Z,1750193677.429 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:37.604Z,1750193677.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:37.607Z,1750193677.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 93.722229 m,
      bearing: 336.615198 deg,
      approach rate: -0.714824 m/s,
      LOS rate: 0.045975 deg/s,
      cmd heading: 330.431629 deg,
      new cmd heading: 330.492535 deg.

2025-06-17T20:54:37.616Z,1750193677.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768183 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:37.681Z,1750193677.681 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:37.681Z,1750193677.681 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:37.681Z,1750193677.681 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:37.933Z,1750193677.933 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:37.933Z,1750193677.933 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:37.933Z,1750193677.933 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:37.985Z,1750193677.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:37.987Z,1750193677.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 93.443489 m,
      bearing: 336.633126 deg,
      approach rate: -0.732678 m/s,
      LOS rate: 0.047264 deg/s,
      cmd heading: 330.492527 deg,
      new cmd heading: 330.546471 deg.

2025-06-17T20:54:37.993Z,1750193677.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769124 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:38.185Z,1750193678.185 [DAT](INFO): Reached modem response timeout
2025-06-17T20:54:38.185Z,1750193678.185 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:54:38.185Z,1750193678.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:38.398Z,1750193678.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:38.405Z,1750193678.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 93.157555 m,
      bearing: 336.648303 deg,
      approach rate: -0.691809 m/s,
      LOS rate: 0.036834 deg/s,
      cmd heading: 330.546458 deg,
      new cmd heading: 330.592131 deg.

2025-06-17T20:54:38.406Z,1750193678.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769921 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:38.437Z,1750193678.437 [DAT](INFO): Reached modem response timeout
2025-06-17T20:54:38.437Z,1750193678.437 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:54:38.437Z,1750193678.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:38.688Z,1750193678.688 [DAT](INFO): Reached modem response timeout
2025-06-17T20:54:38.689Z,1750193678.689 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:54:38.689Z,1750193678.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:38.776Z,1750193678.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:38.778Z,1750193678.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:38.781Z,1750193678.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 92.875427 m,
      bearing: 336.663213 deg,
      approach rate: -0.742360 m/s,
      LOS rate: 0.039350 deg/s,
      cmd heading: 330.592139 deg,
      new cmd heading: 330.637003 deg.

2025-06-17T20:54:38.782Z,1750193678.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770704 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:38.942Z,1750193678.942 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:54:38.942Z,1750193678.942 [DAT](INFO): response not received
2025-06-17T20:54:38.943Z,1750193678.943 [DAT](INFO): DAT read: user:771>

2025-06-17T20:54:38.944Z,1750193678.944 [DAT](INFO): DAT read: Tx time:20:54:39.2361

2025-06-17T20:54:38.944Z,1750193678.944 [DAT](INFO): Ping request sent.
2025-06-17T20:54:38.944Z,1750193678.944 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:54:38.944Z,1750193678.944 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:38.945Z,1750193678.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000779
2025-06-17T20:54:39.193Z,1750193679.193 [DAT](INFO): DAT read: TxSync time:20:54:39.2353

2025-06-17T20:54:39.194Z,1750193679.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249653
2025-06-17T20:54:39.214Z,1750193679.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:39.218Z,1750193679.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 92.564621 m,
      bearing: 336.677529 deg,
      approach rate: -0.713158 m/s,
      LOS rate: 0.032960 deg/s,
      cmd heading: 330.636999 deg,
      new cmd heading: 330.680092 deg.

2025-06-17T20:54:39.219Z,1750193679.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771456 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:39.445Z,1750193679.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500679
2025-06-17T20:54:39.581Z,1750193679.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:39.584Z,1750193679.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 92.302834 m,
      bearing: 336.689647 deg,
      approach rate: -0.712599 m/s,
      LOS rate: 0.033080 deg/s,
      cmd heading: 330.680084 deg,
      new cmd heading: 330.716542 deg.

2025-06-17T20:54:39.585Z,1750193679.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772092 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:39.697Z,1750193679.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752687
2025-06-17T20:54:39.949Z,1750193679.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004631
2025-06-17T20:54:40.015Z,1750193680.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:40.017Z,1750193680.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 91.995705 m,
      bearing: 336.703952 deg,
      approach rate: -0.708665 m/s,
      LOS rate: 0.033118 deg/s,
      cmd heading: 330.716530 deg,
      new cmd heading: 330.759589 deg.

2025-06-17T20:54:40.018Z,1750193680.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772844 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:40.202Z,1750193680.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257449
2025-06-17T20:54:40.435Z,1750193680.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:40.438Z,1750193680.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 91.685402 m,
      bearing: 336.718558 deg,
      approach rate: -0.738157 m/s,
      LOS rate: 0.034862 deg/s,
      cmd heading: 330.759588 deg,
      new cmd heading: 330.803554 deg.

2025-06-17T20:54:40.439Z,1750193680.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773611 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:40.453Z,1750193680.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508811
2025-06-17T20:54:40.705Z,1750193680.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760674
2025-06-17T20:54:40.788Z,1750193680.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:40.790Z,1750193680.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:40.793Z,1750193680.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 91.424294 m,
      bearing: 336.730412 deg,
      approach rate: -0.734600 m/s,
      LOS rate: 0.033444 deg/s,
      cmd heading: 330.803547 deg,
      new cmd heading: 330.839209 deg.

2025-06-17T20:54:40.794Z,1750193680.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774233 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:40.957Z,1750193680.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012754
2025-06-17T20:54:41.209Z,1750193681.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264849
2025-06-17T20:54:41.261Z,1750193681.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:41.264Z,1750193681.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 91.078140 m,
      bearing: 336.742960 deg,
      approach rate: -0.735961 m/s,
      LOS rate: 0.026779 deg/s,
      cmd heading: 330.839200 deg,
      new cmd heading: 330.876987 deg.

2025-06-17T20:54:41.265Z,1750193681.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774893 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:41.461Z,1750193681.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517218
2025-06-17T20:54:41.600Z,1750193681.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:41.602Z,1750193681.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 90.828743 m,
      bearing: 336.751630 deg,
      approach rate: -0.736204 m/s,
      LOS rate: 0.025665 deg/s,
      cmd heading: 330.876985 deg,
      new cmd heading: 330.903067 deg.

2025-06-17T20:54:41.603Z,1750193681.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775348 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:41.713Z,1750193681.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769155
2025-06-17T20:54:41.965Z,1750193681.965 [DAT](INFO): DAT read: Rx Time:20:54:41.7665

2025-06-17T20:54:41.965Z,1750193681.965 [DAT](INFO): Rx dataTimestamp_ set to:1750193681.965092
2025-06-17T20:54:41.966Z,1750193681.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021841
2025-06-17T20:54:42.021Z,1750193682.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:42.023Z,1750193682.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 90.534622 m,
      bearing: 336.761493 deg,
      approach rate: -0.698417 m/s,
      LOS rate: 0.023496 deg/s,
      cmd heading: 330.903076 deg,
      new cmd heading: 330.932760 deg.

2025-06-17T20:54:42.029Z,1750193682.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775867 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:42.219Z,1750193682.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274404
2025-06-17T20:54:42.424Z,1750193682.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.64 m.
2025-06-17T20:54:42.427Z,1750193682.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.639046 m,
      nav range: 90.224518 m,
      bearing: 336.769967 deg,
      approach rate: -0.769553 m/s,
      LOS rate: 0.021103 deg/s,
      cmd heading: 330.932774 deg,
      new cmd heading: 330.958285 deg.

2025-06-17T20:54:42.428Z,1750193682.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776312 target range: 104.639046 and range: 105.60 m.
2025-06-17T20:54:42.469Z,1750193682.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524813
2025-06-17T20:54:42.728Z,1750193682.728 [DAT](INFO): DAT read: 20:54:41.7665 LVL= 29552, 30017, 22946, 32755, AGC= 68, IDX= 329,-0.01, 1.412,-0.054, 1.197, 0.703, PHS= 0.797,-0.710, 0.491, RAW= 138.9,  -8.4, CAL= 145.2, -18.6, ROT=   4.8,  18.6

2025-06-17T20:54:42.730Z,1750193682.730 [DAT](INFO): got valid direction response:
 20:54:41.7665 LVL= 29552, 30017, 22946, 32755, AGC= 68, IDX= 329,-0.01, 1.412,-0.054, 1.197, 0.703, PHS= 0.797,-0.710, 0.491, RAW= 138.9,  -8.4, CAL= 145.2, -18.6, ROT=   4.8,  18.6

2025-06-17T20:54:42.731Z,1750193682.731 [DAT](INFO): DAT read: Bearing   4.8,  18.6 (Local)

2025-06-17T20:54:42.732Z,1750193682.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.8,  18.6 (Local)

2025-06-17T20:54:42.734Z,1750193682.734 [DAT](INFO): DAT read: Range 10 to 50 : 94.6 m  (Round-trip  126.2 ms) speed  0.6 m/s

2025-06-17T20:54:42.735Z,1750193682.735 [DAT](INFO): DAT read: user:772>

2025-06-17T20:54:42.739Z,1750193682.739 [DAT](INFO): DAT read: Tx time:20:54:42.8861

2025-06-17T20:54:42.739Z,1750193682.739 [DAT](INFO): Ping request sent.
2025-06-17T20:54:42.740Z,1750193682.740 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:54:42.740Z,1750193682.740 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:54:42.742Z,1750193682.742 [DAT](INFO): direction in FSK: [0.944444,0.079307,-0.318959]
2025-06-17T20:54:42.742Z,1750193682.742 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:42.742Z,1750193682.742 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:42.747Z,1750193682.747 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:42.748Z,1750193682.748 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:42.859Z,1750193682.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.599998 m,
      deltaT: 14.616261 s,
      deltaX: -11.000000 m,
      approachRate: -0.752586 m/s,
      rangeRepo size: 4

2025-06-17T20:54:42.865Z,1750193682.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.739410 m,
      bearing: 336.867000 deg,
      lat: 36.905969 deg,
      lon: -122.115699 deg,
      deltaT: 14.616261 s,
      deltaX: -10.899635 m,
      approachRate: -0.745720 m/s,
      posRepo size: 4

2025-06-17T20:54:42.866Z,1750193682.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:42.892Z,1750193682.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 89.972519 m,
      bearing: 336.700544 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021103 deg/s,
      cmd heading: 330.958292 deg,
      new cmd heading: 330.985784 deg.

2025-06-17T20:54:42.893Z,1750193682.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776792 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:42.974Z,1750193682.974 [DAT](INFO): DAT read: TxSync time:20:54:42.8853

2025-06-17T20:54:43.272Z,1750193683.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:43.274Z,1750193683.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:43.278Z,1750193683.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 89.652100 m,
      bearing: 336.708332 deg,
      approach rate: -0.769991 m/s,
      LOS rate: 0.018782 deg/s,
      cmd heading: 330.985776 deg,
      new cmd heading: 331.009223 deg.

2025-06-17T20:54:43.283Z,1750193683.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777201 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:43.477Z,1750193683.477 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:43.477Z,1750193683.477 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:43.477Z,1750193683.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:43.621Z,1750193683.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:43.623Z,1750193683.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 89.395447 m,
      bearing: 336.714535 deg,
      approach rate: -0.740404 m/s,
      LOS rate: 0.017947 deg/s,
      cmd heading: 331.009217 deg,
      new cmd heading: 331.027881 deg.

2025-06-17T20:54:43.625Z,1750193683.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777526 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:43.730Z,1750193683.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989731
2025-06-17T20:54:43.981Z,1750193683.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241439
2025-06-17T20:54:44.036Z,1750193684.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:44.039Z,1750193684.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 89.088425 m,
      bearing: 336.721820 deg,
      approach rate: -0.738837 m/s,
      LOS rate: 0.017590 deg/s,
      cmd heading: 331.027878 deg,
      new cmd heading: 331.049806 deg.

2025-06-17T20:54:44.040Z,1750193684.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777909 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:44.233Z,1750193684.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493725
2025-06-17T20:54:44.448Z,1750193684.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:44.450Z,1750193684.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 88.784195 m,
      bearing: 336.727820 deg,
      approach rate: -0.739736 m/s,
      LOS rate: 0.014639 deg/s,
      cmd heading: 331.049816 deg,
      new cmd heading: 331.067878 deg.

2025-06-17T20:54:44.451Z,1750193684.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778224 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:44.486Z,1750193684.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746514
2025-06-17T20:54:44.738Z,1750193684.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998002
2025-06-17T20:54:44.839Z,1750193684.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:44.842Z,1750193684.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 88.494408 m,
      bearing: 336.733042 deg,
      approach rate: -0.739931 m/s,
      LOS rate: 0.013378 deg/s,
      cmd heading: 331.067875 deg,
      new cmd heading: 331.083594 deg.

2025-06-17T20:54:44.843Z,1750193684.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778499 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:44.989Z,1750193684.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249234
2025-06-17T20:54:45.244Z,1750193685.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503761
2025-06-17T20:54:45.306Z,1750193685.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:45.309Z,1750193685.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:45.311Z,1750193685.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 88.147903 m,
      bearing: 336.740450 deg,
      approach rate: -0.738027 m/s,
      LOS rate: 0.015840 deg/s,
      cmd heading: 331.083585 deg,
      new cmd heading: 331.105895 deg.

2025-06-17T20:54:45.313Z,1750193685.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778888 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:45.493Z,1750193685.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753105
2025-06-17T20:54:45.674Z,1750193685.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:45.677Z,1750193685.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 87.877274 m,
      bearing: 336.746276 deg,
      approach rate: -0.740839 m/s,
      LOS rate: 0.015998 deg/s,
      cmd heading: 331.105906 deg,
      new cmd heading: 331.123438 deg.

2025-06-17T20:54:45.678Z,1750193685.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779194 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:45.746Z,1750193685.746 [DAT](INFO): DAT read: Rx Time:20:54:45.4130

2025-06-17T20:54:45.747Z,1750193685.747 [DAT](INFO): Rx dataTimestamp_ set to:1750193685.746335
2025-06-17T20:54:45.748Z,1750193685.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007899
2025-06-17T20:54:45.997Z,1750193685.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257109
2025-06-17T20:54:46.069Z,1750193686.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:46.071Z,1750193686.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 87.601059 m,
      bearing: 336.752263 deg,
      approach rate: -0.699676 m/s,
      LOS rate: 0.015214 deg/s,
      cmd heading: 331.123446 deg,
      new cmd heading: 331.141464 deg.

2025-06-17T20:54:46.077Z,1750193686.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779509 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:46.262Z,1750193686.262 [DAT](INFO): DAT read: 20:54:45.4130 LVL= 32752, 32753, 31906, 32755, AGC= 71, IDX= 405,-0.04, 0.295,-1.188, 0.066,-0.363, PHS= 0.746,-0.778, 0.426, RAW= 138.5,  -5.7, CAL= 144.3, -15.6, ROT=   5.7,  15.6

2025-06-17T20:54:46.263Z,1750193686.263 [DAT](INFO): got valid direction response:
 20:54:45.4130 LVL= 32752, 32753, 31906, 32755, AGC= 71, IDX= 405,-0.04, 0.295,-1.188, 0.066,-0.363, PHS= 0.746,-0.778, 0.426, RAW= 138.5,  -5.7, CAL= 144.3, -15.6, ROT=   5.7,  15.6

2025-06-17T20:54:46.270Z,1750193686.270 [DAT](INFO): DAT read: $Error in header

2025-06-17T20:54:46.276Z,1750193686.276 [DAT](INFO): Received a bad header
2025-06-17T20:54:46.288Z,1750193686.288 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-17T20:54:46.290Z,1750193686.290 [DAT](INFO): direction in FSK: [0.958400,0.095661,-0.268920]
2025-06-17T20:54:46.305Z,1750193686.305 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:46.306Z,1750193686.306 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:46.306Z,1750193686.306 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:46.483Z,1750193686.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:46.486Z,1750193686.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 87.280075 m,
      bearing: 336.761298 deg,
      approach rate: -0.774164 m/s,
      LOS rate: 0.021870 deg/s,
      cmd heading: 331.141477 deg,
      new cmd heading: 331.168681 deg.

2025-06-17T20:54:46.487Z,1750193686.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779984 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:46.501Z,1750193686.501 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:46.501Z,1750193686.501 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:46.501Z,1750193686.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:46.753Z,1750193686.753 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:46.753Z,1750193686.753 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:46.753Z,1750193686.753 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:46.865Z,1750193686.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:46.867Z,1750193686.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 86.999062 m,
      bearing: 336.769274 deg,
      approach rate: -0.737137 m/s,
      LOS rate: 0.020990 deg/s,
      cmd heading: 331.168689 deg,
      new cmd heading: 331.192694 deg.

2025-06-17T20:54:46.868Z,1750193686.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780403 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:47.005Z,1750193687.005 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:47.005Z,1750193687.005 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:47.005Z,1750193687.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:47.259Z,1750193687.259 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:47.259Z,1750193687.259 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:47.259Z,1750193687.259 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:47.445Z,1750193687.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:47.448Z,1750193687.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:47.451Z,1750193687.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 86.638733 m,
      bearing: 336.781395 deg,
      approach rate: -0.617656 m/s,
      LOS rate: 0.020863 deg/s,
      cmd heading: 331.192704 deg,
      new cmd heading: 331.229218 deg.

2025-06-17T20:54:47.453Z,1750193687.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781040 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:47.509Z,1750193687.509 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:47.509Z,1750193687.509 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:47.510Z,1750193687.510 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:47.736Z,1750193687.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:47.741Z,1750193687.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 86.366699 m,
      bearing: 336.790613 deg,
      approach rate: -0.945645 m/s,
      LOS rate: 0.032145 deg/s,
      cmd heading: 331.229204 deg,
      new cmd heading: 331.256945 deg.

2025-06-17T20:54:47.742Z,1750193687.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781524 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:47.761Z,1750193687.761 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:47.761Z,1750193687.761 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:47.761Z,1750193687.761 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:48.013Z,1750193688.013 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:48.013Z,1750193688.013 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:48.013Z,1750193688.013 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:48.124Z,1750193688.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:48.127Z,1750193688.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 86.080452 m,
      bearing: 336.800192 deg,
      approach rate: -0.737219 m/s,
      LOS rate: 0.024753 deg/s,
      cmd heading: 331.256935 deg,
      new cmd heading: 331.285768 deg.

2025-06-17T20:54:48.128Z,1750193688.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782027 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:48.267Z,1750193688.267 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:48.267Z,1750193688.267 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:48.268Z,1750193688.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:48.517Z,1750193688.517 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:48.517Z,1750193688.517 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:48.517Z,1750193688.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:48.580Z,1750193688.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:48.583Z,1750193688.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 85.774391 m,
      bearing: 336.814370 deg,
      approach rate: -0.671790 m/s,
      LOS rate: 0.031231 deg/s,
      cmd heading: 331.285758 deg,
      new cmd heading: 331.328444 deg.

2025-06-17T20:54:48.585Z,1750193688.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782772 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:48.769Z,1750193688.769 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:48.769Z,1750193688.769 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:48.769Z,1750193688.769 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:48.937Z,1750193688.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:48.940Z,1750193688.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 85.486763 m,
      bearing: 336.827780 deg,
      approach rate: -0.803842 m/s,
      LOS rate: 0.037602 deg/s,
      cmd heading: 331.328433 deg,
      new cmd heading: 331.368798 deg.

2025-06-17T20:54:48.941Z,1750193688.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783476 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:49.021Z,1750193689.021 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:49.021Z,1750193689.021 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:49.021Z,1750193689.021 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:49.276Z,1750193689.276 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:49.276Z,1750193689.276 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:49.277Z,1750193689.277 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:49.383Z,1750193689.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:49.386Z,1750193689.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 85.154968 m,
      bearing: 336.843313 deg,
      approach rate: -0.744378 m/s,
      LOS rate: 0.034985 deg/s,
      cmd heading: 331.368786 deg,
      new cmd heading: 331.415567 deg.

2025-06-17T20:54:49.387Z,1750193689.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784293 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:49.525Z,1750193689.525 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:49.525Z,1750193689.525 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:49.525Z,1750193689.525 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:49.764Z,1750193689.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:49.767Z,1750193689.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:49.777Z,1750193689.777 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:49.777Z,1750193689.777 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:49.777Z,1750193689.777 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:49.786Z,1750193689.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 84.898254 m,
      bearing: 336.855307 deg,
      approach rate: -0.669460 m/s,
      LOS rate: 0.031373 deg/s,
      cmd heading: 331.415559 deg,
      new cmd heading: 331.451650 deg.

2025-06-17T20:54:49.787Z,1750193689.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784923 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:50.029Z,1750193690.029 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:50.029Z,1750193690.029 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:50.029Z,1750193690.029 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:50.155Z,1750193690.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:50.159Z,1750193690.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 84.587204 m,
      bearing: 336.869863 deg,
      approach rate: -0.799784 m/s,
      LOS rate: 0.037565 deg/s,
      cmd heading: 331.451650 deg,
      new cmd heading: 331.495479 deg.

2025-06-17T20:54:50.160Z,1750193690.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785687 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:50.283Z,1750193690.283 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:50.283Z,1750193690.283 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:50.284Z,1750193690.284 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:50.533Z,1750193690.533 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:50.533Z,1750193690.533 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:50.533Z,1750193690.533 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:50.599Z,1750193690.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:50.601Z,1750193690.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 84.270424 m,
      bearing: 336.884759 deg,
      approach rate: -0.714758 m/s,
      LOS rate: 0.033735 deg/s,
      cmd heading: 331.495472 deg,
      new cmd heading: 331.540327 deg.

2025-06-17T20:54:50.602Z,1750193690.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786470 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:50.785Z,1750193690.785 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:50.785Z,1750193690.785 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:50.785Z,1750193690.785 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:50.969Z,1750193690.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:50.976Z,1750193690.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 83.999153 m,
      bearing: 336.897511 deg,
      approach rate: -0.732412 m/s,
      LOS rate: 0.034543 deg/s,
      cmd heading: 331.540333 deg,
      new cmd heading: 331.578715 deg.

2025-06-17T20:54:50.977Z,1750193690.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787140 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:51.038Z,1750193691.038 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:51.038Z,1750193691.038 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:51.038Z,1750193691.038 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:51.291Z,1750193691.291 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:51.291Z,1750193691.291 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:51.291Z,1750193691.291 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:51.429Z,1750193691.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:51.431Z,1750193691.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 83.666939 m,
      bearing: 336.912133 deg,
      approach rate: -0.722956 m/s,
      LOS rate: 0.031946 deg/s,
      cmd heading: 331.578719 deg,
      new cmd heading: 331.622758 deg.

2025-06-17T20:54:51.436Z,1750193691.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787909 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:51.541Z,1750193691.541 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:51.541Z,1750193691.541 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:51.541Z,1750193691.541 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:51.781Z,1750193691.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:51.783Z,1750193691.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:51.790Z,1750193691.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 83.402664 m,
      bearing: 336.923765 deg,
      approach rate: -0.745361 m/s,
      LOS rate: 0.032910 deg/s,
      cmd heading: 331.622760 deg,
      new cmd heading: 331.657765 deg.

2025-06-17T20:54:51.791Z,1750193691.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788520 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:51.793Z,1750193691.793 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:51.793Z,1750193691.793 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:51.793Z,1750193691.793 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:52.045Z,1750193692.045 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:52.045Z,1750193692.045 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:52.045Z,1750193692.045 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:52.300Z,1750193692.300 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:52.300Z,1750193692.300 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:52.300Z,1750193692.300 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:52.365Z,1750193692.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:52.368Z,1750193692.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 83.007881 m,
      bearing: 336.941248 deg,
      approach rate: -0.678008 m/s,
      LOS rate: 0.030169 deg/s,
      cmd heading: 331.657758 deg,
      new cmd heading: 331.710458 deg.

2025-06-17T20:54:52.370Z,1750193692.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789440 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:52.549Z,1750193692.549 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:52.549Z,1750193692.549 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:52.549Z,1750193692.549 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:54:52.801Z,1750193692.801 [DAT](INFO): Reached modem response timeout
2025-06-17T20:54:52.801Z,1750193692.801 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:54:52.801Z,1750193692.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:52.896Z,1750193692.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:52.898Z,1750193692.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 82.588593 m,
      bearing: 336.961120 deg,
      approach rate: -0.796899 m/s,
      LOS rate: 0.037959 deg/s,
      cmd heading: 331.710459 deg,
      new cmd heading: 331.770376 deg.

2025-06-17T20:54:52.899Z,1750193692.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790485 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:53.053Z,1750193693.053 [DAT](INFO): Reached modem response timeout
2025-06-17T20:54:53.053Z,1750193693.053 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:54:53.053Z,1750193693.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:53.305Z,1750193693.305 [DAT](INFO): Reached modem response timeout
2025-06-17T20:54:53.305Z,1750193693.305 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:54:53.305Z,1750193693.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:53.445Z,1750193693.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:53.452Z,1750193693.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 82.191498 m,
      bearing: 336.976720 deg,
      approach rate: -0.717276 m/s,
      LOS rate: 0.028315 deg/s,
      cmd heading: 331.770374 deg,
      new cmd heading: 331.817400 deg.

2025-06-17T20:54:53.453Z,1750193693.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791306 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:53.557Z,1750193693.557 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:54:53.557Z,1750193693.557 [DAT](INFO): response not received
2025-06-17T20:54:53.558Z,1750193693.558 [DAT](INFO): DAT read: user:774>

2025-06-17T20:54:53.558Z,1750193693.558 [DAT](INFO): DAT read: Tx time:20:54:53.8363

2025-06-17T20:54:53.559Z,1750193693.559 [DAT](INFO): Ping request sent.
2025-06-17T20:54:53.559Z,1750193693.559 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:54:53.559Z,1750193693.559 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:53.560Z,1750193693.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-06-17T20:54:53.809Z,1750193693.809 [DAT](INFO): DAT read: TxSync time:20:54:53.8355

2025-06-17T20:54:53.810Z,1750193693.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251525
2025-06-17T20:54:53.876Z,1750193693.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:53.878Z,1750193693.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:53.893Z,1750193693.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 81.870605 m,
      bearing: 336.989306 deg,
      approach rate: -0.741528 m/s,
      LOS rate: 0.029198 deg/s,
      cmd heading: 331.817393 deg,
      new cmd heading: 331.855298 deg.

2025-06-17T20:54:53.894Z,1750193693.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791967 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:54.061Z,1750193694.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501986
2025-06-17T20:54:54.315Z,1750193694.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756226
2025-06-17T20:54:54.360Z,1750193694.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:54.378Z,1750193694.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 81.581726 m,
      bearing: 337.000866 deg,
      approach rate: -0.606388 m/s,
      LOS rate: 0.024351 deg/s,
      cmd heading: 331.855287 deg,
      new cmd heading: 331.890089 deg.

2025-06-17T20:54:54.381Z,1750193694.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792575 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:54.565Z,1750193694.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006086
2025-06-17T20:54:54.745Z,1750193694.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:54.750Z,1750193694.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 81.246704 m,
      bearing: 337.009039 deg,
      approach rate: -0.857127 m/s,
      LOS rate: 0.020996 deg/s,
      cmd heading: 331.890093 deg,
      new cmd heading: 331.914714 deg.

2025-06-17T20:54:54.751Z,1750193694.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793005 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:54.817Z,1750193694.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258121
2025-06-17T20:54:55.069Z,1750193695.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510162
2025-06-17T20:54:55.101Z,1750193695.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:55.104Z,1750193695.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 80.984261 m,
      bearing: 337.015390 deg,
      approach rate: -0.736541 m/s,
      LOS rate: 0.017883 deg/s,
      cmd heading: 331.914709 deg,
      new cmd heading: 331.933825 deg.

2025-06-17T20:54:55.105Z,1750193695.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793338 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:55.325Z,1750193695.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765320
2025-06-17T20:54:55.532Z,1750193695.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:55.534Z,1750193695.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 80.673141 m,
      bearing: 337.022738 deg,
      approach rate: -0.723418 m/s,
      LOS rate: 0.017151 deg/s,
      cmd heading: 331.933834 deg,
      new cmd heading: 331.955963 deg.

2025-06-17T20:54:55.535Z,1750193695.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793725 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:55.574Z,1750193695.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014841
2025-06-17T20:54:55.825Z,1750193695.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265887
2025-06-17T20:54:55.897Z,1750193695.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:55.899Z,1750193695.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:55.902Z,1750193695.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 80.407372 m,
      bearing: 337.028621 deg,
      approach rate: -0.723156 m/s,
      LOS rate: 0.016061 deg/s,
      cmd heading: 331.955964 deg,
      new cmd heading: 331.973671 deg.

2025-06-17T20:54:55.903Z,1750193695.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794034 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:56.077Z,1750193696.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518050
2025-06-17T20:54:56.298Z,1750193696.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:56.301Z,1750193696.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 80.118233 m,
      bearing: 337.034710 deg,
      approach rate: -0.724719 m/s,
      LOS rate: 0.015315 deg/s,
      cmd heading: 331.973667 deg,
      new cmd heading: 331.991999 deg.

2025-06-17T20:54:56.303Z,1750193696.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794353 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:56.329Z,1750193696.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770029
2025-06-17T20:54:56.581Z,1750193696.581 [DAT](INFO): DAT read: Rx Time:20:54:56.3523

2025-06-17T20:54:56.581Z,1750193696.581 [DAT](INFO): Rx dataTimestamp_ set to:1750193696.581011
2025-06-17T20:54:56.582Z,1750193696.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023019
2025-06-17T20:54:56.746Z,1750193696.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:56.765Z,1750193696.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 79.793236 m,
      bearing: 337.039253 deg,
      approach rate: -0.726713 m/s,
      LOS rate: 0.010202 deg/s,
      cmd heading: 331.992000 deg,
      new cmd heading: 332.005687 deg.

2025-06-17T20:54:56.766Z,1750193696.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794592 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:56.834Z,1750193696.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274799
2025-06-17T20:54:57.088Z,1750193697.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528751
2025-06-17T20:54:57.173Z,1750193697.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.74 m.
2025-06-17T20:54:57.176Z,1750193697.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.739410 m,
      nav range: 79.474327 m,
      bearing: 337.043317 deg,
      approach rate: -0.745363 m/s,
      LOS rate: 0.009536 deg/s,
      cmd heading: 332.005687 deg,
      new cmd heading: 332.017928 deg.

2025-06-17T20:54:57.177Z,1750193697.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794806 target range: 93.739410 and range: 94.60 m.
2025-06-17T20:54:57.343Z,1750193697.343 [DAT](INFO): DAT read: 20:54:56.3523 LVL= 30832, 27313, 25442, 32755, AGC= 69, IDX= 325, 0.27,-1.408,-2.854,-1.552,-2.038, PHS= 0.717,-0.770, 0.482, RAW= 141.5,  -6.3, CAL= 147.5, -15.7, ROT=   2.5,  15.7

2025-06-17T20:54:57.345Z,1750193697.345 [DAT](INFO): got valid direction response:
 20:54:56.3523 LVL= 30832, 27313, 25442, 32755, AGC= 69, IDX= 325, 0.27,-1.408,-2.854,-1.552,-2.038, PHS= 0.717,-0.770, 0.482, RAW= 141.5,  -6.3, CAL= 147.5, -15.7, ROT=   2.5,  15.7

2025-06-17T20:54:57.346Z,1750193697.346 [DAT](INFO): DAT read: Bearing   2.5,  15.7 (Local)

2025-06-17T20:54:57.347Z,1750193697.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,  15.7 (Local)

2025-06-17T20:54:57.348Z,1750193697.348 [DAT](INFO): DAT read: Range 10 to 50 : 83.9 m  (Round-trip  111.9 ms) speed  0.1 m/s

2025-06-17T20:54:57.349Z,1750193697.349 [DAT](INFO): DAT read: user:775>

2025-06-17T20:54:57.350Z,1750193697.350 [DAT](INFO): DAT read: Tx time:20:54:57.4363

2025-06-17T20:54:57.351Z,1750193697.351 [DAT](INFO): Ping request sent.
2025-06-17T20:54:57.352Z,1750193697.352 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:54:57.354Z,1750193697.354 [DAT](INFO): DAT read: TxSync time:20:54:57.4355

2025-06-17T20:54:57.356Z,1750193697.356 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:54:57.357Z,1750193697.357 [DAT](INFO): direction in FSK: [0.961775,0.041992,-0.270600]
2025-06-17T20:54:57.358Z,1750193697.358 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:57.358Z,1750193697.358 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:57.361Z,1750193697.361 [DAT](INFO): publishing transmit ping time
2025-06-17T20:54:57.361Z,1750193697.361 [DAT](INFO): publishing direction and range info
2025-06-17T20:54:57.617Z,1750193697.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 83.900002 m,
      deltaT: 14.615857 s,
      deltaX: -10.699997 m,
      approachRate: -0.732081 m/s,
      rangeRepo size: 4

2025-06-17T20:54:57.619Z,1750193697.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 83.137108 m,
      bearing: 335.690590 deg,
      lat: 36.905975 deg,
      lon: -122.115699 deg,
      deltaT: 14.615857 s,
      deltaX: -10.602303 m,
      approachRate: -0.725397 m/s,
      posRepo size: 4

2025-06-17T20:54:57.619Z,1750193697.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:54:57.626Z,1750193697.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 79.777657 m,
      bearing: 337.236199 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009536 deg/s,
      cmd heading: 332.017927 deg,
      new cmd heading: 332.030475 deg.

2025-06-17T20:54:57.627Z,1750193697.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795025 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:54:57.915Z,1750193697.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:57.917Z,1750193697.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:54:57.920Z,1750193697.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 79.541222 m,
      bearing: 337.241824 deg,
      approach rate: -0.773497 m/s,
      LOS rate: 0.018455 deg/s,
      cmd heading: 332.030467 deg,
      new cmd heading: 332.047391 deg.

2025-06-17T20:54:57.921Z,1750193697.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795320 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:54:58.093Z,1750193698.093 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:54:58.093Z,1750193698.093 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:54:58.093Z,1750193698.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:54:58.324Z,1750193698.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:54:58.327Z,1750193698.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 79.242119 m,
      bearing: 337.248775 deg,
      approach rate: -0.736017 m/s,
      LOS rate: 0.017171 deg/s,
      cmd heading: 332.047379 deg,
      new cmd heading: 332.068312 deg.

2025-06-17T20:54:58.328Z,1750193698.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795685 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:54:58.345Z,1750193698.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994208
2025-06-17T20:54:58.597Z,1750193698.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245695
2025-06-17T20:54:58.759Z,1750193698.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:54:58.763Z,1750193698.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 78.925262 m,
      bearing: 337.255414 deg,
      approach rate: -0.729146 m/s,
      LOS rate: 0.015338 deg/s,
      cmd heading: 332.068307 deg,
      new cmd heading: 332.088302 deg.

2025-06-17T20:54:58.764Z,1750193698.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796034 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:54:58.850Z,1750193698.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498383
2025-06-17T20:54:58.978Z,1750193698.978 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:54:59.101Z,1750193699.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749683
2025-06-17T20:54:59.128Z,1750193699.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:54:59.131Z,1750193699.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 78.648933 m,
      bearing: 337.260442 deg,
      approach rate: -0.747613 m/s,
      LOS rate: 0.013651 deg/s,
      cmd heading: 332.088305 deg,
      new cmd heading: 332.103442 deg.

2025-06-17T20:54:59.132Z,1750193699.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796299 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:54:59.354Z,1750193699.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002311
2025-06-17T20:54:59.560Z,1750193699.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:54:59.562Z,1750193699.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 78.334106 m,
      bearing: 337.266736 deg,
      approach rate: -0.729391 m/s,
      LOS rate: 0.014642 deg/s,
      cmd heading: 332.103441 deg,
      new cmd heading: 332.122401 deg.

2025-06-17T20:54:59.563Z,1750193699.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796629 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:54:59.605Z,1750193699.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253694
2025-06-17T20:54:59.860Z,1750193699.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508946
2025-06-17T20:54:59.937Z,1750193699.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:54:59.939Z,1750193699.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:54:59.942Z,1750193699.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 78.057457 m,
      bearing: 337.272089 deg,
      approach rate: -0.728832 m/s,
      LOS rate: 0.014151 deg/s,
      cmd heading: 332.122402 deg,
      new cmd heading: 332.138516 deg.

2025-06-17T20:54:59.943Z,1750193699.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796911 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:54:59.980Z,1750193699.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:55:00.109Z,1750193700.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757595
2025-06-17T20:55:00.352Z,1750193700.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:00.355Z,1750193700.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 77.764755 m,
      bearing: 337.277723 deg,
      approach rate: -0.709296 m/s,
      LOS rate: 0.013703 deg/s,
      cmd heading: 332.138521 deg,
      new cmd heading: 332.155485 deg.

2025-06-17T20:55:00.356Z,1750193700.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797207 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:00.361Z,1750193700.361 [DAT](INFO): DAT read: Rx Time:20:54:59.9489

2025-06-17T20:55:00.361Z,1750193700.361 [DAT](INFO): Rx dataTimestamp_ set to:1750193700.361149
2025-06-17T20:55:00.362Z,1750193700.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010790
2025-06-17T20:55:00.613Z,1750193700.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261606
2025-06-17T20:55:00.796Z,1750193700.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:00.814Z,1750193700.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 77.436111 m,
      bearing: 337.284795 deg,
      approach rate: -0.740714 m/s,
      LOS rate: 0.016008 deg/s,
      cmd heading: 332.155487 deg,
      new cmd heading: 332.176795 deg.

2025-06-17T20:55:00.815Z,1750193700.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797579 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:00.871Z,1750193700.871 [DAT](INFO): DAT read: 20:54:59.9489 LVL= 21040, 27441, 18930, 32755, AGC= 70, IDX= 402, 0.24, 0.873,-0.689, 0.676, 0.279, PHS= 0.682,-0.921, 0.394, RAW= 140.3,  -2.1, CAL= 145.2, -11.4, ROT=   4.8,  11.4

2025-06-17T20:55:00.873Z,1750193700.873 [DAT](INFO): got valid direction response:
 20:54:59.9489 LVL= 21040, 27441, 18930, 32755, AGC= 70, IDX= 402, 0.24, 0.873,-0.689, 0.676, 0.279, PHS= 0.682,-0.921, 0.394, RAW= 140.3,  -2.1, CAL= 145.2, -11.4, ROT=   4.8,  11.4

2025-06-17T20:55:00.874Z,1750193700.874 [DAT](INFO): DAT read: $Error in header

2025-06-17T20:55:00.874Z,1750193700.874 [DAT](INFO): Received a bad header
2025-06-17T20:55:00.889Z,1750193700.889 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-17T20:55:00.890Z,1750193700.890 [DAT](INFO): direction in FSK: [0.976833,0.082027,-0.197657]
2025-06-17T20:55:00.895Z,1750193700.895 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:00.895Z,1750193700.895 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:00.895Z,1750193700.895 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:01.117Z,1750193701.117 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:01.117Z,1750193701.117 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:01.117Z,1750193701.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:01.201Z,1750193701.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:01.204Z,1750193701.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 77.144226 m,
      bearing: 337.291076 deg,
      approach rate: -0.719990 m/s,
      LOS rate: 0.015552 deg/s,
      cmd heading: 332.176797 deg,
      new cmd heading: 332.195712 deg.

2025-06-17T20:55:01.205Z,1750193701.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797909 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:01.369Z,1750193701.369 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:01.369Z,1750193701.369 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:01.369Z,1750193701.369 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:01.570Z,1750193701.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:01.573Z,1750193701.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 76.870964 m,
      bearing: 337.299417 deg,
      approach rate: -0.740552 m/s,
      LOS rate: 0.022683 deg/s,
      cmd heading: 332.195703 deg,
      new cmd heading: 332.220813 deg.

2025-06-17T20:55:01.574Z,1750193701.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798347 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:01.621Z,1750193701.621 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:01.621Z,1750193701.621 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:01.621Z,1750193701.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:01.872Z,1750193701.872 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:01.873Z,1750193701.873 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:01.873Z,1750193701.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:01.958Z,1750193701.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:01.960Z,1750193701.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:01.963Z,1750193701.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 76.583214 m,
      bearing: 337.308289 deg,
      approach rate: -0.737418 m/s,
      LOS rate: 0.022822 deg/s,
      cmd heading: 332.220811 deg,
      new cmd heading: 332.247528 deg.

2025-06-17T20:55:01.989Z,1750193701.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798813 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:02.125Z,1750193702.125 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:02.125Z,1750193702.125 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:02.125Z,1750193702.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:02.372Z,1750193702.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:02.375Z,1750193702.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 76.278473 m,
      bearing: 337.317770 deg,
      approach rate: -0.739740 m/s,
      LOS rate: 0.023106 deg/s,
      cmd heading: 332.247531 deg,
      new cmd heading: 332.276087 deg.

2025-06-17T20:55:02.377Z,1750193702.377 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:02.377Z,1750193702.377 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:02.377Z,1750193702.377 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:02.378Z,1750193702.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799312 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:02.629Z,1750193702.629 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:02.629Z,1750193702.629 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:02.629Z,1750193702.629 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:02.797Z,1750193702.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:02.800Z,1750193702.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 75.969826 m,
      bearing: 337.328465 deg,
      approach rate: -0.725832 m/s,
      LOS rate: 0.025253 deg/s,
      cmd heading: 332.276081 deg,
      new cmd heading: 332.308297 deg.

2025-06-17T20:55:02.801Z,1750193702.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799874 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:02.881Z,1750193702.881 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:02.881Z,1750193702.881 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:02.881Z,1750193702.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:03.133Z,1750193703.133 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:03.133Z,1750193703.133 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:03.133Z,1750193703.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:03.184Z,1750193703.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:03.187Z,1750193703.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 75.689690 m,
      bearing: 337.338329 deg,
      approach rate: -0.725041 m/s,
      LOS rate: 0.025623 deg/s,
      cmd heading: 332.308292 deg,
      new cmd heading: 332.337993 deg.

2025-06-17T20:55:03.188Z,1750193703.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800392 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:03.384Z,1750193703.384 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:03.385Z,1750193703.385 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:03.385Z,1750193703.385 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:03.603Z,1750193703.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:03.606Z,1750193703.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 75.385109 m,
      bearing: 337.349787 deg,
      approach rate: -0.726143 m/s,
      LOS rate: 0.027427 deg/s,
      cmd heading: 332.337990 deg,
      new cmd heading: 332.372503 deg.

2025-06-17T20:55:03.607Z,1750193703.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800994 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:03.638Z,1750193703.638 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:03.638Z,1750193703.638 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:03.638Z,1750193703.638 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:03.889Z,1750193703.889 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:03.889Z,1750193703.889 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:03.889Z,1750193703.889 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:03.981Z,1750193703.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:03.983Z,1750193703.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:03.986Z,1750193703.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 75.109528 m,
      bearing: 337.360314 deg,
      approach rate: -0.724680 m/s,
      LOS rate: 0.027784 deg/s,
      cmd heading: 332.372496 deg,
      new cmd heading: 332.404193 deg.

2025-06-17T20:55:03.987Z,1750193703.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801548 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:04.140Z,1750193704.140 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:04.141Z,1750193704.141 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:04.141Z,1750193704.141 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:04.384Z,1750193704.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:04.387Z,1750193704.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 74.818802 m,
      bearing: 337.371524 deg,
      approach rate: -0.726259 m/s,
      LOS rate: 0.028114 deg/s,
      cmd heading: 332.404188 deg,
      new cmd heading: 332.437951 deg.

2025-06-17T20:55:04.388Z,1750193704.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802137 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:04.393Z,1750193704.393 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:04.393Z,1750193704.393 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:04.393Z,1750193704.393 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:04.646Z,1750193704.646 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:04.646Z,1750193704.646 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:04.646Z,1750193704.646 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:04.835Z,1750193704.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:04.839Z,1750193704.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 74.492310 m,
      bearing: 337.384886 deg,
      approach rate: -0.723158 m/s,
      LOS rate: 0.029725 deg/s,
      cmd heading: 332.437956 deg,
      new cmd heading: 332.478217 deg.

2025-06-17T20:55:04.840Z,1750193704.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802840 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:04.897Z,1750193704.897 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:04.898Z,1750193704.898 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:04.898Z,1750193704.898 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:05.148Z,1750193705.148 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:05.149Z,1750193705.149 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:05.149Z,1750193705.149 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:05.208Z,1750193705.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:05.211Z,1750193705.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 74.240059 m,
      bearing: 337.395265 deg,
      approach rate: -0.684326 m/s,
      LOS rate: 0.028254 deg/s,
      cmd heading: 332.478227 deg,
      new cmd heading: 332.509471 deg.

2025-06-17T20:55:05.216Z,1750193705.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803385 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:05.402Z,1750193705.402 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:05.402Z,1750193705.402 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:05.402Z,1750193705.402 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:05.627Z,1750193705.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:05.634Z,1750193705.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 73.926262 m,
      bearing: 337.407366 deg,
      approach rate: -0.742190 m/s,
      LOS rate: 0.028742 deg/s,
      cmd heading: 332.509482 deg,
      new cmd heading: 332.545938 deg.

2025-06-17T20:55:05.635Z,1750193705.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804021 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:05.653Z,1750193705.653 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:05.653Z,1750193705.653 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:05.653Z,1750193705.653 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:05.905Z,1750193705.905 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:05.905Z,1750193705.905 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:05.905Z,1750193705.905 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:06.014Z,1750193706.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:06.016Z,1750193706.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:06.019Z,1750193706.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 73.628036 m,
      bearing: 337.418962 deg,
      approach rate: -0.764922 m/s,
      LOS rate: 0.029863 deg/s,
      cmd heading: 332.545928 deg,
      new cmd heading: 332.580857 deg.

2025-06-17T20:55:06.020Z,1750193706.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804631 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:06.157Z,1750193706.157 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:06.157Z,1750193706.157 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:06.157Z,1750193706.157 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:06.398Z,1750193706.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:06.401Z,1750193706.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 73.347343 m,
      bearing: 337.430008 deg,
      approach rate: -0.735083 m/s,
      LOS rate: 0.029038 deg/s,
      cmd heading: 332.580844 deg,
      new cmd heading: 332.614109 deg.

2025-06-17T20:55:06.402Z,1750193706.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805212 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:06.409Z,1750193706.409 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:06.409Z,1750193706.409 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:06.409Z,1750193706.409 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:06.661Z,1750193706.661 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:06.661Z,1750193706.661 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:06.661Z,1750193706.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:06.835Z,1750193706.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:06.838Z,1750193706.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 73.025734 m,
      bearing: 337.438965 deg,
      approach rate: -0.736505 m/s,
      LOS rate: 0.020603 deg/s,
      cmd heading: 332.614121 deg,
      new cmd heading: 332.641111 deg.

2025-06-17T20:55:06.839Z,1750193706.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805683 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:06.913Z,1750193706.913 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:06.913Z,1750193706.913 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:06.914Z,1750193706.914 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:07.164Z,1750193707.164 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:07.165Z,1750193707.165 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:07.165Z,1750193707.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-17T20:55:07.218Z,1750193707.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:07.225Z,1750193707.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 72.743843 m,
      bearing: 337.446881 deg,
      approach rate: -0.735762 m/s,
      LOS rate: 0.020740 deg/s,
      cmd heading: 332.641114 deg,
      new cmd heading: 332.664951 deg.

2025-06-17T20:55:07.226Z,1750193707.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806099 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:07.417Z,1750193707.417 [DAT](INFO): Reached modem response timeout
2025-06-17T20:55:07.417Z,1750193707.417 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:55:07.417Z,1750193707.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:07.650Z,1750193707.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:07.653Z,1750193707.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 72.427994 m,
      bearing: 337.455142 deg,
      approach rate: -0.731312 m/s,
      LOS rate: 0.019213 deg/s,
      cmd heading: 332.664965 deg,
      new cmd heading: 332.689858 deg.

2025-06-17T20:55:07.654Z,1750193707.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806533 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:07.671Z,1750193707.671 [DAT](INFO): Reached modem response timeout
2025-06-17T20:55:07.672Z,1750193707.672 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:55:07.672Z,1750193707.672 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:07.920Z,1750193707.920 [DAT](INFO): Reached modem response timeout
2025-06-17T20:55:07.921Z,1750193707.921 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:55:07.921Z,1750193707.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:08.041Z,1750193708.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:08.048Z,1750193708.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:08.050Z,1750193708.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 72.145378 m,
      bearing: 337.462519 deg,
      approach rate: -0.718137 m/s,
      LOS rate: 0.018818 deg/s,
      cmd heading: 332.689854 deg,
      new cmd heading: 332.712071 deg.

2025-06-17T20:55:08.051Z,1750193708.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806921 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:08.175Z,1750193708.175 [DAT](INFO): DAT read: Response Not Received

2025-06-17T20:55:08.175Z,1750193708.175 [DAT](INFO): response not received
2025-06-17T20:55:08.176Z,1750193708.176 [DAT](INFO): DAT read: user:777>

2025-06-17T20:55:08.178Z,1750193708.178 [DAT](INFO): DAT read: Tx time:20:55:08.3864

2025-06-17T20:55:08.178Z,1750193708.178 [DAT](INFO): Ping request sent.
2025-06-17T20:55:08.178Z,1750193708.178 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:08.178Z,1750193708.178 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:08.181Z,1750193708.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001130
2025-06-17T20:55:08.423Z,1750193708.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:08.425Z,1750193708.425 [DAT](INFO): DAT read: TxSync time:20:55:08.3856

2025-06-17T20:55:08.426Z,1750193708.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247719
2025-06-17T20:55:08.429Z,1750193708.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 71.860870 m,
      bearing: 337.469944 deg,
      approach rate: -0.749176 m/s,
      LOS rate: 0.019627 deg/s,
      cmd heading: 332.712066 deg,
      new cmd heading: 332.734427 deg.

2025-06-17T20:55:08.430Z,1750193708.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807311 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:08.677Z,1750193708.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498549
2025-06-17T20:55:08.863Z,1750193708.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:08.870Z,1750193708.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 71.555435 m,
      bearing: 337.471988 deg,
      approach rate: -0.694801 m/s,
      LOS rate: 0.004671 deg/s,
      cmd heading: 332.734414 deg,
      new cmd heading: 332.740574 deg.

2025-06-17T20:55:08.871Z,1750193708.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807418 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:08.930Z,1750193708.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751343
2025-06-17T20:55:09.181Z,1750193709.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002677
2025-06-17T20:55:09.254Z,1750193709.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:09.261Z,1750193709.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 71.256310 m,
      bearing: 337.474203 deg,
      approach rate: -0.765519 m/s,
      LOS rate: 0.005693 deg/s,
      cmd heading: 332.740561 deg,
      new cmd heading: 332.747235 deg.

2025-06-17T20:55:09.262Z,1750193709.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807535 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:09.433Z,1750193709.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254634
2025-06-17T20:55:09.685Z,1750193709.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506760
2025-06-17T20:55:09.688Z,1750193709.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:09.691Z,1750193709.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 70.944420 m,
      bearing: 337.478570 deg,
      approach rate: -0.724833 m/s,
      LOS rate: 0.010193 deg/s,
      cmd heading: 332.747227 deg,
      new cmd heading: 332.760385 deg.

2025-06-17T20:55:09.696Z,1750193709.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807765 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:09.937Z,1750193709.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758612
2025-06-17T20:55:10.057Z,1750193710.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:10.064Z,1750193710.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 70.666252 m,
      bearing: 337.481960 deg,
      approach rate: -0.781401 m/s,
      LOS rate: 0.009560 deg/s,
      cmd heading: 332.760396 deg,
      new cmd heading: 332.770606 deg.

2025-06-17T20:55:10.065Z,1750193710.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807943 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:10.189Z,1750193710.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010611
2025-06-17T20:55:10.441Z,1750193710.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263164
2025-06-17T20:55:10.467Z,1750193710.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:10.469Z,1750193710.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:10.473Z,1750193710.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 70.347618 m,
      bearing: 337.485280 deg,
      approach rate: -0.741974 m/s,
      LOS rate: 0.007767 deg/s,
      cmd heading: 332.770614 deg,
      new cmd heading: 332.780620 deg.

2025-06-17T20:55:10.474Z,1750193710.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808117 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:10.694Z,1750193710.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515846
2025-06-17T20:55:10.879Z,1750193710.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:10.882Z,1750193710.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 70.058144 m,
      bearing: 337.488151 deg,
      approach rate: -0.707151 m/s,
      LOS rate: 0.007043 deg/s,
      cmd heading: 332.780613 deg,
      new cmd heading: 332.789263 deg.

2025-06-17T20:55:10.883Z,1750193710.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808269 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:10.945Z,1750193710.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766677
2025-06-17T20:55:11.197Z,1750193711.197 [DAT](INFO): DAT read: Rx Time:20:55:10.8881

2025-06-17T20:55:11.197Z,1750193711.197 [DAT](INFO): Rx dataTimestamp_ set to:1750193711.197047
2025-06-17T20:55:11.198Z,1750193711.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019730
2025-06-17T20:55:11.262Z,1750193711.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.14 m.
2025-06-17T20:55:11.269Z,1750193711.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.137108 m,
      nav range: 69.772148 m,
      bearing: 337.490958 deg,
      approach rate: -0.745263 m/s,
      LOS rate: 0.007345 deg/s,
      cmd heading: 332.789274 deg,
      new cmd heading: 332.797730 deg.

2025-06-17T20:55:11.270Z,1750193711.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808416 target range: 83.137108 and range: 83.90 m.
2025-06-17T20:55:11.449Z,1750193711.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270632
2025-06-17T20:55:11.715Z,1750193711.715 [DAT](INFO): DAT read: 20:55:10.8881 LVL= 32752, 32753, 26498, 32755, AGC= 72, IDX= 324,-0.10, 0.298,-1.027, 0.228,-0.211, PHS= 0.597,-0.768, 0.436, RAW= 143.8,  -4.1, CAL= 149.0, -13.2, ROT=   1.0,  13.2

2025-06-17T20:55:11.716Z,1750193711.716 [DAT](INFO): got valid direction response:
 20:55:10.8881 LVL= 32752, 32753, 26498, 32755, AGC= 72, IDX= 324,-0.10, 0.298,-1.027, 0.228,-0.211, PHS= 0.597,-0.768, 0.436, RAW= 143.8,  -4.1, CAL= 149.0, -13.2, ROT=   1.0,  13.2

2025-06-17T20:55:11.717Z,1750193711.717 [DAT](INFO): DAT read: Bearing   1.0,  13.2 (Local)

2025-06-17T20:55:11.717Z,1750193711.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  13.2 (Local)

2025-06-17T20:55:11.719Z,1750193711.719 [DAT](INFO): DAT read: Range 10 to 50 : 73.2 m  (Round-trip  97.6 ms) speed  0.5 m/s

2025-06-17T20:55:11.719Z,1750193711.719 [DAT](INFO): DAT read: user:778>

2025-06-17T20:55:11.725Z,1750193711.725 [DAT](INFO): DAT read: Tx time:20:55:11.9864

2025-06-17T20:55:11.725Z,1750193711.725 [DAT](INFO): Ping request sent.
2025-06-17T20:55:11.725Z,1750193711.725 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:11.726Z,1750193711.726 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:55:11.727Z,1750193711.727 [DAT](INFO): direction in FSK: [0.973431,0.016991,-0.228351]
2025-06-17T20:55:11.736Z,1750193711.736 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:11.744Z,1750193711.744 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:11.754Z,1750193711.754 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:11.754Z,1750193711.754 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:11.813Z,1750193711.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.199997 m,
      deltaT: 14.365102 s,
      deltaX: -10.700005 m,
      approachRate: -0.744861 m/s,
      rangeRepo size: 4

2025-06-17T20:55:11.815Z,1750193711.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.534409 m,
      bearing: 334.785051 deg,
      lat: 36.905973 deg,
      lon: -122.115707 deg,
      deltaT: 14.365102 s,
      deltaX: -10.602699 m,
      approachRate: -0.738087 m/s,
      posRepo size: 4

2025-06-17T20:55:11.825Z,1750193711.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m.
2025-06-17T20:55:11.827Z,1750193711.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.534409 m,
      nav range: 69.525513 m,
      bearing: 336.907769 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007345 deg/s,
      cmd heading: 332.797716 deg,
      new cmd heading: 332.809732 deg.

2025-06-17T20:55:11.832Z,1750193711.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808626 target range: 72.534409 and range: 73.20 m.
2025-06-17T20:55:11.953Z,1750193711.953 [DAT](INFO): DAT read: TxSync time:20:55:11.9856

2025-06-17T20:55:12.138Z,1750193712.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m.
2025-06-17T20:55:12.141Z,1750193712.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.534409 m,
      nav range: 69.236221 m,
      bearing: 336.905267 deg,
      approach rate: -0.876744 m/s,
      LOS rate: -0.007614 deg/s,
      cmd heading: 332.809737 deg,
      new cmd heading: 332.802201 deg.

2025-06-17T20:55:12.142Z,1750193712.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808494 target range: 72.534409 and range: 73.20 m.
2025-06-17T20:55:12.520Z,1750193712.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:12.522Z,1750193712.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m.
2025-06-17T20:55:12.525Z,1750193712.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.534409 m,
      nav range: 68.947548 m,
      bearing: 336.902671 deg,
      approach rate: -0.750874 m/s,
      LOS rate: -0.006779 deg/s,
      cmd heading: 332.802197 deg,
      new cmd heading: 332.794378 deg.

2025-06-17T20:55:12.526Z,1750193712.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808358 target range: 72.534409 and range: 73.20 m.
2025-06-17T20:55:12.708Z,1750193712.708 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:12.709Z,1750193712.709 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:12.709Z,1750193712.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:12.949Z,1750193712.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m.
2025-06-17T20:55:12.952Z,1750193712.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.534409 m,
      nav range: 68.631050 m,
      bearing: 336.902792 deg,
      approach rate: -0.741426 m/s,
      LOS rate: 0.000284 deg/s,
      cmd heading: 332.794383 deg,
      new cmd heading: 332.794747 deg.

2025-06-17T20:55:12.953Z,1750193712.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808364 target range: 72.534409 and range: 73.20 m.
2025-06-17T20:55:12.961Z,1750193712.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235591
2025-06-17T20:55:13.213Z,1750193713.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487500
2025-06-17T20:55:13.333Z,1750193713.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m.
2025-06-17T20:55:13.336Z,1750193713.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.534409 m,
      nav range: 68.346375 m,
      bearing: 336.902577 deg,
      approach rate: -0.741113 m/s,
      LOS rate: -0.000564 deg/s,
      cmd heading: 332.794738 deg,
      new cmd heading: 332.794089 deg.

2025-06-17T20:55:13.337Z,1750193713.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808352 target range: 72.534409 and range: 73.20 m.
2025-06-17T20:55:13.465Z,1750193713.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739776
2025-06-17T20:55:13.717Z,1750193713.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991588
2025-06-17T20:55:13.775Z,1750193713.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m.
2025-06-17T20:55:13.779Z,1750193713.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.534409 m,
      nav range: 68.025177 m,
      bearing: 336.903563 deg,
      approach rate: -0.726361 m/s,
      LOS rate: 0.002241 deg/s,
      cmd heading: 332.794082 deg,
      new cmd heading: 332.797055 deg.

2025-06-17T20:55:13.780Z,1750193713.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808404 target range: 72.534409 and range: 73.20 m.
2025-06-17T20:55:13.969Z,1750193713.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243410
2025-06-17T20:55:14.170Z,1750193714.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m.
2025-06-17T20:55:14.173Z,1750193714.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.534409 m,
      nav range: 67.748169 m,
      bearing: 336.904421 deg,
      approach rate: -0.701554 m/s,
      LOS rate: 0.002182 deg/s,
      cmd heading: 332.797060 deg,
      new cmd heading: 332.799645 deg.

2025-06-17T20:55:14.174Z,1750193714.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808450 target range: 72.534409 and range: 73.20 m.
2025-06-17T20:55:14.222Z,1750193714.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496807
2025-06-17T20:55:14.473Z,1750193714.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747510
2025-06-17T20:55:14.545Z,1750193714.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:14.547Z,1750193714.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m.
2025-06-17T20:55:14.549Z,1750193714.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.534409 m,
      nav range: 67.463821 m,
      bearing: 336.904702 deg,
      approach rate: -0.755520 m/s,
      LOS rate: 0.000749 deg/s,
      cmd heading: 332.799656 deg,
      new cmd heading: 332.800502 deg.

2025-06-17T20:55:14.550Z,1750193714.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808465 target range: 72.534409 and range: 73.20 m.
2025-06-17T20:55:14.726Z,1750193714.726 [DAT](INFO): DAT read: Rx Time:20:55:14.4847

2025-06-17T20:55:14.726Z,1750193714.726 [DAT](INFO): Rx dataTimestamp_ set to:1750193714.725967
2025-06-17T20:55:14.727Z,1750193714.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001493
2025-06-17T20:55:14.977Z,1750193714.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251561
2025-06-17T20:55:14.986Z,1750193714.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m.
2025-06-17T20:55:14.989Z,1750193714.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.534409 m,
      nav range: 67.149010 m,
      bearing: 336.907342 deg,
      approach rate: -0.716744 m/s,
      LOS rate: 0.006039 deg/s,
      cmd heading: 332.800503 deg,
      new cmd heading: 332.808460 deg.

2025-06-17T20:55:14.990Z,1750193714.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808603 target range: 72.534409 and range: 73.20 m.
2025-06-17T20:55:15.233Z,1750193715.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507073
2025-06-17T20:55:15.364Z,1750193715.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m.
2025-06-17T20:55:15.367Z,1750193715.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.534409 m,
      nav range: 66.876236 m,
      bearing: 336.909531 deg,
      approach rate: -0.721431 m/s,
      LOS rate: 0.005815 deg/s,
      cmd heading: 332.808453 deg,
      new cmd heading: 332.815049 deg.

2025-06-17T20:55:15.368Z,1750193715.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808718 target range: 72.534409 and range: 73.20 m.
2025-06-17T20:55:15.487Z,1750193715.487 [DAT](INFO): DAT read: 20:55:14.4847 LVL= 24560, 31057, 22834, 32755, AGC= 71, IDX= 400,-0.39,-3.046, 1.841,-3.007, 2.762, PHS= 0.564,-0.873, 0.511, RAW= 148.2,  -2.9, CAL= 152.5, -11.7, ROT= 357.5,  11.7

2025-06-17T20:55:15.488Z,1750193715.488 [DAT](INFO): got valid direction response:
 20:55:14.4847 LVL= 24560, 31057, 22834, 32755, AGC= 71, IDX= 400,-0.39,-3.046, 1.841,-3.007, 2.762, PHS= 0.564,-0.873, 0.511, RAW= 148.2,  -2.9, CAL= 152.5, -11.7, ROT= 357.5,  11.7

2025-06-17T20:55:15.490Z,1750193715.490 [DAT](INFO): DAT read: Bearing 357.5,  11.7 (Local)

2025-06-17T20:55:15.490Z,1750193715.490 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,  11.7 (Local)

2025-06-17T20:55:15.491Z,1750193715.491 [DAT](INFO): DAT read: Range 10 to 50 : 70.5 m  (Round-trip  94.1 ms) speed  0.3 m/s

2025-06-17T20:55:15.493Z,1750193715.493 [DAT](INFO): DAT read: user:779>

2025-06-17T20:55:15.493Z,1750193715.493 [DAT](INFO): DAT read: Tx time:20:55:15.5865

2025-06-17T20:55:15.494Z,1750193715.494 [DAT](INFO): Ping request sent.
2025-06-17T20:55:15.494Z,1750193715.494 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:15.494Z,1750193715.494 [DAT](INFO): DAT read: TxSync time:20:55:15.5857

2025-06-17T20:55:15.495Z,1750193715.495 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:55:15.496Z,1750193715.496 [DAT](INFO): direction in FSK: [0.978291,-0.042713,-0.202787]
2025-06-17T20:55:15.496Z,1750193715.496 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:15.497Z,1750193715.497 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:15.508Z,1750193715.508 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:15.508Z,1750193715.508 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:15.810Z,1750193715.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.500000 m,
      deltaT: 3.778950 s,
      deltaX: -2.699997 m,
      approachRate: -0.714483 m/s,
      rangeRepo size: 4

2025-06-17T20:55:15.816Z,1750193715.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.858932 m,
      bearing: 331.598121 deg,
      lat: 36.905975 deg,
      lon: -122.115739 deg,
      deltaT: 3.778950 s,
      deltaX: -2.675476 m,
      approachRate: -0.707995 m/s,
      posRepo size: 4

2025-06-17T20:55:15.817Z,1750193715.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-17T20:55:15.824Z,1750193715.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.858932 m,
      nav range: 67.890327 m,
      bearing: 334.760092 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005815 deg/s,
      cmd heading: 332.815037 deg,
      new cmd heading: 332.822809 deg.

2025-06-17T20:55:15.825Z,1750193715.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808854 target range: 69.858932 and range: 70.50 m.
2025-06-17T20:55:16.159Z,1750193716.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-17T20:55:16.162Z,1750193716.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.858932 m,
      nav range: 67.627602 m,
      bearing: 334.759253 deg,
      approach rate: -0.750890 m/s,
      LOS rate: -0.002408 deg/s,
      cmd heading: 332.822797 deg,
      new cmd heading: 332.820269 deg.

2025-06-17T20:55:16.163Z,1750193716.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808809 target range: 69.858932 and range: 70.50 m.
2025-06-17T20:55:16.563Z,1750193716.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:16.566Z,1750193716.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-17T20:55:16.569Z,1750193716.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.858932 m,
      nav range: 67.342331 m,
      bearing: 334.758832 deg,
      approach rate: -0.701764 m/s,
      LOS rate: -0.001041 deg/s,
      cmd heading: 332.820256 deg,
      new cmd heading: 332.818986 deg.

2025-06-17T20:55:16.570Z,1750193716.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808787 target range: 69.858932 and range: 70.50 m.
2025-06-17T20:55:16.741Z,1750193716.741 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:16.741Z,1750193716.741 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:16.741Z,1750193716.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:16.993Z,1750193716.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499077
2025-06-17T20:55:17.001Z,1750193717.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-17T20:55:17.003Z,1750193717.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.858932 m,
      nav range: 67.041191 m,
      bearing: 334.759047 deg,
      approach rate: -0.692619 m/s,
      LOS rate: 0.000498 deg/s,
      cmd heading: 332.818999 deg,
      new cmd heading: 332.819648 deg.

2025-06-17T20:55:17.004Z,1750193717.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808799 target range: 69.858932 and range: 70.50 m.
2025-06-17T20:55:17.245Z,1750193717.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751224
2025-06-17T20:55:17.383Z,1750193717.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-17T20:55:17.386Z,1750193717.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.858932 m,
      nav range: 66.773582 m,
      bearing: 334.758743 deg,
      approach rate: -0.699190 m/s,
      LOS rate: -0.000798 deg/s,
      cmd heading: 332.819655 deg,
      new cmd heading: 332.818738 deg.

2025-06-17T20:55:17.387Z,1750193717.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808783 target range: 69.858932 and range: 70.50 m.
2025-06-17T20:55:17.497Z,1750193717.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003427
2025-06-17T20:55:17.749Z,1750193717.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255505
2025-06-17T20:55:17.810Z,1750193717.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-17T20:55:17.813Z,1750193717.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.858932 m,
      nav range: 66.479851 m,
      bearing: 334.759509 deg,
      approach rate: -0.687993 m/s,
      LOS rate: 0.001802 deg/s,
      cmd heading: 332.818726 deg,
      new cmd heading: 332.821034 deg.

2025-06-17T20:55:17.814Z,1750193717.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808823 target range: 69.858932 and range: 70.50 m.
2025-06-17T20:55:18.001Z,1750193718.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507250
2025-06-17T20:55:18.185Z,1750193718.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-17T20:55:18.187Z,1750193718.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.858932 m,
      nav range: 66.222000 m,
      bearing: 334.760009 deg,
      approach rate: -0.688912 m/s,
      LOS rate: 0.001342 deg/s,
      cmd heading: 332.821021 deg,
      new cmd heading: 332.822528 deg.

2025-06-17T20:55:18.189Z,1750193718.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808849 target range: 69.858932 and range: 70.50 m.
2025-06-17T20:55:18.253Z,1750193718.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759269
2025-06-17T20:55:18.505Z,1750193718.505 [DAT](INFO): DAT read: Rx Time:20:55:18.0813

2025-06-17T20:55:18.505Z,1750193718.505 [DAT](INFO): Rx dataTimestamp_ set to:1750193718.505027
2025-06-17T20:55:18.506Z,1750193718.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012062
2025-06-17T20:55:18.579Z,1750193718.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:18.582Z,1750193718.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-17T20:55:18.585Z,1750193718.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.858932 m,
      nav range: 65.947998 m,
      bearing: 334.760543 deg,
      approach rate: -0.689794 m/s,
      LOS rate: 0.001349 deg/s,
      cmd heading: 332.822523 deg,
      new cmd heading: 332.824131 deg.

2025-06-17T20:55:18.586Z,1750193718.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808877 target range: 69.858932 and range: 70.50 m.
2025-06-17T20:55:18.758Z,1750193718.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263677
2025-06-17T20:55:19.015Z,1750193719.015 [DAT](INFO): DAT read: 20:55:18.0813 LVL= 21136, 21793, 18658, 30867, AGC= 70, IDX= 413,-0.35, 2.409, 0.956, 2.399, 1.959, PHS= 0.538,-0.956, 0.437, RAW= 146.5,  -0.3, CAL= 150.2,  -9.3, ROT= 359.8,   9.3

2025-06-17T20:55:19.017Z,1750193719.017 [DAT](INFO): got valid direction response:
 20:55:18.0813 LVL= 21136, 21793, 18658, 30867, AGC= 70, IDX= 413,-0.35, 2.409, 0.956, 2.399, 1.959, PHS= 0.538,-0.956, 0.437, RAW= 146.5,  -0.3, CAL= 150.2,  -9.3, ROT= 359.8,   9.3

2025-06-17T20:55:19.018Z,1750193719.018 [DAT](INFO): DAT read: Bearing 359.8,   9.3 (Local)

2025-06-17T20:55:19.018Z,1750193719.018 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,   9.3 (Local)

2025-06-17T20:55:19.020Z,1750193719.020 [DAT](INFO): DAT read: Range 10 to 50 : 68.0 m  (Round-trip  90.7 ms) speed  0.5 m/s

2025-06-17T20:55:19.021Z,1750193719.021 [DAT](INFO): DAT read: user:780>

2025-06-17T20:55:19.021Z,1750193719.021 [DAT](INFO): DAT read: Tx time:20:55:19.1865

2025-06-17T20:55:19.022Z,1750193719.022 [DAT](INFO): Ping request sent.
2025-06-17T20:55:19.022Z,1750193719.022 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:19.022Z,1750193719.022 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:55:19.023Z,1750193719.023 [DAT](INFO): direction in FSK: [0.986850,-0.003445,-0.161604]
2025-06-17T20:55:19.023Z,1750193719.023 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:19.023Z,1750193719.023 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:19.027Z,1750193719.027 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:19.027Z,1750193719.027 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:19.064Z,1750193719.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.000000 m,
      deltaT: 3.528081 s,
      deltaX: -2.500000 m,
      approachRate: -0.708601 m/s,
      rangeRepo size: 4

2025-06-17T20:55:19.066Z,1750193719.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.381630 m,
      bearing: 333.670601 deg,
      lat: 36.905976 deg,
      lon: -122.115740 deg,
      deltaT: 3.528081 s,
      deltaX: -2.477303 m,
      approachRate: -0.702167 m/s,
      posRepo size: 4

2025-06-17T20:55:19.067Z,1750193719.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.38 m.
2025-06-17T20:55:19.074Z,1750193719.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.381630 m,
      nav range: 65.789429 m,
      bearing: 334.715683 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001349 deg/s,
      cmd heading: 332.824135 deg,
      new cmd heading: 332.826021 deg.

2025-06-17T20:55:19.075Z,1750193719.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808910 target range: 67.381630 and range: 68.00 m.
2025-06-17T20:55:19.261Z,1750193719.261 [DAT](INFO): DAT read: TxSync time:20:55:19.1857

2025-06-17T20:55:19.412Z,1750193719.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.38 m.
2025-06-17T20:55:19.415Z,1750193719.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.381630 m,
      nav range: 65.518150 m,
      bearing: 334.718542 deg,
      approach rate: -0.744034 m/s,
      LOS rate: 0.007876 deg/s,
      cmd heading: 332.826020 deg,
      new cmd heading: 332.834635 deg.

2025-06-17T20:55:19.420Z,1750193719.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809060 target range: 67.381630 and range: 68.00 m.
2025-06-17T20:55:19.819Z,1750193719.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.38 m.
2025-06-17T20:55:19.825Z,1750193719.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.381630 m,
      nav range: 65.217728 m,
      bearing: 334.719027 deg,
      approach rate: -0.738132 m/s,
      LOS rate: 0.001197 deg/s,
      cmd heading: 332.834626 deg,
      new cmd heading: 332.836088 deg.

2025-06-17T20:55:19.826Z,1750193719.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809086 target range: 67.381630 and range: 68.00 m.
2025-06-17T20:55:20.216Z,1750193720.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.38 m.
2025-06-17T20:55:20.219Z,1750193720.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.381630 m,
      nav range: 64.933701 m,
      bearing: 334.719648 deg,
      approach rate: -0.716260 m/s,
      LOS rate: 0.001573 deg/s,
      cmd heading: 332.836102 deg,
      new cmd heading: 332.837973 deg.

2025-06-17T20:55:20.220Z,1750193720.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809118 target range: 67.381630 and range: 68.00 m.
2025-06-17T20:55:20.615Z,1750193720.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:20.617Z,1750193720.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.38 m.
2025-06-17T20:55:20.640Z,1750193720.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.381630 m,
      nav range: 64.646393 m,
      bearing: 334.720395 deg,
      approach rate: -0.715645 m/s,
      LOS rate: 0.001869 deg/s,
      cmd heading: 332.837960 deg,
      new cmd heading: 332.840211 deg.

2025-06-17T20:55:20.641Z,1750193720.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809157 target range: 67.381630 and range: 68.00 m.
2025-06-17T20:55:20.779Z,1750193720.779 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:20.780Z,1750193720.780 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:20.780Z,1750193720.780 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:21.029Z,1750193721.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007344
2025-06-17T20:55:21.037Z,1750193721.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.38 m.
2025-06-17T20:55:21.039Z,1750193721.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.381630 m,
      nav range: 64.353203 m,
      bearing: 334.721964 deg,
      approach rate: -0.699504 m/s,
      LOS rate: 0.003758 deg/s,
      cmd heading: 332.840200 deg,
      new cmd heading: 332.844926 deg.

2025-06-17T20:55:21.040Z,1750193721.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809240 target range: 67.381630 and range: 68.00 m.
2025-06-17T20:55:21.281Z,1750193721.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259143
2025-06-17T20:55:21.414Z,1750193721.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.38 m.
2025-06-17T20:55:21.417Z,1750193721.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.381630 m,
      nav range: 64.087448 m,
      bearing: 334.723221 deg,
      approach rate: -0.704858 m/s,
      LOS rate: 0.003349 deg/s,
      cmd heading: 332.844926 deg,
      new cmd heading: 332.848714 deg.

2025-06-17T20:55:21.417Z,1750193721.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809306 target range: 67.381630 and range: 68.00 m.
2025-06-17T20:55:21.533Z,1750193721.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511207
2025-06-17T20:55:21.793Z,1750193721.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770526
2025-06-17T20:55:21.864Z,1750193721.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.38 m.
2025-06-17T20:55:21.867Z,1750193721.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.381630 m,
      nav range: 63.757011 m,
      bearing: 334.724006 deg,
      approach rate: -0.733992 m/s,
      LOS rate: 0.001753 deg/s,
      cmd heading: 332.848724 deg,
      new cmd heading: 332.851091 deg.

2025-06-17T20:55:21.868Z,1750193721.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809348 target range: 67.381630 and range: 68.00 m.
2025-06-17T20:55:22.041Z,1750193722.041 [DAT](INFO): DAT read: Rx Time:20:55:21.6778

2025-06-17T20:55:22.041Z,1750193722.041 [DAT](INFO): Rx dataTimestamp_ set to:1750193722.041053
2025-06-17T20:55:22.042Z,1750193722.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020217
2025-06-17T20:55:22.215Z,1750193722.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.38 m.
2025-06-17T20:55:22.218Z,1750193722.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.381630 m,
      nav range: 63.495926 m,
      bearing: 334.724611 deg,
      approach rate: -0.742771 m/s,
      LOS rate: 0.001729 deg/s,
      cmd heading: 332.851101 deg,
      new cmd heading: 332.852925 deg.

2025-06-17T20:55:22.219Z,1750193722.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809380 target range: 67.381630 and range: 68.00 m.
2025-06-17T20:55:22.294Z,1750193722.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271891
2025-06-17T20:55:22.551Z,1750193722.551 [DAT](INFO): DAT read: 20:55:21.6778 LVL= 22400, 30897, 16946, 25715, AGC= 70, IDX= 408, 0.23, 0.466,-0.871, 0.493, 0.071, PHS= 0.483,-0.895, 0.419, RAW= 147.6,  -0.1, CAL= 151.2,  -9.1, ROT= 358.8,   9.1

2025-06-17T20:55:22.552Z,1750193722.552 [DAT](INFO): got valid direction response:
 20:55:21.6778 LVL= 22400, 30897, 16946, 25715, AGC= 70, IDX= 408, 0.23, 0.466,-0.871, 0.493, 0.071, PHS= 0.483,-0.895, 0.419, RAW= 147.6,  -0.1, CAL= 151.2,  -9.1, ROT= 358.8,   9.1

2025-06-17T20:55:22.553Z,1750193722.553 [DAT](INFO): DAT read: Bearing 358.8,   9.1 (Local)

2025-06-17T20:55:22.553Z,1750193722.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,   9.1 (Local)

2025-06-17T20:55:22.555Z,1750193722.555 [DAT](INFO): DAT read: Range 10 to 50 : 65.4 m  (Round-trip  87.2 ms) speed  0.7 m/s

2025-06-17T20:55:22.555Z,1750193722.555 [DAT](INFO): DAT read: user:781>

2025-06-17T20:55:22.565Z,1750193722.565 [DAT](INFO): DAT read: Tx time:20:55:22.7865

2025-06-17T20:55:22.565Z,1750193722.565 [DAT](INFO): Ping request sent.
2025-06-17T20:55:22.565Z,1750193722.565 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:22.566Z,1750193722.566 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:55:22.567Z,1750193722.567 [DAT](INFO): direction in FSK: [0.987197,-0.020679,-0.158158]
2025-06-17T20:55:22.567Z,1750193722.567 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:22.567Z,1750193722.567 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:22.571Z,1750193722.571 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:22.571Z,1750193722.571 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:22.690Z,1750193722.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.400002 m,
      deltaT: 3.535894 s,
      deltaX: -2.599998 m,
      approachRate: -0.735316 m/s,
      rangeRepo size: 4

2025-06-17T20:55:22.710Z,1750193722.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.805252 m,
      bearing: 332.593468 deg,
      lat: 36.905973 deg,
      lon: -122.115755 deg,
      deltaT: 3.535894 s,
      deltaX: -2.576378 m,
      approachRate: -0.728635 m/s,
      posRepo size: 4

2025-06-17T20:55:22.716Z,1750193722.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-06-17T20:55:22.719Z,1750193722.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.805252 m,
      nav range: 63.503803 m,
      bearing: 333.520314 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001729 deg/s,
      cmd heading: 332.852931 deg,
      new cmd heading: 332.855393 deg.

2025-06-17T20:55:22.720Z,1750193722.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809422 target range: 64.805252 and range: 65.40 m.
2025-06-17T20:55:22.800Z,1750193722.800 [DAT](INFO): DAT read: TxSync time:20:55:22.7857

2025-06-17T20:55:23.079Z,1750193723.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:23.081Z,1750193723.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-06-17T20:55:23.084Z,1750193723.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.805252 m,
      nav range: 63.207127 m,
      bearing: 333.510487 deg,
      approach rate: -0.757358 m/s,
      LOS rate: -0.025205 deg/s,
      cmd heading: 332.855390 deg,
      new cmd heading: 332.825770 deg.

2025-06-17T20:55:23.085Z,1750193723.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808906 target range: 64.805252 and range: 65.40 m.
2025-06-17T20:55:23.301Z,1750193723.301 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:23.301Z,1750193723.301 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:23.301Z,1750193723.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:23.467Z,1750193723.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-06-17T20:55:23.470Z,1750193723.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.805252 m,
      nav range: 62.918297 m,
      bearing: 333.500831 deg,
      approach rate: -0.749090 m/s,
      LOS rate: -0.025159 deg/s,
      cmd heading: 332.825775 deg,
      new cmd heading: 332.796673 deg.

2025-06-17T20:55:23.471Z,1750193723.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808398 target range: 64.805252 and range: 65.40 m.
2025-06-17T20:55:23.554Z,1750193723.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987818
2025-06-17T20:55:23.808Z,1750193723.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241718
2025-06-17T20:55:23.908Z,1750193723.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-06-17T20:55:23.911Z,1750193723.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.805252 m,
      nav range: 62.577690 m,
      bearing: 333.486250 deg,
      approach rate: -0.772882 m/s,
      LOS rate: -0.033265 deg/s,
      cmd heading: 332.796678 deg,
      new cmd heading: 332.752698 deg.

2025-06-17T20:55:23.912Z,1750193723.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807630 target range: 64.805252 and range: 65.40 m.
2025-06-17T20:55:24.057Z,1750193724.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491746
2025-06-17T20:55:24.261Z,1750193724.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-06-17T20:55:24.280Z,1750193724.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.805252 m,
      nav range: 62.304008 m,
      bearing: 333.474965 deg,
      approach rate: -0.773947 m/s,
      LOS rate: -0.032054 deg/s,
      cmd heading: 332.752692 deg,
      new cmd heading: 332.718686 deg.

2025-06-17T20:55:24.281Z,1750193724.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807036 target range: 64.805252 and range: 65.40 m.
2025-06-17T20:55:24.313Z,1750193724.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747219
2025-06-17T20:55:24.561Z,1750193724.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995253
2025-06-17T20:55:24.675Z,1750193724.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-06-17T20:55:24.677Z,1750193724.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.805252 m,
      nav range: 61.984276 m,
      bearing: 333.461654 deg,
      approach rate: -0.773701 m/s,
      LOS rate: -0.032376 deg/s,
      cmd heading: 332.718677 deg,
      new cmd heading: 332.678539 deg.

2025-06-17T20:55:24.678Z,1750193724.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806336 target range: 64.805252 and range: 65.40 m.
2025-06-17T20:55:24.817Z,1750193724.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250860
2025-06-17T20:55:25.065Z,1750193725.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499405
2025-06-17T20:55:25.132Z,1750193725.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:25.134Z,1750193725.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-06-17T20:55:25.141Z,1750193725.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.805252 m,
      nav range: 61.656872 m,
      bearing: 333.444789 deg,
      approach rate: -0.712893 m/s,
      LOS rate: -0.036917 deg/s,
      cmd heading: 332.678543 deg,
      new cmd heading: 332.627680 deg.

2025-06-17T20:55:25.142Z,1750193725.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805448 target range: 64.805252 and range: 65.40 m.
2025-06-17T20:55:25.317Z,1750193725.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751184
2025-06-17T20:55:25.485Z,1750193725.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-06-17T20:55:25.487Z,1750193725.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.805252 m,
      nav range: 61.359764 m,
      bearing: 333.429148 deg,
      approach rate: -0.848717 m/s,
      LOS rate: -0.044898 deg/s,
      cmd heading: 332.627672 deg,
      new cmd heading: 332.580520 deg.

2025-06-17T20:55:25.489Z,1750193725.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804625 target range: 64.805252 and range: 65.40 m.
2025-06-17T20:55:25.569Z,1750193725.569 [DAT](INFO): DAT read: Rx Time:20:55:25.2743

2025-06-17T20:55:25.570Z,1750193725.570 [DAT](INFO): Rx dataTimestamp_ set to:1750193725.569477
2025-06-17T20:55:25.570Z,1750193725.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004791
2025-06-17T20:55:25.823Z,1750193725.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257036
2025-06-17T20:55:25.947Z,1750193725.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.81 m.
2025-06-17T20:55:25.954Z,1750193725.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.805252 m,
      nav range: 61.022697 m,
      bearing: 333.408236 deg,
      approach rate: -0.727133 m/s,
      LOS rate: -0.045361 deg/s,
      cmd heading: 332.580516 deg,
      new cmd heading: 332.517434 deg.

2025-06-17T20:55:25.955Z,1750193725.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803524 target range: 64.805252 and range: 65.40 m.
2025-06-17T20:55:26.085Z,1750193726.085 [DAT](INFO): DAT read: 20:55:25.2743 LVL= 25536, 29601, 17906, 29331, AGC= 70, IDX= 404,-0.14, 0.461,-0.889, 0.424, 0.035, PHS= 0.514,-0.877, 0.386, RAW= 145.2,  -0.4, CAL= 149.1,  -9.4, ROT=   0.9,   9.4

2025-06-17T20:55:26.086Z,1750193726.086 [DAT](INFO): got valid direction response:
 20:55:25.2743 LVL= 25536, 29601, 17906, 29331, AGC= 70, IDX= 404,-0.14, 0.461,-0.889, 0.424, 0.035, PHS= 0.514,-0.877, 0.386, RAW= 145.2,  -0.4, CAL= 149.1,  -9.4, ROT=   0.9,   9.4

2025-06-17T20:55:26.087Z,1750193726.087 [DAT](INFO): DAT read: Bearing   0.9,   9.4 (Local)

2025-06-17T20:55:26.087Z,1750193726.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,   9.4 (Local)

2025-06-17T20:55:26.089Z,1750193726.089 [DAT](INFO): DAT read: Range 10 to 50 : 62.6 m  (Round-trip  83.5 ms) speed  0.5 m/s

2025-06-17T20:55:26.090Z,1750193726.090 [DAT](INFO): DAT read: user:782>

2025-06-17T20:55:26.091Z,1750193726.091 [DAT](INFO): DAT read: Tx time:20:55:26.3881

2025-06-17T20:55:26.091Z,1750193726.091 [DAT](INFO): Ping request sent.
2025-06-17T20:55:26.091Z,1750193726.091 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:26.096Z,1750193726.096 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:55:26.097Z,1750193726.097 [DAT](INFO): direction in FSK: [0.986450,0.015496,-0.163326]
2025-06-17T20:55:26.097Z,1750193726.097 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:26.097Z,1750193726.097 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:26.105Z,1750193726.105 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:26.105Z,1750193726.105 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:26.325Z,1750193726.325 [DAT](INFO): DAT read: TxSync time:20:55:26.3874

2025-06-17T20:55:26.330Z,1750193726.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.599998 m,
      deltaT: 3.528522 s,
      deltaX: -2.800003 m,
      approachRate: -0.793534 m/s,
      rangeRepo size: 4

2025-06-17T20:55:26.337Z,1750193726.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.030716 m,
      bearing: 334.599684 deg,
      lat: 36.905976 deg,
      lon: -122.115755 deg,
      deltaT: 3.528522 s,
      deltaX: -2.774536 m,
      approachRate: -0.786317 m/s,
      posRepo size: 4

2025-06-17T20:55:26.337Z,1750193726.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.03 m.
2025-06-17T20:55:26.345Z,1750193726.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.030716 m,
      nav range: 60.971584 m,
      bearing: 333.501004 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.045361 deg/s,
      cmd heading: 332.517432 deg,
      new cmd heading: 332.465421 deg.

2025-06-17T20:55:26.346Z,1750193726.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802616 target range: 62.030716 and range: 62.60 m.
2025-06-17T20:55:26.684Z,1750193726.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.03 m.
2025-06-17T20:55:26.687Z,1750193726.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.030716 m,
      nav range: 60.691902 m,
      bearing: 333.483293 deg,
      approach rate: -0.788730 m/s,
      LOS rate: -0.050175 deg/s,
      cmd heading: 332.465414 deg,
      new cmd heading: 332.412038 deg.

2025-06-17T20:55:26.708Z,1750193726.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801684 target range: 62.030716 and range: 62.60 m.
2025-06-17T20:55:27.127Z,1750193727.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.03 m.
2025-06-17T20:55:27.130Z,1750193727.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.030716 m,
      nav range: 60.361271 m,
      bearing: 333.460276 deg,
      approach rate: -0.746936 m/s,
      LOS rate: -0.052285 deg/s,
      cmd heading: 332.412029 deg,
      new cmd heading: 332.342598 deg.

2025-06-17T20:55:27.131Z,1750193727.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800473 target range: 62.030716 and range: 62.60 m.
2025-06-17T20:55:27.498Z,1750193727.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:27.500Z,1750193727.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.03 m.
2025-06-17T20:55:27.503Z,1750193727.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.030716 m,
      nav range: 60.083130 m,
      bearing: 333.440577 deg,
      approach rate: -0.746020 m/s,
      LOS rate: -0.053081 deg/s,
      cmd heading: 332.342607 deg,
      new cmd heading: 332.283236 deg.

2025-06-17T20:55:27.504Z,1750193727.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799437 target range: 62.030716 and range: 62.60 m.
2025-06-17T20:55:27.585Z,1750193727.585 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:27.585Z,1750193727.585 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:27.585Z,1750193727.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:27.839Z,1750193727.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747671
2025-06-17T20:55:27.946Z,1750193727.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.03 m.
2025-06-17T20:55:27.948Z,1750193727.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.030716 m,
      nav range: 59.756458 m,
      bearing: 333.416876 deg,
      approach rate: -0.732903 m/s,
      LOS rate: -0.053463 deg/s,
      cmd heading: 332.283239 deg,
      new cmd heading: 332.211749 deg.

2025-06-17T20:55:27.949Z,1750193727.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798189 target range: 62.030716 and range: 62.60 m.
2025-06-17T20:55:28.089Z,1750193728.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997597
2025-06-17T20:55:28.310Z,1750193728.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.03 m.
2025-06-17T20:55:28.313Z,1750193728.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.030716 m,
      nav range: 59.489716 m,
      bearing: 333.397103 deg,
      approach rate: -0.732433 m/s,
      LOS rate: -0.054538 deg/s,
      cmd heading: 332.211741 deg,
      new cmd heading: 332.152154 deg.

2025-06-17T20:55:28.314Z,1750193728.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797149 target range: 62.030716 and range: 62.60 m.
2025-06-17T20:55:28.354Z,1750193728.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262567
2025-06-17T20:55:28.605Z,1750193728.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513471
2025-06-17T20:55:28.711Z,1750193728.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.03 m.
2025-06-17T20:55:28.714Z,1750193728.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.030716 m,
      nav range: 59.195438 m,
      bearing: 333.374976 deg,
      approach rate: -0.732744 m/s,
      LOS rate: -0.055371 deg/s,
      cmd heading: 332.152154 deg,
      new cmd heading: 332.085442 deg.

2025-06-17T20:55:28.715Z,1750193728.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795984 target range: 62.030716 and range: 62.60 m.
2025-06-17T20:55:28.860Z,1750193728.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768201
2025-06-17T20:55:29.109Z,1750193729.109 [DAT](INFO): DAT read: Rx Time:20:55:28.8724

2025-06-17T20:55:29.109Z,1750193729.109 [DAT](INFO): Rx dataTimestamp_ set to:1750193729.109086
2025-06-17T20:55:29.110Z,1750193729.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018614
2025-06-17T20:55:29.178Z,1750193729.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.03 m.
2025-06-17T20:55:29.185Z,1750193729.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.030716 m,
      nav range: 58.868191 m,
      bearing: 333.355539 deg,
      approach rate: -0.701335 m/s,
      LOS rate: -0.041887 deg/s,
      cmd heading: 332.085437 deg,
      new cmd heading: 332.026802 deg.

2025-06-17T20:55:29.186Z,1750193729.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794961 target range: 62.030716 and range: 62.60 m.
2025-06-17T20:55:29.361Z,1750193729.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269846
2025-06-17T20:55:29.517Z,1750193729.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:29.519Z,1750193729.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.03 m.
2025-06-17T20:55:29.522Z,1750193729.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.030716 m,
      nav range: 58.620522 m,
      bearing: 333.340867 deg,
      approach rate: -0.725027 m/s,
      LOS rate: -0.043132 deg/s,
      cmd heading: 332.026806 deg,
      new cmd heading: 331.982605 deg.

2025-06-17T20:55:29.523Z,1750193729.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794189 target range: 62.030716 and range: 62.60 m.
2025-06-17T20:55:29.619Z,1750193729.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526537
2025-06-17T20:55:29.913Z,1750193729.913 [DAT](INFO): DAT read: 20:55:28.8724 LVL= 26576, 28833, 24306, 32755, AGC= 70, IDX= 401,-0.13, 1.398, 0.145, 1.481, 1.071, PHS= 0.416,-0.879, 0.407, RAW= 149.7,   0.9, CAL= 152.7,  -8.0, ROT= 357.3,   8.0

2025-06-17T20:55:29.920Z,1750193729.920 [DAT](INFO): got valid direction response:
 20:55:28.8724 LVL= 26576, 28833, 24306, 32755, AGC= 70, IDX= 401,-0.13, 1.398, 0.145, 1.481, 1.071, PHS= 0.416,-0.879, 0.407, RAW= 149.7,   0.9, CAL= 152.7,  -8.0, ROT= 357.3,   8.0

2025-06-17T20:55:29.921Z,1750193729.921 [DAT](INFO): DAT read: Bearing 357.3,   8.0 (Local)

2025-06-17T20:55:29.921Z,1750193729.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,   8.0 (Local)

2025-06-17T20:55:29.923Z,1750193729.923 [DAT](INFO): DAT read: Range 10 to 50 : 60.0 m  (Round-trip  80.1 ms) speed  0.8 m/s

2025-06-17T20:55:29.928Z,1750193729.928 [DAT](INFO): DAT read: user:783>

2025-06-17T20:55:29.929Z,1750193729.929 [DAT](INFO): DAT read: Tx time:20:55:29.9866

2025-06-17T20:55:29.929Z,1750193729.929 [DAT](INFO): Ping request sent.
2025-06-17T20:55:29.929Z,1750193729.929 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:29.930Z,1750193729.930 [DAT](INFO): DAT read: TxSync time:20:55:29.9858

2025-06-17T20:55:29.930Z,1750193729.930 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:55:29.931Z,1750193729.931 [DAT](INFO): direction in FSK: [0.989169,-0.046648,-0.139173]
2025-06-17T20:55:29.931Z,1750193729.931 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:29.936Z,1750193729.936 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:29.939Z,1750193729.939 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:29.939Z,1750193729.939 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:30.077Z,1750193730.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.000000 m,
      deltaT: 3.796947 s,
      deltaX: -2.599998 m,
      approachRate: -0.684760 m/s,
      rangeRepo size: 4

2025-06-17T20:55:30.079Z,1750193730.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.454296 m,
      bearing: 331.022012 deg,
      lat: 36.905972 deg,
      lon: -122.115767 deg,
      deltaT: 3.796947 s,
      deltaX: -2.576420 m,
      approachRate: -0.678550 m/s,
      posRepo size: 4

2025-06-17T20:55:30.084Z,1750193730.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:30.085Z,1750193730.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-17T20:55:30.087Z,1750193730.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 58.388275 m,
      bearing: 332.184344 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.043132 deg/s,
      cmd heading: 331.982601 deg,
      new cmd heading: 331.910522 deg.

2025-06-17T20:55:30.100Z,1750193730.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792932 target range: 59.454296 and range: 60.00 m.
2025-06-17T20:55:30.126Z,1750193730.126 [DockingStepper](INFO): Changing to mode: 2
2025-06-17T20:55:30.126Z,1750193730.126 [DockingStepper](INFO): Armed mode.
2025-06-17T20:55:30.130Z,1750193730.130 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:55:30.192Z,1750193730.192 [DockingStepper](INFO): Commanding negative:54599
2025-06-17T20:55:30.413Z,1750193730.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:30.413Z,1750193730.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-17T20:55:30.416Z,1750193730.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 58.132378 m,
      bearing: 332.161377 deg,
      approach rate: -0.761038 m/s,
      LOS rate: -0.068603 deg/s,
      cmd heading: 331.910529 deg,
      new cmd heading: 331.841326 deg.

2025-06-17T20:55:30.417Z,1750193730.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791724 target range: 59.454296 and range: 60.00 m.
2025-06-17T20:55:30.804Z,1750193730.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:30.805Z,1750193730.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-17T20:55:30.807Z,1750193730.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 57.857124 m,
      bearing: 332.136856 deg,
      approach rate: -0.703539 m/s,
      LOS rate: -0.062973 deg/s,
      cmd heading: 331.841326 deg,
      new cmd heading: 331.767413 deg.

2025-06-17T20:55:30.809Z,1750193730.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790434 target range: 59.454296 and range: 60.00 m.
2025-06-17T20:55:31.132Z,1750193731.132 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:55:31.237Z,1750193731.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:31.238Z,1750193731.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-17T20:55:31.241Z,1750193731.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 57.557110 m,
      bearing: 332.121259 deg,
      approach rate: -0.692155 m/s,
      LOS rate: -0.036171 deg/s,
      cmd heading: 331.767423 deg,
      new cmd heading: 331.720389 deg.

2025-06-17T20:55:31.242Z,1750193731.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789613 target range: 59.454296 and range: 60.00 m.
2025-06-17T20:55:31.627Z,1750193731.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:31.630Z,1750193731.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:31.630Z,1750193731.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-17T20:55:31.633Z,1750193731.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 57.286514 m,
      bearing: 332.106963 deg,
      approach rate: -0.689756 m/s,
      LOS rate: -0.036613 deg/s,
      cmd heading: 331.720377 deg,
      new cmd heading: 331.677286 deg.

2025-06-17T20:55:31.634Z,1750193731.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788861 target range: 59.454296 and range: 60.00 m.
2025-06-17T20:55:31.637Z,1750193731.637 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:31.637Z,1750193731.637 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:31.637Z,1750193731.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:31.892Z,1750193731.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962227
2025-06-17T20:55:32.054Z,1750193732.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:32.055Z,1750193732.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-17T20:55:32.059Z,1750193732.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 57.006012 m,
      bearing: 332.098583 deg,
      approach rate: -0.660867 m/s,
      LOS rate: -0.019840 deg/s,
      cmd heading: 331.677292 deg,
      new cmd heading: 331.652029 deg.

2025-06-17T20:55:32.072Z,1750193732.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788420 target range: 59.454296 and range: 60.00 m.
2025-06-17T20:55:32.142Z,1750193732.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212103
2025-06-17T20:55:32.393Z,1750193732.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463724
2025-06-17T20:55:32.429Z,1750193732.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:32.429Z,1750193732.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-17T20:55:32.432Z,1750193732.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 56.733974 m,
      bearing: 332.090496 deg,
      approach rate: -0.726724 m/s,
      LOS rate: -0.021708 deg/s,
      cmd heading: 331.652020 deg,
      new cmd heading: 331.627642 deg.

2025-06-17T20:55:32.433Z,1750193732.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787994 target range: 59.454296 and range: 60.00 m.
2025-06-17T20:55:32.646Z,1750193732.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716502
2025-06-17T20:55:32.824Z,1750193732.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:32.824Z,1750193732.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-17T20:55:32.827Z,1750193732.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 56.459930 m,
      bearing: 332.082486 deg,
      approach rate: -0.693791 m/s,
      LOS rate: -0.020376 deg/s,
      cmd heading: 331.627650 deg,
      new cmd heading: 331.603505 deg.

2025-06-17T20:55:32.829Z,1750193732.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787573 target range: 59.454296 and range: 60.00 m.
2025-06-17T20:55:32.901Z,1750193732.901 [DAT](INFO): DAT read: Rx Time:20:55:32.4673

2025-06-17T20:55:32.903Z,1750193732.903 [DAT](INFO): Rx dataTimestamp_ set to:1750193732.901727
2025-06-17T20:55:32.905Z,1750193732.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975630
2025-06-17T20:55:33.149Z,1750193733.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219664
2025-06-17T20:55:33.264Z,1750193733.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:33.265Z,1750193733.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-17T20:55:33.267Z,1750193733.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 56.155712 m,
      bearing: 332.075260 deg,
      approach rate: -0.691055 m/s,
      LOS rate: -0.016505 deg/s,
      cmd heading: 331.603499 deg,
      new cmd heading: 331.581701 deg.

2025-06-17T20:55:33.269Z,1750193733.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787192 target range: 59.454296 and range: 60.00 m.
2025-06-17T20:55:33.402Z,1750193733.402 [DAT](INFO): DAT read: Range 10 to 50 : 57.4 m  (Round-trip  76.6 ms) speed  0.7 m/s

2025-06-17T20:55:33.403Z,1750193733.403 [DAT](INFO): DAT read: user:784>

2025-06-17T20:55:33.404Z,1750193733.404 [DAT](INFO): DAT read: Tx time:20:55:33.5866

2025-06-17T20:55:33.405Z,1750193733.405 [DAT](INFO): Ping request sent.
2025-06-17T20:55:33.406Z,1750193733.406 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:33.412Z,1750193733.412 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-17T20:55:33.412Z,1750193733.412 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:33.412Z,1750193733.412 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:33.642Z,1750193733.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:33.645Z,1750193733.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.400002 m,
      deltaT: 3.530666 s,
      deltaX: -2.599998 m,
      approachRate: -0.736405 m/s,
      rangeRepo size: 4

2025-06-17T20:55:33.646Z,1750193733.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:33.646Z,1750193733.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-06-17T20:55:33.650Z,1750193733.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 55.887672 m,
      bearing: 332.069019 deg,
      approach rate: -0.704856 m/s,
      LOS rate: -0.016488 deg/s,
      cmd heading: 331.581697 deg,
      new cmd heading: 331.562886 deg.

2025-06-17T20:55:33.651Z,1750193733.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786864 target range: 59.454296 and range: 57.40 m.
2025-06-17T20:55:33.653Z,1750193733.653 [DAT](INFO): DAT read: TxSync time:20:55:33.5858

2025-06-17T20:55:33.654Z,1750193733.654 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:33.654Z,1750193733.654 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:33.654Z,1750193733.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:33.906Z,1750193733.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500116
2025-06-17T20:55:34.066Z,1750193734.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:34.066Z,1750193734.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-06-17T20:55:34.069Z,1750193734.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 55.588974 m,
      bearing: 332.062195 deg,
      approach rate: -0.708152 m/s,
      LOS rate: -0.016267 deg/s,
      cmd heading: 331.562873 deg,
      new cmd heading: 331.542289 deg.

2025-06-17T20:55:34.070Z,1750193734.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786505 target range: 59.454296 and range: 57.40 m.
2025-06-17T20:55:34.158Z,1750193734.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752664
2025-06-17T20:55:34.409Z,1750193734.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003310
2025-06-17T20:55:34.445Z,1750193734.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:34.446Z,1750193734.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-06-17T20:55:34.449Z,1750193734.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 55.323143 m,
      bearing: 332.056400 deg,
      approach rate: -0.700724 m/s,
      LOS rate: -0.015347 deg/s,
      cmd heading: 331.542300 deg,
      new cmd heading: 331.524834 deg.

2025-06-17T20:55:34.450Z,1750193734.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786200 target range: 59.454296 and range: 57.40 m.
2025-06-17T20:55:34.661Z,1750193734.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255715
2025-06-17T20:55:34.845Z,1750193734.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:34.846Z,1750193734.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-06-17T20:55:34.849Z,1750193734.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 55.036938 m,
      bearing: 332.050241 deg,
      approach rate: -0.715359 m/s,
      LOS rate: -0.015475 deg/s,
      cmd heading: 331.524842 deg,
      new cmd heading: 331.506268 deg.

2025-06-17T20:55:34.850Z,1750193734.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785876 target range: 59.454296 and range: 57.40 m.
2025-06-17T20:55:34.915Z,1750193734.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509622
2025-06-17T20:55:35.165Z,1750193735.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759358
2025-06-17T20:55:35.302Z,1750193735.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:35.303Z,1750193735.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-06-17T20:55:35.306Z,1750193735.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 54.711601 m,
      bearing: 332.039998 deg,
      approach rate: -0.711701 m/s,
      LOS rate: -0.022542 deg/s,
      cmd heading: 331.506264 deg,
      new cmd heading: 331.475351 deg.

2025-06-17T20:55:35.307Z,1750193735.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785336 target range: 59.454296 and range: 57.40 m.
2025-06-17T20:55:35.417Z,1750193735.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011494
2025-06-17T20:55:35.652Z,1750193735.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:35.655Z,1750193735.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:35.655Z,1750193735.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-06-17T20:55:35.658Z,1750193735.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 54.461174 m,
      bearing: 332.031963 deg,
      approach rate: -0.711221 m/s,
      LOS rate: -0.022925 deg/s,
      cmd heading: 331.475364 deg,
      new cmd heading: 331.451148 deg.

2025-06-17T20:55:35.659Z,1750193735.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784914 target range: 59.454296 and range: 57.40 m.
2025-06-17T20:55:35.669Z,1750193735.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263511
2025-06-17T20:55:35.923Z,1750193735.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517549
2025-06-17T20:55:36.076Z,1750193736.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:36.076Z,1750193736.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m.
2025-06-17T20:55:36.077Z,1750193736.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.40 m.
2025-06-17T20:55:36.077Z,1750193736.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-17T20:55:36.080Z,1750193736.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 54.155743 m,
      bearing: 332.019023 deg,
      approach rate: -0.725501 m/s,
      LOS rate: -0.030909 deg/s,
      cmd heading: 331.451158 deg,
      new cmd heading: 331.412121 deg.

2025-06-17T20:55:36.081Z,1750193736.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784233 target range: 59.454296 and range: 57.40 m.
2025-06-17T20:55:36.174Z,1750193736.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768299
2025-06-17T20:55:36.425Z,1750193736.425 [DAT](INFO): DAT read: Rx Time:20:55:36.0638

2025-06-17T20:55:36.425Z,1750193736.425 [DAT](INFO): Rx dataTimestamp_ set to:1750193736.425083
2025-06-17T20:55:36.426Z,1750193736.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020528
2025-06-17T20:55:36.463Z,1750193736.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:36.478Z,1750193736.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 53.877254 m,
      bearing: 332.006559 deg,
      approach rate: -0.718305 m/s,
      LOS rate: -0.032315 deg/s,
      cmd heading: 331.412117 deg,
      new cmd heading: 331.374531 deg.

2025-06-17T20:55:36.479Z,1750193736.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783576 target range: 59.454296 and range: 57.40 m.
2025-06-17T20:55:36.678Z,1750193736.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272524
2025-06-17T20:55:36.877Z,1750193736.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.45 m.
2025-06-17T20:55:36.880Z,1750193736.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.454296 m,
      nav range: 53.574898 m,
      bearing: 331.992169 deg,
      approach rate: -0.731044 m/s,
      LOS rate: -0.034989 deg/s,
      cmd heading: 331.374523 deg,
      new cmd heading: 331.331109 deg.

2025-06-17T20:55:36.881Z,1750193736.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782819 target range: 59.454296 and range: 57.40 m.
2025-06-17T20:55:36.941Z,1750193736.941 [DAT](INFO): DAT read: 20:55:36.0639 LVL= 20240, 27457, 19234, 32755, AGC= 66, IDX= 408, 0.08, 1.024,-0.312, 1.051, 0.566, PHS= 0.547,-0.831, 0.482, RAW= 147.6,  -3.0, CAL= 152.0, -11.8, ROT= 358.0,  11.8

2025-06-17T20:55:36.977Z,1750193736.977 [DAT](INFO): got valid direction response:
 20:55:36.0639 LVL= 20240, 27457, 19234, 32755, AGC= 66, IDX= 408, 0.08, 1.024,-0.312, 1.051, 0.566, PHS= 0.547,-0.831, 0.482, RAW= 147.6,  -3.0, CAL= 152.0, -11.8, ROT= 358.0,  11.8

2025-06-17T20:55:36.991Z,1750193736.991 [DAT](INFO): DAT read: Bearing 358.0,  11.8 (Local)

2025-06-17T20:55:37.001Z,1750193737.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,  11.8 (Local)

2025-06-17T20:55:37.022Z,1750193737.022 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m  (Round-trip  73.1 ms) speed  0.6 m/s

2025-06-17T20:55:37.022Z,1750193737.022 [DAT](INFO): DAT read: user:785>

2025-06-17T20:55:37.023Z,1750193737.023 [DAT](INFO): DAT read: Tx time:20:55:37.1867

2025-06-17T20:55:37.023Z,1750193737.023 [DAT](INFO): Ping request sent.
2025-06-17T20:55:37.023Z,1750193737.023 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:37.028Z,1750193737.028 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:55:37.029Z,1750193737.029 [DAT](INFO): direction in FSK: [0.978271,-0.034162,-0.204496]
2025-06-17T20:55:37.029Z,1750193737.029 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:37.030Z,1750193737.030 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:37.037Z,1750193737.037 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:37.037Z,1750193737.037 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:37.181Z,1750193737.181 [DAT](INFO): DAT read: TxSync time:20:55:37.1859

2025-06-17T20:55:37.301Z,1750193737.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.799999 m,
      deltaT: 3.528421 s,
      deltaX: -2.600002 m,
      approachRate: -0.736874 m/s,
      rangeRepo size: 4

2025-06-17T20:55:37.303Z,1750193737.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.301514 m,
      bearing: 331.640367 deg,
      lat: 36.905972 deg,
      lon: -122.115767 deg,
      deltaT: 7.059087 s,
      deltaX: -5.152782 m,
      approachRate: -0.729950 m/s,
      posRepo size: 4

2025-06-17T20:55:37.324Z,1750193737.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-06-17T20:55:37.327Z,1750193737.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.301514 m,
      nav range: 53.258221 m,
      bearing: 331.970725 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034989 deg/s,
      cmd heading: 331.331111 deg,
      new cmd heading: 331.286638 deg.

2025-06-17T20:55:37.332Z,1750193737.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782043 target range: 54.301514 and range: 54.80 m.
2025-06-17T20:55:37.671Z,1750193737.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:37.673Z,1750193737.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-06-17T20:55:37.676Z,1750193737.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.301514 m,
      nav range: 52.974579 m,
      bearing: 331.951009 deg,
      approach rate: -0.761767 m/s,
      LOS rate: -0.053236 deg/s,
      cmd heading: 331.286632 deg,
      new cmd heading: 331.227166 deg.

2025-06-17T20:55:37.677Z,1750193737.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781004 target range: 54.301514 and range: 54.80 m.
2025-06-17T20:55:37.685Z,1750193737.685 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:37.685Z,1750193737.685 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:37.685Z,1750193737.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:37.937Z,1750193737.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.913376
2025-06-17T20:55:38.110Z,1750193738.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-06-17T20:55:38.113Z,1750193738.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.301514 m,
      nav range: 52.651791 m,
      bearing: 331.918312 deg,
      approach rate: -0.737638 m/s,
      LOS rate: -0.075177 deg/s,
      cmd heading: 331.227155 deg,
      new cmd heading: 331.128464 deg.

2025-06-17T20:55:38.114Z,1750193738.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779282 target range: 54.301514 and range: 54.80 m.
2025-06-17T20:55:38.189Z,1750193738.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.165446
2025-06-17T20:55:38.441Z,1750193738.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.417321
2025-06-17T20:55:38.505Z,1750193738.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-06-17T20:55:38.513Z,1750193738.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.301514 m,
      nav range: 52.370960 m,
      bearing: 331.889315 deg,
      approach rate: -0.712008 m/s,
      LOS rate: -0.073912 deg/s,
      cmd heading: 331.128473 deg,
      new cmd heading: 331.041016 deg.

2025-06-17T20:55:38.514Z,1750193738.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777756 target range: 54.301514 and range: 54.80 m.
2025-06-17T20:55:38.693Z,1750193738.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.669314
2025-06-17T20:55:38.886Z,1750193738.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-06-17T20:55:38.889Z,1750193738.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.301514 m,
      nav range: 52.080795 m,
      bearing: 331.858045 deg,
      approach rate: -0.760743 m/s,
      LOS rate: -0.082441 deg/s,
      cmd heading: 331.041019 deg,
      new cmd heading: 330.946684 deg.

2025-06-17T20:55:38.890Z,1750193738.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776109 target range: 54.301514 and range: 54.80 m.
2025-06-17T20:55:38.946Z,1750193738.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.922575
2025-06-17T20:55:39.197Z,1750193739.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.173334
2025-06-17T20:55:39.360Z,1750193739.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-06-17T20:55:39.363Z,1750193739.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.301514 m,
      nav range: 51.737961 m,
      bearing: 331.819736 deg,
      approach rate: -0.729769 m/s,
      LOS rate: -0.082086 deg/s,
      cmd heading: 330.946680 deg,
      new cmd heading: 330.830993 deg.

2025-06-17T20:55:39.368Z,1750193739.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774090 target range: 54.301514 and range: 54.80 m.
2025-06-17T20:55:39.450Z,1750193739.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.426104
2025-06-17T20:55:39.698Z,1750193739.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:39.701Z,1750193739.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.677411
2025-06-17T20:55:39.702Z,1750193739.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-06-17T20:55:39.705Z,1750193739.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.301514 m,
      nav range: 51.475842 m,
      bearing: 331.790100 deg,
      approach rate: -0.757277 m/s,
      LOS rate: -0.086054 deg/s,
      cmd heading: 330.831004 deg,
      new cmd heading: 330.741645 deg.

2025-06-17T20:55:39.706Z,1750193739.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772531 target range: 54.301514 and range: 54.80 m.
2025-06-17T20:55:39.953Z,1750193739.953 [DAT](INFO): DAT read: Rx Time:20:55:39.6605

2025-06-17T20:55:39.953Z,1750193739.953 [DAT](INFO): Rx dataTimestamp_ set to:1750193739.952962
2025-06-17T20:55:39.954Z,1750193739.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.930356
2025-06-17T20:55:40.137Z,1750193740.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-06-17T20:55:40.140Z,1750193740.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.301514 m,
      nav range: 51.166286 m,
      bearing: 331.748961 deg,
      approach rate: -0.711703 m/s,
      LOS rate: -0.095157 deg/s,
      cmd heading: 330.741638 deg,
      new cmd heading: 330.617472 deg.

2025-06-17T20:55:40.141Z,1750193740.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770363 target range: 54.301514 and range: 54.80 m.
2025-06-17T20:55:40.206Z,1750193740.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.182267
2025-06-17T20:55:40.463Z,1750193740.463 [DAT](INFO): DAT read: 20:55:39.6605 LVL= 20144, 24673, 16578, 25763, AGC= 69, IDX= 406,-0.03,-0.537,-1.804,-0.397,-0.923, PHS= 0.474,-0.835, 0.522, RAW= 151.8,  -2.4, CAL= 155.6, -11.1, ROT= 354.4,  11.1

2025-06-17T20:55:40.464Z,1750193740.464 [DAT](INFO): got valid direction response:
 20:55:39.6605 LVL= 20144, 24673, 16578, 25763, AGC= 69, IDX= 406,-0.03,-0.537,-1.804,-0.397,-0.923, PHS= 0.474,-0.835, 0.522, RAW= 151.8,  -2.4, CAL= 155.6, -11.1, ROT= 354.4,  11.1

2025-06-17T20:55:40.465Z,1750193740.465 [DAT](INFO): DAT read: Bearing 354.4,  11.1 (Local)

2025-06-17T20:55:40.465Z,1750193740.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.4,  11.1 (Local)

2025-06-17T20:55:40.467Z,1750193740.467 [DAT](INFO): DAT read: Range 10 to 50 : 52.2 m  (Round-trip  69.7 ms) speed  0.5 m/s

2025-06-17T20:55:40.467Z,1750193740.467 [DAT](INFO): DAT read: user:786>

2025-06-17T20:55:40.473Z,1750193740.473 [DAT](INFO): DAT read: Tx time:20:55:40.7867

2025-06-17T20:55:40.473Z,1750193740.473 [DAT](INFO): Ping request sent.
2025-06-17T20:55:40.473Z,1750193740.473 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:40.474Z,1750193740.474 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:55:40.475Z,1750193740.475 [DAT](INFO): direction in FSK: [0.976609,-0.095758,-0.192522]
2025-06-17T20:55:40.475Z,1750193740.475 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:40.475Z,1750193740.475 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:40.478Z,1750193740.478 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:40.479Z,1750193740.479 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:40.607Z,1750193740.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.200001 m,
      deltaT: 3.527473 s,
      deltaX: -2.599998 m,
      approachRate: -0.737071 m/s,
      rangeRepo size: 4

2025-06-17T20:55:40.621Z,1750193740.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.725151 m,
      bearing: 328.831784 deg,
      lat: 36.905970 deg,
      lon: -122.115769 deg,
      deltaT: 3.527473 s,
      deltaX: -2.576363 m,
      approachRate: -0.730371 m/s,
      posRepo size: 4

2025-06-17T20:55:40.622Z,1750193740.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.73 m.
2025-06-17T20:55:40.629Z,1750193740.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.725151 m,
      nav range: 50.708641 m,
      bearing: 331.424463 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.095157 deg/s,
      cmd heading: 330.617465 deg,
      new cmd heading: 330.483569 deg.

2025-06-17T20:55:40.630Z,1750193740.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768026 target range: 51.725151 and range: 52.20 m.
2025-06-17T20:55:40.711Z,1750193740.711 [DAT](INFO): DAT read: TxSync time:20:55:40.7859

2025-06-17T20:55:40.948Z,1750193740.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.73 m.
2025-06-17T20:55:40.951Z,1750193740.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.725151 m,
      nav range: 50.455303 m,
      bearing: 331.388294 deg,
      approach rate: -0.777439 m/s,
      LOS rate: -0.111550 deg/s,
      cmd heading: 330.483566 deg,
      new cmd heading: 330.374516 deg.

2025-06-17T20:55:40.952Z,1750193740.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766123 target range: 51.725151 and range: 52.20 m.
2025-06-17T20:55:41.326Z,1750193741.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.73 m.
2025-06-17T20:55:41.329Z,1750193741.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.725151 m,
      nav range: 50.173943 m,
      bearing: 331.348022 deg,
      approach rate: -0.713775 m/s,
      LOS rate: -0.102738 deg/s,
      cmd heading: 330.374529 deg,
      new cmd heading: 330.253035 deg.

2025-06-17T20:55:41.330Z,1750193741.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764003 target range: 51.725151 and range: 52.20 m.
2025-06-17T20:55:41.712Z,1750193741.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:41.714Z,1750193741.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.73 m.
2025-06-17T20:55:41.717Z,1750193741.717 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:41.717Z,1750193741.717 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:41.717Z,1750193741.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:41.721Z,1750193741.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.725151 m,
      nav range: 49.897129 m,
      bearing: 331.308418 deg,
      approach rate: -0.713536 m/s,
      LOS rate: -0.102651 deg/s,
      cmd heading: 330.253034 deg,
      new cmd heading: 330.133565 deg.

2025-06-17T20:55:41.722Z,1750193741.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761918 target range: 51.725151 and range: 52.20 m.
2025-06-17T20:55:41.969Z,1750193741.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495724
2025-06-17T20:55:42.152Z,1750193742.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.73 m.
2025-06-17T20:55:42.155Z,1750193742.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.725151 m,
      nav range: 49.599945 m,
      bearing: 331.268783 deg,
      approach rate: -0.679290 m/s,
      LOS rate: -0.091139 deg/s,
      cmd heading: 330.133560 deg,
      new cmd heading: 330.013942 deg.

2025-06-17T20:55:42.156Z,1750193742.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759830 target range: 51.725151 and range: 52.20 m.
2025-06-17T20:55:42.222Z,1750193742.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748869
2025-06-17T20:55:42.473Z,1750193742.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999341
2025-06-17T20:55:42.523Z,1750193742.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.73 m.
2025-06-17T20:55:42.526Z,1750193742.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.725151 m,
      nav range: 49.342278 m,
      bearing: 331.234020 deg,
      approach rate: -0.693650 m/s,
      LOS rate: -0.094072 deg/s,
      cmd heading: 330.013950 deg,
      new cmd heading: 329.909116 deg.

2025-06-17T20:55:42.527Z,1750193742.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758000 target range: 51.725151 and range: 52.20 m.
2025-06-17T20:55:42.725Z,1750193742.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251785
2025-06-17T20:55:42.919Z,1750193742.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.73 m.
2025-06-17T20:55:42.922Z,1750193742.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.725151 m,
      nav range: 49.070553 m,
      bearing: 331.196986 deg,
      approach rate: -0.685900 m/s,
      LOS rate: -0.094001 deg/s,
      cmd heading: 329.909120 deg,
      new cmd heading: 329.797402 deg.

2025-06-17T20:55:42.923Z,1750193742.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756051 target range: 51.725151 and range: 52.20 m.
2025-06-17T20:55:42.977Z,1750193742.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503432
2025-06-17T20:55:43.229Z,1750193743.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755346
2025-06-17T20:55:43.353Z,1750193743.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.73 m.
2025-06-17T20:55:43.356Z,1750193743.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.725151 m,
      nav range: 48.779823 m,
      bearing: 331.165572 deg,
      approach rate: -0.670740 m/s,
      LOS rate: -0.072906 deg/s,
      cmd heading: 329.797405 deg,
      new cmd heading: 329.702603 deg.

2025-06-17T20:55:43.357Z,1750193743.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754396 target range: 51.725151 and range: 52.20 m.
2025-06-17T20:55:43.481Z,1750193743.481 [DAT](INFO): DAT read: Rx Time:20:55:43.2571

2025-06-17T20:55:43.481Z,1750193743.481 [DAT](INFO): Rx dataTimestamp_ set to:1750193743.481022
2025-06-17T20:55:43.482Z,1750193743.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008382
2025-06-17T20:55:43.731Z,1750193743.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:43.734Z,1750193743.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260096
2025-06-17T20:55:43.738Z,1750193743.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.73 m.
2025-06-17T20:55:43.742Z,1750193743.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.725151 m,
      nav range: 48.525505 m,
      bearing: 331.138115 deg,
      approach rate: -0.661367 m/s,
      LOS rate: -0.071779 deg/s,
      cmd heading: 329.702602 deg,
      new cmd heading: 329.619798 deg.

2025-06-17T20:55:43.744Z,1750193743.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752951 target range: 51.725151 and range: 52.20 m.
2025-06-17T20:55:43.988Z,1750193743.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514072
2025-06-17T20:55:44.209Z,1750193744.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.73 m.
2025-06-17T20:55:44.216Z,1750193744.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.725151 m,
      nav range: 48.234219 m,
      bearing: 331.104912 deg,
      approach rate: -0.617431 m/s,
      LOS rate: -0.070804 deg/s,
      cmd heading: 329.619793 deg,
      new cmd heading: 329.519583 deg.

2025-06-17T20:55:44.217Z,1750193744.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751202 target range: 51.725151 and range: 52.20 m.
2025-06-17T20:55:44.243Z,1750193744.243 [DAT](INFO): DAT read: 20:55:43.2571 LVL= 32752, 32753, 25506, 32755, AGC= 70, IDX= 403, 0.08,-0.976,-2.348,-0.902,-1.386, PHS= 0.497,-0.916, 0.480, RAW= 149.4,  -0.9, CAL= 153.0,  -9.8, ROT= 357.0,   9.8

2025-06-17T20:55:44.244Z,1750193744.244 [DAT](INFO): got valid direction response:
 20:55:43.2571 LVL= 32752, 32753, 25506, 32755, AGC= 70, IDX= 403, 0.08,-0.976,-2.348,-0.902,-1.386, PHS= 0.497,-0.916, 0.480, RAW= 149.4,  -0.9, CAL= 153.0,  -9.8, ROT= 357.0,   9.8

2025-06-17T20:55:44.245Z,1750193744.245 [DAT](INFO): DAT read: Bearing 357.0,   9.8 (Local)

2025-06-17T20:55:44.246Z,1750193744.246 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,   9.8 (Local)

2025-06-17T20:55:44.247Z,1750193744.247 [DAT](INFO): DAT read: Range 10 to 50 : 49.7 m  (Round-trip  66.3 ms) speed  0.7 m/s

2025-06-17T20:55:44.248Z,1750193744.248 [DAT](INFO): DAT read: user:787>

2025-06-17T20:55:44.249Z,1750193744.249 [DAT](INFO): DAT read: Tx time:20:55:44.3367

2025-06-17T20:55:44.249Z,1750193744.249 [DAT](INFO): Ping request sent.
2025-06-17T20:55:44.250Z,1750193744.250 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:44.250Z,1750193744.250 [DAT](INFO): DAT read: TxSync time:20:55:44.3359

2025-06-17T20:55:44.251Z,1750193744.251 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:55:44.252Z,1750193744.252 [DAT](INFO): direction in FSK: [0.984057,-0.051572,-0.170209]
2025-06-17T20:55:44.253Z,1750193744.253 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:44.253Z,1750193744.253 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:44.256Z,1750193744.256 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:44.256Z,1750193744.256 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:44.588Z,1750193744.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.700001 m,
      deltaT: 3.780027 s,
      deltaX: -2.500000 m,
      approachRate: -0.661371 m/s,
      rangeRepo size: 4

2025-06-17T20:55:44.590Z,1750193744.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.247856 m,
      bearing: 330.625446 deg,
      lat: 36.905970 deg,
      lon: -122.115775 deg,
      deltaT: 3.780027 s,
      deltaX: -2.477295 m,
      approachRate: -0.655364 m/s,
      posRepo size: 4

2025-06-17T20:55:44.591Z,1750193744.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m.
2025-06-17T20:55:44.598Z,1750193744.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.247856 m,
      nav range: 48.241020 m,
      bearing: 330.520834 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.070804 deg/s,
      cmd heading: 329.519581 deg,
      new cmd heading: 329.440059 deg.

2025-06-17T20:55:44.599Z,1750193744.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749814 target range: 49.247856 and range: 49.70 m.
2025-06-17T20:55:44.952Z,1750193744.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m.
2025-06-17T20:55:44.955Z,1750193744.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.247856 m,
      nav range: 47.991592 m,
      bearing: 330.490543 deg,
      approach rate: -0.677627 m/s,
      LOS rate: -0.082719 deg/s,
      cmd heading: 329.440050 deg,
      new cmd heading: 329.348706 deg.

2025-06-17T20:55:44.955Z,1750193744.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748219 target range: 49.247856 and range: 49.70 m.
2025-06-17T20:55:45.393Z,1750193745.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m.
2025-06-17T20:55:45.403Z,1750193745.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.247856 m,
      nav range: 47.723209 m,
      bearing: 330.465843 deg,
      approach rate: -0.614966 m/s,
      LOS rate: -0.056915 deg/s,
      cmd heading: 329.348716 deg,
      new cmd heading: 329.274200 deg.

2025-06-17T20:55:45.409Z,1750193745.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746919 target range: 49.247856 and range: 49.70 m.
2025-06-17T20:55:45.767Z,1750193745.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:45.769Z,1750193745.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m.
2025-06-17T20:55:45.772Z,1750193745.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.247856 m,
      nav range: 47.464626 m,
      bearing: 330.441882 deg,
      approach rate: -0.678890 m/s,
      LOS rate: -0.063252 deg/s,
      cmd heading: 329.274213 deg,
      new cmd heading: 329.201936 deg.

2025-06-17T20:55:45.773Z,1750193745.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745658 target range: 49.247856 and range: 49.70 m.
2025-06-17T20:55:46.001Z,1750193746.001 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:46.001Z,1750193746.001 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:46.001Z,1750193746.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:46.214Z,1750193746.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m.
2025-06-17T20:55:46.217Z,1750193746.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.247856 m,
      nav range: 47.175056 m,
      bearing: 330.413739 deg,
      approach rate: -0.649964 m/s,
      LOS rate: -0.063556 deg/s,
      cmd heading: 329.201949 deg,
      new cmd heading: 329.117004 deg.

2025-06-17T20:55:46.218Z,1750193746.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744175 target range: 49.247856 and range: 49.70 m.
2025-06-17T20:55:46.253Z,1750193746.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003327
2025-06-17T20:55:46.505Z,1750193746.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255128
2025-06-17T20:55:46.584Z,1750193746.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m.
2025-06-17T20:55:46.587Z,1750193746.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.247856 m,
      nav range: 46.935188 m,
      bearing: 330.390247 deg,
      approach rate: -0.649658 m/s,
      LOS rate: -0.063951 deg/s,
      cmd heading: 329.117009 deg,
      new cmd heading: 329.046173 deg.

2025-06-17T20:55:46.588Z,1750193746.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742939 target range: 49.247856 and range: 49.70 m.
2025-06-17T20:55:46.759Z,1750193746.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508930
2025-06-17T20:55:46.966Z,1750193746.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m.
2025-06-17T20:55:46.969Z,1750193746.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.247856 m,
      nav range: 46.687122 m,
      bearing: 330.365902 deg,
      approach rate: -0.648413 m/s,
      LOS rate: -0.063972 deg/s,
      cmd heading: 329.046166 deg,
      new cmd heading: 328.972745 deg.

2025-06-17T20:55:46.970Z,1750193746.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741658 target range: 49.247856 and range: 49.70 m.
2025-06-17T20:55:47.010Z,1750193747.010 [DAT](INFO): DAT read: Rx Time:20:55:46.8039

2025-06-17T20:55:47.011Z,1750193747.011 [DAT](INFO): Rx dataTimestamp_ set to:1750193747.009892
2025-06-17T20:55:47.011Z,1750193747.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761497
2025-06-17T20:55:47.261Z,1750193747.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011186
2025-06-17T20:55:47.407Z,1750193747.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m.
2025-06-17T20:55:47.410Z,1750193747.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.247856 m,
      nav range: 46.398724 m,
      bearing: 330.339718 deg,
      approach rate: -0.653613 m/s,
      LOS rate: -0.059712 deg/s,
      cmd heading: 328.972756 deg,
      new cmd heading: 328.893714 deg.

2025-06-17T20:55:47.411Z,1750193747.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740278 target range: 49.247856 and range: 49.70 m.
2025-06-17T20:55:47.513Z,1750193747.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263276
2025-06-17T20:55:47.771Z,1750193747.771 [DAT](INFO): DAT read: 20:55:46.8039 LVL= 18992, 25265, 14978, 29059, AGC= 65, IDX= 401,-0.16,-1.438,-2.760,-1.306,-1.856, PHS= 0.507,-0.857, 0.547, RAW= 151.4,  -2.9, CAL= 155.4, -11.5, ROT= 354.6,  11.5

2025-06-17T20:55:47.773Z,1750193747.773 [DAT](INFO): got valid direction response:
 20:55:46.8039 LVL= 18992, 25265, 14978, 29059, AGC= 65, IDX= 401,-0.16,-1.438,-2.760,-1.306,-1.856, PHS= 0.507,-0.857, 0.547, RAW= 151.4,  -2.9, CAL= 155.4, -11.5, ROT= 354.6,  11.5

2025-06-17T20:55:47.774Z,1750193747.774 [DAT](INFO): DAT read: Bearing 354.6,  11.5 (Local)

2025-06-17T20:55:47.775Z,1750193747.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.6,  11.5 (Local)

2025-06-17T20:55:47.777Z,1750193747.777 [DAT](INFO): DAT read: Range 10 to 50 : 47.1 m  (Round-trip  62.9 ms) speed  0.5 m/s

2025-06-17T20:55:47.777Z,1750193747.777 [DAT](INFO): DAT read: user:788>

2025-06-17T20:55:47.778Z,1750193747.778 [DAT](INFO): DAT read: Tx time:20:55:47.8868

2025-06-17T20:55:47.778Z,1750193747.778 [DAT](INFO): Ping request sent.
2025-06-17T20:55:47.778Z,1750193747.778 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:47.779Z,1750193747.779 [DAT](INFO): DAT read: TxSync time:20:55:47.8860

2025-06-17T20:55:47.784Z,1750193747.784 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:55:47.785Z,1750193747.785 [DAT](INFO): direction in FSK: [0.975576,-0.092219,-0.199368]
2025-06-17T20:55:47.785Z,1750193747.785 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:47.785Z,1750193747.785 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:47.790Z,1750193747.790 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:47.790Z,1750193747.790 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:47.849Z,1750193747.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.099998 m,
      deltaT: 3.528103 s,
      deltaX: -2.600002 m,
      approachRate: -0.736941 m/s,
      rangeRepo size: 4

2025-06-17T20:55:47.851Z,1750193747.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.671459 m,
      bearing: 327.757479 deg,
      lat: 36.905969 deg,
      lon: -122.115781 deg,
      deltaT: 3.528103 s,
      deltaX: -2.576397 m,
      approachRate: -0.730250 m/s,
      posRepo size: 4

2025-06-17T20:55:47.856Z,1750193747.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.67 m.
2025-06-17T20:55:47.859Z,1750193747.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.671459 m,
      nav range: 46.297932 m,
      bearing: 329.669034 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059712 deg/s,
      cmd heading: 328.893717 deg,
      new cmd heading: 328.814657 deg.

2025-06-17T20:55:47.868Z,1750193747.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738898 target range: 46.671459 and range: 47.10 m.
2025-06-17T20:55:47.881Z,1750193747.881 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-06-17T20:45:47.8Z
2025-06-17T20:55:47.881Z,1750193747.881 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-17T20:55:47.881Z,1750193747.881 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-06-17T20:55:47.881Z,1750193747.881 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-17T20:55:47.881Z,1750193747.881 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-17T20:55:47.882Z,1750193747.882 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-06-17T20:55:48.294Z,1750193748.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:48.297Z,1750193748.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.67 m.
2025-06-17T20:55:48.299Z,1750193748.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.671459 m,
      nav range: 45.981987 m,
      bearing: 329.628668 deg,
      approach rate: -0.706524 m/s,
      LOS rate: -0.090886 deg/s,
      cmd heading: 328.814650 deg,
      new cmd heading: 328.692722 deg.

2025-06-17T20:55:48.309Z,1750193748.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736770 target range: 46.671459 and range: 47.10 m.
2025-06-17T20:55:48.321Z,1750193748.321 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-17T20:55:48.321Z,1750193748.321 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-17T20:55:48.321Z,1750193748.321 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-17T20:55:48.321Z,1750193748.321 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-17T20:55:48.321Z,1750193748.321 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-17T20:55:48.522Z,1750193748.522 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:48.522Z,1750193748.522 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:48.522Z,1750193748.522 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:48.775Z,1750193748.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995780
2025-06-17T20:55:48.910Z,1750193748.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.67 m.
2025-06-17T20:55:48.913Z,1750193748.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.671459 m,
      nav range: 45.570454 m,
      bearing: 329.576268 deg,
      approach rate: -0.670633 m/s,
      LOS rate: -0.086163 deg/s,
      cmd heading: 328.692718 deg,
      new cmd heading: 328.534097 deg.

2025-06-17T20:55:48.914Z,1750193748.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734002 target range: 46.671459 and range: 47.10 m.
2025-06-17T20:55:49.025Z,1750193749.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246595
2025-06-17T20:55:49.264Z,1750193749.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.67 m.
2025-06-17T20:55:49.267Z,1750193749.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.671459 m,
      nav range: 45.331459 m,
      bearing: 329.541057 deg,
      approach rate: -0.675046 m/s,
      LOS rate: -0.099980 deg/s,
      cmd heading: 328.534093 deg,
      new cmd heading: 328.427902 deg.

2025-06-17T20:55:49.268Z,1750193749.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732148 target range: 46.671459 and range: 47.10 m.
2025-06-17T20:55:49.277Z,1750193749.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498292
2025-06-17T20:55:49.529Z,1750193749.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750239
2025-06-17T20:55:49.649Z,1750193749.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.67 m.
2025-06-17T20:55:49.651Z,1750193749.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.671459 m,
      nav range: 45.072124 m,
      bearing: 329.502813 deg,
      approach rate: -0.673621 m/s,
      LOS rate: -0.099911 deg/s,
      cmd heading: 328.427898 deg,
      new cmd heading: 328.312505 deg.

2025-06-17T20:55:49.653Z,1750193749.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730134 target range: 46.671459 and range: 47.10 m.
2025-06-17T20:55:49.781Z,1750193749.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002249
2025-06-17T20:55:50.033Z,1750193750.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254269
2025-06-17T20:55:50.067Z,1750193750.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.67 m.
2025-06-17T20:55:50.070Z,1750193750.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.671459 m,
      nav range: 44.791153 m,
      bearing: 329.461687 deg,
      approach rate: -0.671161 m/s,
      LOS rate: -0.098853 deg/s,
      cmd heading: 328.312495 deg,
      new cmd heading: 328.188345 deg.

2025-06-17T20:55:50.071Z,1750193750.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727967 target range: 46.671459 and range: 47.10 m.
2025-06-17T20:55:50.285Z,1750193750.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506812
2025-06-17T20:55:50.492Z,1750193750.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:50.494Z,1750193750.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.67 m.
2025-06-17T20:55:50.501Z,1750193750.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.671459 m,
      nav range: 44.511158 m,
      bearing: 329.412517 deg,
      approach rate: -0.655626 m/s,
      LOS rate: -0.115860 deg/s,
      cmd heading: 328.188349 deg,
      new cmd heading: 328.039910 deg.

2025-06-17T20:55:50.502Z,1750193750.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725377 target range: 46.671459 and range: 47.10 m.
2025-06-17T20:55:50.538Z,1750193750.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759481
2025-06-17T20:55:50.789Z,1750193750.789 [DAT](INFO): DAT read: Rx Time:20:55:50.3508

2025-06-17T20:55:50.789Z,1750193750.789 [DAT](INFO): Rx dataTimestamp_ set to:1750193750.789076
2025-06-17T20:55:50.790Z,1750193750.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011397
2025-06-17T20:55:50.878Z,1750193750.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.67 m.
2025-06-17T20:55:50.881Z,1750193750.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.671459 m,
      nav range: 44.234787 m,
      bearing: 329.364321 deg,
      approach rate: -0.719652 m/s,
      LOS rate: -0.126281 deg/s,
      cmd heading: 328.039916 deg,
      new cmd heading: 327.894427 deg.

2025-06-17T20:55:50.882Z,1750193750.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722837 target range: 46.671459 and range: 47.10 m.
2025-06-17T20:55:51.042Z,1750193751.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263489
2025-06-17T20:55:51.301Z,1750193751.301 [DAT](INFO): DAT read: 20:55:50.3508 LVL= 24208, 32753, 20274, 32755, AGC= 69, IDX= 418,-0.01,-2.441, 2.484,-2.418,-2.891, PHS= 0.538,-0.861, 0.470, RAW= 147.5,  -2.2, CAL= 151.7, -11.1, ROT= 358.3,  11.1

2025-06-17T20:55:51.304Z,1750193751.304 [DAT](INFO): got valid direction response:
 20:55:50.3508 LVL= 24208, 32753, 20274, 32755, AGC= 69, IDX= 418,-0.01,-2.441, 2.484,-2.418,-2.891, PHS= 0.538,-0.861, 0.470, RAW= 147.5,  -2.2, CAL= 151.7, -11.1, ROT= 358.3,  11.1

2025-06-17T20:55:51.305Z,1750193751.305 [DAT](INFO): DAT read: Bearing 358.3,  11.1 (Local)

2025-06-17T20:55:51.306Z,1750193751.306 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,  11.1 (Local)

2025-06-17T20:55:51.307Z,1750193751.307 [DAT](INFO): DAT read: Range 10 to 50 : 44.9 m  (Round-trip  59.9 ms) speed  0.5 m/s

2025-06-17T20:55:51.312Z,1750193751.312 [DAT](INFO): DAT read: user:789>

2025-06-17T20:55:51.313Z,1750193751.313 [DAT](INFO): DAT read: Tx time:20:55:51.4368

2025-06-17T20:55:51.313Z,1750193751.313 [DAT](INFO): Ping request sent.
2025-06-17T20:55:51.314Z,1750193751.314 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:51.314Z,1750193751.314 [DAT](INFO): DAT read: TxSync time:20:55:51.4360

2025-06-17T20:55:51.315Z,1750193751.315 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:55:51.316Z,1750193751.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.67 m.
2025-06-17T20:55:51.319Z,1750193751.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.671459 m,
      nav range: 43.938347 m,
      bearing: 329.314465 deg,
      approach rate: -0.683406 m/s,
      LOS rate: -0.115713 deg/s,
      cmd heading: 327.894433 deg,
      new cmd heading: 327.743855 deg.

2025-06-17T20:55:51.320Z,1750193751.320 [DAT](INFO): direction in FSK: [0.980861,-0.029112,-0.192522]
2025-06-17T20:55:51.320Z,1750193751.320 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:51.320Z,1750193751.320 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:51.323Z,1750193751.323 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:51.340Z,1750193751.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720210 target range: 46.671459 and range: 47.10 m.
2025-06-17T20:55:51.348Z,1750193751.348 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:51.678Z,1750193751.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.900002 m,
      deltaT: 3.527938 s,
      deltaX: -2.199997 m,
      approachRate: -0.623593 m/s,
      rangeRepo size: 4

2025-06-17T20:55:51.680Z,1750193751.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.491493 m,
      bearing: 330.297208 deg,
      lat: 36.905969 deg,
      lon: -122.115775 deg,
      deltaT: 3.527938 s,
      deltaX: -2.179966 m,
      approachRate: -0.617915 m/s,
      posRepo size: 4

2025-06-17T20:55:51.681Z,1750193751.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.49 m.
2025-06-17T20:55:51.683Z,1750193751.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.491493 m,
      nav range: 43.399857 m,
      bearing: 329.874600 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.115713 deg/s,
      cmd heading: 327.743868 deg,
      new cmd heading: 327.617224 deg.

2025-06-17T20:55:51.685Z,1750193751.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717999 target range: 44.491493 and range: 44.90 m.
2025-06-17T20:55:52.074Z,1750193752.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.49 m.
2025-06-17T20:55:52.093Z,1750193752.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.491493 m,
      nav range: 43.114529 m,
      bearing: 329.831693 deg,
      approach rate: -0.719323 m/s,
      LOS rate: -0.108887 deg/s,
      cmd heading: 327.617236 deg,
      new cmd heading: 327.487663 deg.

2025-06-17T20:55:52.094Z,1750193752.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715738 target range: 44.491493 and range: 44.90 m.
2025-06-17T20:55:52.499Z,1750193752.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:52.502Z,1750193752.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.49 m.
2025-06-17T20:55:52.505Z,1750193752.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.491493 m,
      nav range: 42.804428 m,
      bearing: 329.785467 deg,
      approach rate: -0.724512 m/s,
      LOS rate: -0.108783 deg/s,
      cmd heading: 327.487654 deg,
      new cmd heading: 327.347973 deg.

2025-06-17T20:55:52.506Z,1750193752.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713300 target range: 44.491493 and range: 44.90 m.
2025-06-17T20:55:52.553Z,1750193752.553 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:52.554Z,1750193752.554 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:52.554Z,1750193752.554 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:52.805Z,1750193752.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491246
2025-06-17T20:55:52.888Z,1750193752.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.49 m.
2025-06-17T20:55:52.891Z,1750193752.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.491493 m,
      nav range: 42.523743 m,
      bearing: 329.743078 deg,
      approach rate: -0.726477 m/s,
      LOS rate: -0.110436 deg/s,
      cmd heading: 327.347963 deg,
      new cmd heading: 327.219957 deg.

2025-06-17T20:55:52.892Z,1750193752.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711066 target range: 44.491493 and range: 44.90 m.
2025-06-17T20:55:53.057Z,1750193753.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743283
2025-06-17T20:55:53.310Z,1750193753.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996184
2025-06-17T20:55:53.341Z,1750193753.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.49 m.
2025-06-17T20:55:53.348Z,1750193753.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.491493 m,
      nav range: 42.209869 m,
      bearing: 329.691397 deg,
      approach rate: -0.692677 m/s,
      LOS rate: -0.114903 deg/s,
      cmd heading: 327.219965 deg,
      new cmd heading: 327.063767 deg.

2025-06-17T20:55:53.349Z,1750193753.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708340 target range: 44.491493 and range: 44.90 m.
2025-06-17T20:55:53.562Z,1750193753.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248392
2025-06-17T20:55:53.693Z,1750193753.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.49 m.
2025-06-17T20:55:53.696Z,1750193753.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.491493 m,
      nav range: 41.950405 m,
      bearing: 329.648901 deg,
      approach rate: -0.737261 m/s,
      LOS rate: -0.121497 deg/s,
      cmd heading: 327.063772 deg,
      new cmd heading: 326.935497 deg.

2025-06-17T20:55:53.697Z,1750193753.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706101 target range: 44.491493 and range: 44.90 m.
2025-06-17T20:55:53.813Z,1750193753.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499443
2025-06-17T20:55:54.065Z,1750193754.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751268
2025-06-17T20:55:54.103Z,1750193754.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.49 m.
2025-06-17T20:55:54.118Z,1750193754.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.491493 m,
      nav range: 41.660919 m,
      bearing: 329.601870 deg,
      approach rate: -0.707124 m/s,
      LOS rate: -0.115681 deg/s,
      cmd heading: 326.935501 deg,
      new cmd heading: 326.793428 deg.

2025-06-17T20:55:54.119Z,1750193754.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703621 target range: 44.491493 and range: 44.90 m.
2025-06-17T20:55:54.318Z,1750193754.318 [DAT](INFO): DAT read: Rx Time:20:55:53.8977

2025-06-17T20:55:54.318Z,1750193754.318 [DAT](INFO): Rx dataTimestamp_ set to:1750193754.318053
2025-06-17T20:55:54.319Z,1750193754.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005353
2025-06-17T20:55:54.537Z,1750193754.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:54.539Z,1750193754.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.49 m.
2025-06-17T20:55:54.542Z,1750193754.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.491493 m,
      nav range: 41.350399 m,
      bearing: 329.561792 deg,
      approach rate: -0.710908 m/s,
      LOS rate: -0.092444 deg/s,
      cmd heading: 326.793433 deg,
      new cmd heading: 326.672296 deg.

2025-06-17T20:55:54.543Z,1750193754.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701507 target range: 44.491493 and range: 44.90 m.
2025-06-17T20:55:54.569Z,1750193754.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255244
2025-06-17T20:55:54.827Z,1750193754.827 [DAT](INFO): DAT read: 20:55:53.8977 LVL= 29504, 32753, 22194, 32755, AGC= 65, IDX= 402,-0.36, 0.762,-0.664, 0.765, 0.323, PHS= 0.527,-0.940, 0.439, RAW= 146.9,  -0.4, CAL= 150.6,  -9.4, ROT= 359.4,   9.4

2025-06-17T20:55:54.831Z,1750193754.831 [DAT](INFO): got valid direction response:
 20:55:53.8977 LVL= 29504, 32753, 22194, 32755, AGC= 65, IDX= 402,-0.36, 0.762,-0.664, 0.765, 0.323, PHS= 0.527,-0.940, 0.439, RAW= 146.9,  -0.4, CAL= 150.6,  -9.4, ROT= 359.4,   9.4

2025-06-17T20:55:54.832Z,1750193754.832 [DAT](INFO): DAT read: Bearing 359.4,   9.4 (Local)

2025-06-17T20:55:54.833Z,1750193754.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,   9.4 (Local)

2025-06-17T20:55:54.834Z,1750193754.834 [DAT](INFO): DAT read: Range 10 to 50 : 42.6 m  (Round-trip  56.8 ms) speed  0.6 m/s

2025-06-17T20:55:54.835Z,1750193754.835 [DAT](INFO): DAT read: user:790>

2025-06-17T20:55:54.836Z,1750193754.836 [DAT](INFO): DAT read: Tx time:20:55:54.9868

2025-06-17T20:55:54.837Z,1750193754.837 [DAT](INFO): Ping request sent.
2025-06-17T20:55:54.837Z,1750193754.837 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:54.837Z,1750193754.837 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:55:54.838Z,1750193754.838 [DAT](INFO): direction in FSK: [0.986518,-0.010331,-0.163326]
2025-06-17T20:55:54.838Z,1750193754.838 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:54.838Z,1750193754.838 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:54.842Z,1750193754.842 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:54.842Z,1750193754.842 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:54.966Z,1750193754.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.599998 m,
      deltaT: 3.527873 s,
      deltaX: -2.300003 m,
      approachRate: -0.651952 m/s,
      rangeRepo size: 4

2025-06-17T20:55:54.972Z,1750193754.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.212391 m,
      bearing: 330.392982 deg,
      lat: 36.905971 deg,
      lon: -122.115775 deg,
      deltaT: 3.527873 s,
      deltaX: -2.279102 m,
      approachRate: -0.646027 m/s,
      posRepo size: 4

2025-06-17T20:55:54.973Z,1750193754.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.21 m.
2025-06-17T20:55:54.975Z,1750193754.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.212391 m,
      nav range: 41.320034 m,
      bearing: 329.737898 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.092444 deg/s,
      cmd heading: 326.672293 deg,
      new cmd heading: 326.554176 deg.

2025-06-17T20:55:54.981Z,1750193754.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699446 target range: 42.212391 and range: 42.60 m.
2025-06-17T20:55:55.073Z,1750193755.073 [DAT](INFO): DAT read: TxSync time:20:55:54.9860

2025-06-17T20:55:55.336Z,1750193755.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.21 m.
2025-06-17T20:55:55.339Z,1750193755.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.212391 m,
      nav range: 41.055138 m,
      bearing: 329.707804 deg,
      approach rate: -0.714091 m/s,
      LOS rate: -0.081649 deg/s,
      cmd heading: 326.554186 deg,
      new cmd heading: 326.463321 deg.

2025-06-17T20:55:55.340Z,1750193755.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697860 target range: 42.212391 and range: 42.60 m.
2025-06-17T20:55:55.781Z,1750193755.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.21 m.
2025-06-17T20:55:55.788Z,1750193755.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.212391 m,
      nav range: 40.773823 m,
      bearing: 329.676456 deg,
      approach rate: -0.632433 m/s,
      LOS rate: -0.070962 deg/s,
      cmd heading: 326.463317 deg,
      new cmd heading: 326.368622 deg.

2025-06-17T20:55:55.789Z,1750193755.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696207 target range: 42.212391 and range: 42.60 m.
2025-06-17T20:55:56.135Z,1750193756.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.21 m.
2025-06-17T20:55:56.138Z,1750193756.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.212391 m,
      nav range: 40.508369 m,
      bearing: 329.646474 deg,
      approach rate: -0.750464 m/s,
      LOS rate: -0.085318 deg/s,
      cmd heading: 326.368623 deg,
      new cmd heading: 326.278088 deg.

2025-06-17T20:55:56.139Z,1750193756.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694627 target range: 42.212391 and range: 42.60 m.
2025-06-17T20:55:56.539Z,1750193756.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:56.541Z,1750193756.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.21 m.
2025-06-17T20:55:56.544Z,1750193756.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.212391 m,
      nav range: 40.235104 m,
      bearing: 329.622707 deg,
      approach rate: -0.671816 m/s,
      LOS rate: -0.058826 deg/s,
      cmd heading: 326.278082 deg,
      new cmd heading: 326.206298 deg.

2025-06-17T20:55:56.545Z,1750193756.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693374 target range: 42.212391 and range: 42.60 m.
2025-06-17T20:55:56.585Z,1750193756.585 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:56.585Z,1750193756.585 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:56.585Z,1750193756.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:56.837Z,1750193756.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000123
2025-06-17T20:55:56.941Z,1750193756.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.21 m.
2025-06-17T20:55:56.944Z,1750193756.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.212391 m,
      nav range: 39.966557 m,
      bearing: 329.599034 deg,
      approach rate: -0.671964 m/s,
      LOS rate: -0.059634 deg/s,
      cmd heading: 326.206310 deg,
      new cmd heading: 326.134813 deg.

2025-06-17T20:55:56.945Z,1750193756.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692126 target range: 42.212391 and range: 42.60 m.
2025-06-17T20:55:57.092Z,1750193757.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254910
2025-06-17T20:55:57.341Z,1750193757.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504460
2025-06-17T20:55:57.363Z,1750193757.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.21 m.
2025-06-17T20:55:57.366Z,1750193757.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.212391 m,
      nav range: 39.687813 m,
      bearing: 329.577326 deg,
      approach rate: -0.660421 m/s,
      LOS rate: -0.051793 deg/s,
      cmd heading: 326.134812 deg,
      new cmd heading: 326.069231 deg.

2025-06-17T20:55:57.367Z,1750193757.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690982 target range: 42.212391 and range: 42.60 m.
2025-06-17T20:55:57.594Z,1750193757.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757327
2025-06-17T20:55:57.738Z,1750193757.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.21 m.
2025-06-17T20:55:57.743Z,1750193757.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.212391 m,
      nav range: 39.442738 m,
      bearing: 329.559101 deg,
      approach rate: -0.653705 m/s,
      LOS rate: -0.048915 deg/s,
      cmd heading: 326.069242 deg,
      new cmd heading: 326.014227 deg.

2025-06-17T20:55:57.745Z,1750193757.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690022 target range: 42.212391 and range: 42.60 m.
2025-06-17T20:55:57.846Z,1750193757.846 [DAT](INFO): DAT read: Rx Time:20:55:57.4444

2025-06-17T20:55:57.846Z,1750193757.846 [DAT](INFO): Rx dataTimestamp_ set to:1750193757.845808
2025-06-17T20:55:57.847Z,1750193757.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010001
2025-06-17T20:55:58.097Z,1750193758.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260082
2025-06-17T20:55:58.131Z,1750193758.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.21 m.
2025-06-17T20:55:58.137Z,1750193758.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.212391 m,
      nav range: 39.179985 m,
      bearing: 329.540390 deg,
      approach rate: -0.667766 m/s,
      LOS rate: -0.047872 deg/s,
      cmd heading: 326.014218 deg,
      new cmd heading: 325.957708 deg.

2025-06-17T20:55:58.138Z,1750193758.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689035 target range: 42.212391 and range: 42.60 m.
2025-06-17T20:55:58.355Z,1750193758.355 [DAT](INFO): DAT read: 20:55:57.4444 LVL= 24032, 25057, 19314, 32755, AGC= 69, IDX= 398, 0.24, 0.003,-1.423,-0.073,-0.454, PHS= 0.544,-0.923, 0.378, RAW= 144.0,   0.0, CAL= 148.0,  -9.0, ROT=   2.0,   9.0

2025-06-17T20:55:58.356Z,1750193758.356 [DAT](INFO): got valid direction response:
 20:55:57.4444 LVL= 24032, 25057, 19314, 32755, AGC= 69, IDX= 398, 0.24, 0.003,-1.423,-0.073,-0.454, PHS= 0.544,-0.923, 0.378, RAW= 144.0,   0.0, CAL= 148.0,  -9.0, ROT=   2.0,   9.0

2025-06-17T20:55:58.357Z,1750193758.357 [DAT](INFO): DAT read: Bearing   2.0,   9.0 (Local)

2025-06-17T20:55:58.358Z,1750193758.358 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,   9.0 (Local)

2025-06-17T20:55:58.359Z,1750193758.359 [DAT](INFO): DAT read: Range 10 to 50 : 40.0 m  (Round-trip  53.4 ms) speed  0.5 m/s

2025-06-17T20:55:58.360Z,1750193758.360 [DAT](INFO): DAT read: user:791>

2025-06-17T20:55:58.361Z,1750193758.361 [DAT](INFO): DAT read: Tx time:20:55:58.5369

2025-06-17T20:55:58.362Z,1750193758.362 [DAT](INFO): Ping request sent.
2025-06-17T20:55:58.362Z,1750193758.362 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:55:58.362Z,1750193758.362 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:55:58.363Z,1750193758.363 [DAT](INFO): direction in FSK: [0.987087,0.034470,-0.156434]
2025-06-17T20:55:58.363Z,1750193758.363 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:58.363Z,1750193758.363 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:58.367Z,1750193758.367 [DAT](INFO): publishing transmit ping time
2025-06-17T20:55:58.367Z,1750193758.367 [DAT](INFO): publishing direction and range info
2025-06-17T20:55:58.590Z,1750193758.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.000000 m,
      deltaT: 3.528295 s,
      deltaX: -2.599998 m,
      approachRate: -0.736899 m/s,
      rangeRepo size: 4

2025-06-17T20:55:58.596Z,1750193758.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.636032 m,
      bearing: 331.565074 deg,
      lat: 36.905971 deg,
      lon: -122.115773 deg,
      deltaT: 3.528295 s,
      deltaX: -2.576359 m,
      approachRate: -0.730199 m/s,
      posRepo size: 4

2025-06-17T20:55:58.597Z,1750193758.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.64 m.
2025-06-17T20:55:58.599Z,1750193758.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.636032 m,
      nav range: 38.802452 m,
      bearing: 329.775068 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047872 deg/s,
      cmd heading: 325.957719 deg,
      new cmd heading: 325.891982 deg.

2025-06-17T20:55:58.601Z,1750193758.601 [DAT](INFO): DAT read: TxSync time:20:55:58.5361

2025-06-17T20:55:58.605Z,1750193758.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687888 target range: 39.636032 and range: 40.00 m.
2025-06-17T20:55:58.966Z,1750193758.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:55:58.969Z,1750193758.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.64 m.
2025-06-17T20:55:58.971Z,1750193758.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.636032 m,
      nav range: 38.552670 m,
      bearing: 329.763700 deg,
      approach rate: -0.658416 m/s,
      LOS rate: -0.030161 deg/s,
      cmd heading: 325.891985 deg,
      new cmd heading: 325.857659 deg.

2025-06-17T20:55:58.973Z,1750193758.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687289 target range: 39.636032 and range: 40.00 m.
2025-06-17T20:55:59.105Z,1750193759.105 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:55:59.105Z,1750193759.105 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:55:59.105Z,1750193759.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:55:59.357Z,1750193759.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995151
2025-06-17T20:55:59.416Z,1750193759.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.64 m.
2025-06-17T20:55:59.419Z,1750193759.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.636032 m,
      nav range: 38.266376 m,
      bearing: 329.754204 deg,
      approach rate: -0.640355 m/s,
      LOS rate: -0.021397 deg/s,
      cmd heading: 325.857670 deg,
      new cmd heading: 325.828971 deg.

2025-06-17T20:55:59.420Z,1750193759.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686789 target range: 39.636032 and range: 40.00 m.
2025-06-17T20:55:59.609Z,1750193759.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247086
2025-06-17T20:55:59.765Z,1750193759.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.64 m.
2025-06-17T20:55:59.767Z,1750193759.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.636032 m,
      nav range: 38.046368 m,
      bearing: 329.748011 deg,
      approach rate: -0.630176 m/s,
      LOS rate: -0.017844 deg/s,
      cmd heading: 325.828983 deg,
      new cmd heading: 325.810295 deg.

2025-06-17T20:55:59.785Z,1750193759.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686462 target range: 39.636032 and range: 40.00 m.
2025-06-17T20:55:59.862Z,1750193759.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500229
2025-06-17T20:56:00.113Z,1750193760.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751071
2025-06-17T20:56:00.171Z,1750193760.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.64 m.
2025-06-17T20:56:00.178Z,1750193760.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.636032 m,
      nav range: 37.795921 m,
      bearing: 329.741335 deg,
      approach rate: -0.616877 m/s,
      LOS rate: -0.016551 deg/s,
      cmd heading: 325.810296 deg,
      new cmd heading: 325.790137 deg.

2025-06-17T20:56:00.179Z,1750193760.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686110 target range: 39.636032 and range: 40.00 m.
2025-06-17T20:56:00.369Z,1750193760.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006615
2025-06-17T20:56:00.595Z,1750193760.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.64 m.
2025-06-17T20:56:00.602Z,1750193760.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.636032 m,
      nav range: 37.523994 m,
      bearing: 329.730746 deg,
      approach rate: -0.641629 m/s,
      LOS rate: -0.025167 deg/s,
      cmd heading: 325.790133 deg,
      new cmd heading: 325.758135 deg.

2025-06-17T20:56:00.602Z,1750193760.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685552 target range: 39.636032 and range: 40.00 m.
2025-06-17T20:56:00.617Z,1750193760.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255209
2025-06-17T20:56:00.869Z,1750193760.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507191
2025-06-17T20:56:00.961Z,1750193760.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.64 m.
2025-06-17T20:56:00.963Z,1750193760.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.636032 m,
      nav range: 37.280678 m,
      bearing: 329.721312 deg,
      approach rate: -0.664382 m/s,
      LOS rate: -0.025926 deg/s,
      cmd heading: 325.758141 deg,
      new cmd heading: 325.729656 deg.

2025-06-17T20:56:00.965Z,1750193760.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685055 target range: 39.636032 and range: 40.00 m.
2025-06-17T20:56:01.121Z,1750193761.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759035
2025-06-17T20:56:01.252Z,1750193761.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:56:01.373Z,1750193761.373 [DAT](INFO): DAT read: Rx Time:20:56:00.9911

2025-06-17T20:56:01.374Z,1750193761.374 [DAT](INFO): Rx dataTimestamp_ set to:1750193761.373240
2025-06-17T20:56:01.374Z,1750193761.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012408
2025-06-17T20:56:01.410Z,1750193761.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:01.412Z,1750193761.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.64 m.
2025-06-17T20:56:01.415Z,1750193761.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.636032 m,
      nav range: 36.989761 m,
      bearing: 329.702820 deg,
      approach rate: -0.644115 m/s,
      LOS rate: -0.041266 deg/s,
      cmd heading: 325.729645 deg,
      new cmd heading: 325.673731 deg.

2025-06-17T20:56:01.417Z,1750193761.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684079 target range: 39.636032 and range: 40.00 m.
2025-06-17T20:56:01.625Z,1750193761.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263042
2025-06-17T20:56:01.817Z,1750193761.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.64 m.
2025-06-17T20:56:01.819Z,1750193761.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.636032 m,
      nav range: 36.741035 m,
      bearing: 329.687228 deg,
      approach rate: -0.615352 m/s,
      LOS rate: -0.038836 deg/s,
      cmd heading: 325.673720 deg,
      new cmd heading: 325.626626 deg.

2025-06-17T20:56:01.821Z,1750193761.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683257 target range: 39.636032 and range: 40.00 m.
2025-06-17T20:56:01.885Z,1750193761.885 [DAT](INFO): DAT read: 20:56:00.9911 LVL= 28064, 32753, 21842, 32755, AGC= 63, IDX= 413,-0.27,-2.302, 2.594,-2.469,-2.767, PHS= 0.553,-0.875, 0.295, RAW= 140.2,   0.4, CAL= 144.7,  -8.5, ROT=   5.3,   8.5

2025-06-17T20:56:01.886Z,1750193761.886 [DAT](INFO): got valid direction response:
 20:56:00.9911 LVL= 28064, 32753, 21842, 32755, AGC= 63, IDX= 413,-0.27,-2.302, 2.594,-2.469,-2.767, PHS= 0.553,-0.875, 0.295, RAW= 140.2,   0.4, CAL= 144.7,  -8.5, ROT=   5.3,   8.5

2025-06-17T20:56:01.887Z,1750193761.887 [DAT](INFO): DAT read: Bearing   5.3,   8.5 (Local)

2025-06-17T20:56:01.888Z,1750193761.888 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.3,   8.5 (Local)

2025-06-17T20:56:01.889Z,1750193761.889 [DAT](INFO): DAT read: Range 10 to 50 : 37.5 m  (Round-trip  50.0 ms) speed  0.5 m/s

2025-06-17T20:56:01.890Z,1750193761.890 [DAT](INFO): DAT read: user:792>

2025-06-17T20:56:01.891Z,1750193761.891 [DAT](INFO): DAT read: Tx time:20:56:02.0869

2025-06-17T20:56:01.891Z,1750193761.891 [DAT](INFO): Ping request sent.
2025-06-17T20:56:01.891Z,1750193761.891 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:01.891Z,1750193761.891 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:56:01.901Z,1750193761.901 [DAT](INFO): direction in FSK: [0.984788,0.091356,-0.147809]
2025-06-17T20:56:01.901Z,1750193761.901 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:01.901Z,1750193761.901 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:01.909Z,1750193761.909 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:01.910Z,1750193761.910 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:02.129Z,1750193762.129 [DAT](INFO): DAT read: TxSync time:20:56:02.0861

2025-06-17T20:56:02.199Z,1750193762.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.500000 m,
      deltaT: 3.528324 s,
      deltaX: -2.500000 m,
      approachRate: -0.708552 m/s,
      rangeRepo size: 4

2025-06-17T20:56:02.209Z,1750193762.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.158756 m,
      bearing: 333.976519 deg,
      lat: 36.905976 deg,
      lon: -122.115772 deg,
      deltaT: 3.528324 s,
      deltaX: -2.477276 m,
      approachRate: -0.702111 m/s,
      posRepo size: 4

2025-06-17T20:56:02.210Z,1750193762.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.16 m.
2025-06-17T20:56:02.229Z,1750193762.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.158756 m,
      nav range: 36.847351 m,
      bearing: 330.147335 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038836 deg/s,
      cmd heading: 325.626619 deg,
      new cmd heading: 325.582154 deg.

2025-06-17T20:56:02.230Z,1750193762.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682481 target range: 37.158756 and range: 37.50 m.
2025-06-17T20:56:02.256Z,1750193762.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:56:02.599Z,1750193762.599 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-17T20:56:02.599Z,1750193762.599 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-17T20:56:02.599Z,1750193762.599 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-17T20:56:02.601Z,1750193762.601 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  37.500000 m (mode  2.000000 count ).
2025-06-17T20:56:02.601Z,1750193762.601 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-17T20:56:02.601Z,1750193762.601 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-17T20:56:02.603Z,1750193762.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.16 m.
2025-06-17T20:56:02.606Z,1750193762.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.158756 m,
      nav range: 36.575874 m,
      bearing: 330.132015 deg,
      approach rate: -0.670290 m/s,
      LOS rate: -0.038108 deg/s,
      cmd heading: 325.582168 deg,
      new cmd heading: 325.535865 deg.

2025-06-17T20:56:02.607Z,1750193762.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681673 target range: 37.158756 and range: 37.50 m.
2025-06-17T20:56:02.979Z,1750193762.979 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-17T20:56:02.979Z,1750193762.979 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-17T20:56:02.981Z,1750193762.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.16 m.
2025-06-17T20:56:02.984Z,1750193762.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.158756 m,
      nav range: 36.325455 m,
      bearing: 330.118456 deg,
      approach rate: -0.662372 m/s,
      LOS rate: -0.036112 deg/s,
      cmd heading: 325.535859 deg,
      new cmd heading: 325.494901 deg.

2025-06-17T20:56:02.985Z,1750193762.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680958 target range: 37.158756 and range: 37.50 m.
2025-06-17T20:56:03.476Z,1750193763.476 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-17T20:56:03.476Z,1750193763.476 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-17T20:56:03.477Z,1750193763.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:03.479Z,1750193763.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.16 m.
2025-06-17T20:56:03.482Z,1750193763.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.158756 m,
      nav range: 35.996723 m,
      bearing: 330.101128 deg,
      approach rate: -0.660890 m/s,
      LOS rate: -0.035153 deg/s,
      cmd heading: 325.494905 deg,
      new cmd heading: 325.442449 deg.

2025-06-17T20:56:03.483Z,1750193763.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680042 target range: 37.158756 and range: 37.50 m.
2025-06-17T20:56:03.641Z,1750193763.641 [DAT](INFO): ****** received valid address query ******
2025-06-17T20:56:03.641Z,1750193763.641 [DAT](INFO): ****** received valid ping request ******
2025-06-17T20:56:03.641Z,1750193763.641 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-17T20:56:03.811Z,1750193763.811 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-17T20:56:03.811Z,1750193763.811 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-17T20:56:03.811Z,1750193763.811 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-17T20:56:03.811Z,1750193763.811 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-17T20:56:03.830Z,1750193763.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.16 m.
2025-06-17T20:56:03.837Z,1750193763.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.158756 m,
      nav range: 35.758121 m,
      bearing: 330.088352 deg,
      approach rate: -0.679707 m/s,
      LOS rate: -0.036638 deg/s,
      cmd heading: 325.442449 deg,
      new cmd heading: 325.403865 deg.

2025-06-17T20:56:03.838Z,1750193763.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679369 target range: 37.158756 and range: 37.50 m.
2025-06-17T20:56:03.894Z,1750193763.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002430
2025-06-17T20:56:04.145Z,1750193764.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253861
2025-06-17T20:56:04.217Z,1750193764.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.16 m.
2025-06-17T20:56:04.224Z,1750193764.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.158756 m,
      nav range: 35.498871 m,
      bearing: 330.074522 deg,
      approach rate: -0.669774 m/s,
      LOS rate: -0.035992 deg/s,
      cmd heading: 325.403872 deg,
      new cmd heading: 325.362078 deg.

2025-06-17T20:56:04.226Z,1750193764.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678639 target range: 37.158756 and range: 37.50 m.
2025-06-17T20:56:04.401Z,1750193764.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508166
2025-06-17T20:56:04.616Z,1750193764.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.16 m.
2025-06-17T20:56:04.619Z,1750193764.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.158756 m,
      nav range: 35.210739 m,
      bearing: 330.060199 deg,
      approach rate: -0.722553 m/s,
      LOS rate: -0.036210 deg/s,
      cmd heading: 325.362072 deg,
      new cmd heading: 325.318753 deg.

2025-06-17T20:56:04.620Z,1750193764.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677883 target range: 37.158756 and range: 37.50 m.
2025-06-17T20:56:04.649Z,1750193764.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757803
2025-06-17T20:56:04.901Z,1750193764.901 [DAT](INFO): DAT read: Rx Time:20:56:04.5380

2025-06-17T20:56:04.901Z,1750193764.901 [DAT](INFO): Rx dataTimestamp_ set to:1750193764.901185
2025-06-17T20:56:04.902Z,1750193764.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010866
2025-06-17T20:56:05.025Z,1750193765.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.16 m.
2025-06-17T20:56:05.028Z,1750193765.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.158756 m,
      nav range: 34.931690 m,
      bearing: 330.046103 deg,
      approach rate: -0.681716 m/s,
      LOS rate: -0.034712 deg/s,
      cmd heading: 325.318741 deg,
      new cmd heading: 325.276115 deg.

2025-06-17T20:56:05.029Z,1750193765.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677139 target range: 37.158756 and range: 37.50 m.
2025-06-17T20:56:05.153Z,1750193765.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261645
2025-06-17T20:56:05.432Z,1750193765.432 [DAT](INFO): DAT read: 20:56:04.5380 LVL= 26096, 30625, 22402, 32755, AGC= 69, IDX= 414, 0.19, 1.632, 0.301, 1.413, 1.114, PHS= 0.606,-0.765, 0.297, RAW= 137.6,  -2.2, CAL= 142.8, -11.6, ROT=   7.2,  11.6

2025-06-17T20:56:05.433Z,1750193765.433 [DAT](INFO): got valid direction response:
 20:56:04.5380 LVL= 26096, 30625, 22402, 32755, AGC= 69, IDX= 414, 0.19, 1.632, 0.301, 1.413, 1.114, PHS= 0.606,-0.765, 0.297, RAW= 137.6,  -2.2, CAL= 142.8, -11.6, ROT=   7.2,  11.6

2025-06-17T20:56:05.434Z,1750193765.434 [DAT](INFO): DAT read: Bearing   7.2,  11.6 (Local)

2025-06-17T20:56:05.434Z,1750193765.434 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2,  11.6 (Local)

2025-06-17T20:56:05.471Z,1750193765.471 [DAT](INFO): DAT read: Range 10 to 50 : 35.2 m  (Round-trip  47.0 ms) speed  0.6 m/s

2025-06-17T20:56:05.476Z,1750193765.476 [DAT](INFO): DAT read: user:793>

2025-06-17T20:56:05.477Z,1750193765.477 [DAT](INFO): DAT read: Tx time:20:56:05.6369

2025-06-17T20:56:05.477Z,1750193765.477 [DAT](INFO): Ping request sent.
2025-06-17T20:56:05.477Z,1750193765.477 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:05.477Z,1750193765.477 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:56:05.478Z,1750193765.478 [DAT](INFO): direction in FSK: [0.971851,0.122773,-0.201078]
2025-06-17T20:56:05.479Z,1750193765.479 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:05.480Z,1750193765.480 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:05.483Z,1750193765.483 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:05.483Z,1750193765.483 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:05.487Z,1750193765.487 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.009336
2025-06-17T20:56:05.634Z,1750193765.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.200001 m,
      deltaT: 3.529427 s,
      deltaX: -2.299999 m,
      approachRate: -0.651664 m/s,
      rangeRepo size: 4

2025-06-17T20:56:05.641Z,1750193765.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.879707 m,
      bearing: 335.309196 deg,
      lat: 36.905979 deg,
      lon: -122.115763 deg,
      deltaT: 3.529427 s,
      deltaX: -2.279049 m,
      approachRate: -0.645728 m/s,
      posRepo size: 4

2025-06-17T20:56:05.641Z,1750193765.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-06-17T20:56:05.648Z,1750193765.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.879707 m,
      nav range: 34.477062 m,
      bearing: 331.547810 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034712 deg/s,
      cmd heading: 325.276121 deg,
      new cmd heading: 325.212751 deg.

2025-06-17T20:56:05.649Z,1750193765.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676033 target range: 34.879707 and range: 35.20 m.
2025-06-17T20:56:05.657Z,1750193765.657 [DAT](INFO): DAT read: TxSync time:20:56:05.6361

2025-06-17T20:56:05.658Z,1750193765.658 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.180622
2025-06-17T20:56:05.909Z,1750193765.909 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.431560
2025-06-17T20:56:05.938Z,1750193765.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:05.940Z,1750193765.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-06-17T20:56:05.943Z,1750193765.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.879707 m,
      nav range: 34.253922 m,
      bearing: 331.546196 deg,
      approach rate: -0.727288 m/s,
      LOS rate: -0.005297 deg/s,
      cmd heading: 325.212764 deg,
      new cmd heading: 325.207889 deg.

2025-06-17T20:56:05.944Z,1750193765.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675949 target range: 34.879707 and range: 35.20 m.
2025-06-17T20:56:06.161Z,1750193766.161 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.683566
2025-06-17T20:56:06.335Z,1750193766.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-06-17T20:56:06.338Z,1750193766.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.879707 m,
      nav range: 33.980381 m,
      bearing: 331.544688 deg,
      approach rate: -0.693285 m/s,
      LOS rate: -0.003852 deg/s,
      cmd heading: 325.207901 deg,
      new cmd heading: 325.203341 deg.

2025-06-17T20:56:06.339Z,1750193766.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675869 target range: 34.879707 and range: 35.20 m.
2025-06-17T20:56:06.416Z,1750193766.416 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.938650
2025-06-17T20:56:06.665Z,1750193766.665 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.187648
2025-06-17T20:56:06.776Z,1750193766.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-06-17T20:56:06.779Z,1750193766.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.879707 m,
      nav range: 33.665615 m,
      bearing: 331.533000 deg,
      approach rate: -0.714155 m/s,
      LOS rate: -0.026765 deg/s,
      cmd heading: 325.203338 deg,
      new cmd heading: 325.167947 deg.

2025-06-17T20:56:06.780Z,1750193766.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675251 target range: 34.879707 and range: 35.20 m.
2025-06-17T20:56:06.917Z,1750193766.917 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.439588
2025-06-17T20:56:07.157Z,1750193767.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-06-17T20:56:07.160Z,1750193767.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.879707 m,
      nav range: 33.392879 m,
      bearing: 331.522695 deg,
      approach rate: -0.714988 m/s,
      LOS rate: -0.027236 deg/s,
      cmd heading: 325.167958 deg,
      new cmd heading: 325.136790 deg.

2025-06-17T20:56:07.161Z,1750193767.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674707 target range: 34.879707 and range: 35.20 m.
2025-06-17T20:56:07.169Z,1750193767.169 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.691968
2025-06-17T20:56:07.423Z,1750193767.423 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.945725
2025-06-17T20:56:07.564Z,1750193767.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-06-17T20:56:07.567Z,1750193767.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.879707 m,
      nav range: 33.106022 m,
      bearing: 331.506735 deg,
      approach rate: -0.704782 m/s,
      LOS rate: -0.039553 deg/s,
      cmd heading: 325.136785 deg,
      new cmd heading: 325.088488 deg.

2025-06-17T20:56:07.568Z,1750193767.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673864 target range: 34.879707 and range: 35.20 m.
2025-06-17T20:56:07.674Z,1750193767.674 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.196114
2025-06-17T20:56:07.925Z,1750193767.925 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.447948
2025-06-17T20:56:07.992Z,1750193767.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:07.994Z,1750193767.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-06-17T20:56:07.997Z,1750193767.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.879707 m,
      nav range: 32.803207 m,
      bearing: 331.489583 deg,
      approach rate: -0.704431 m/s,
      LOS rate: -0.040267 deg/s,
      cmd heading: 325.088482 deg,
      new cmd heading: 325.036553 deg.

2025-06-17T20:56:07.998Z,1750193767.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672958 target range: 34.879707 and range: 35.20 m.
2025-06-17T20:56:08.177Z,1750193768.177 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.699645
2025-06-17T20:56:08.357Z,1750193768.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-06-17T20:56:08.361Z,1750193768.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.879707 m,
      nav range: 32.546700 m,
      bearing: 331.475260 deg,
      approach rate: -0.705632 m/s,
      LOS rate: -0.039714 deg/s,
      cmd heading: 325.036545 deg,
      new cmd heading: 324.993235 deg.

2025-06-17T20:56:08.362Z,1750193768.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672202 target range: 34.879707 and range: 35.20 m.
2025-06-17T20:56:08.431Z,1750193768.431 [DAT](INFO): DAT read: Rx Time:20:56:08.0849

2025-06-17T20:56:08.433Z,1750193768.433 [DAT](INFO): Rx dataTimestamp_ set to:1750193768.432103
2025-06-17T20:56:08.435Z,1750193768.435 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.957180
2025-06-17T20:56:08.681Z,1750193768.681 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.203605
2025-06-17T20:56:08.793Z,1750193768.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m.
2025-06-17T20:56:08.796Z,1750193768.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.879707 m,
      nav range: 32.242279 m,
      bearing: 331.456628 deg,
      approach rate: -0.698866 m/s,
      LOS rate: -0.043177 deg/s,
      cmd heading: 324.993241 deg,
      new cmd heading: 324.936819 deg.

2025-06-17T20:56:08.797Z,1750193768.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671217 target range: 34.879707 and range: 35.20 m.
2025-06-17T20:56:08.940Z,1750193768.940 [DAT](INFO): DAT read: 20:56:08.0849 LVL= 21360, 25233, 19362, 30163, AGC= 63, IDX= 412, 0.15, 1.570, 0.133, 1.368, 1.061, PHS= 0.597,-0.881, 0.304, RAW= 139.2,  -0.3, CAL= 143.9,  -9.3, ROT=   6.1,   9.3

2025-06-17T20:56:08.941Z,1750193768.941 [DAT](INFO): got valid direction response:
 20:56:08.0849 LVL= 21360, 25233, 19362, 30163, AGC= 63, IDX= 412, 0.15, 1.570, 0.133, 1.368, 1.061, PHS= 0.597,-0.881, 0.304, RAW= 139.2,  -0.3, CAL= 143.9,  -9.3, ROT=   6.1,   9.3

2025-06-17T20:56:08.942Z,1750193768.942 [DAT](INFO): DAT read: Bearing   6.1,   9.3 (Local)

2025-06-17T20:56:08.942Z,1750193768.942 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.1,   9.3 (Local)

2025-06-17T20:56:08.944Z,1750193768.944 [DAT](INFO): DAT read: Range 10 to 50 : 32.8 m  (Round-trip  43.8 ms) speed  0.8 m/s

2025-06-17T20:56:08.945Z,1750193768.945 [DAT](INFO): DAT read: user:794>

2025-06-17T20:56:08.946Z,1750193768.946 [DAT](INFO): DAT read: Tx time:20:56:09.1870

2025-06-17T20:56:08.946Z,1750193768.946 [DAT](INFO): Ping request sent.
2025-06-17T20:56:08.946Z,1750193768.946 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:08.946Z,1750193768.946 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-17T20:56:08.947Z,1750193768.947 [DAT](INFO): direction in FSK: [0.981268,0.104867,-0.161604]
2025-06-17T20:56:08.947Z,1750193768.947 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:08.953Z,1750193768.953 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:08.960Z,1750193768.960 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:08.961Z,1750193768.961 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:08.980Z,1750193768.980 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.034141
2025-06-17T20:56:09.185Z,1750193769.185 [DAT](INFO): DAT read: TxSync time:20:56:09.1862

2025-06-17T20:56:09.186Z,1750193769.186 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.239898
2025-06-17T20:56:09.205Z,1750193769.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.799999 m,
      deltaT: 3.526864 s,
      deltaX: -2.400002 m,
      approachRate: -0.680492 m/s,
      rangeRepo size: 4

2025-06-17T20:56:09.207Z,1750193769.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.501556 m,
      bearing: 333.668802 deg,
      lat: 36.905985 deg,
      lon: -122.115751 deg,
      deltaT: 3.526864 s,
      deltaX: -2.378151 m,
      approachRate: -0.674296 m/s,
      posRepo size: 4

2025-06-17T20:56:09.212Z,1750193769.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.50 m.
2025-06-17T20:56:09.215Z,1750193769.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.501556 m,
      nav range: 32.057957 m,
      bearing: 333.647278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.043177 deg/s,
      cmd heading: 324.936824 deg,
      new cmd heading: 324.884109 deg.

2025-06-17T20:56:09.222Z,1750193769.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670297 target range: 32.501556 and range: 32.80 m.
2025-06-17T20:56:09.444Z,1750193769.444 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.497485
2025-06-17T20:56:09.610Z,1750193769.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.50 m.
2025-06-17T20:56:09.617Z,1750193769.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.501556 m,
      nav range: 31.775948 m,
      bearing: 333.653880 deg,
      approach rate: -0.687854 m/s,
      LOS rate: 0.016248 deg/s,
      cmd heading: 324.884095 deg,
      new cmd heading: 324.904080 deg.

2025-06-17T20:56:09.618Z,1750193769.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670646 target range: 32.501556 and range: 32.80 m.
2025-06-17T20:56:09.690Z,1750193769.690 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.743674
2025-06-17T20:56:09.941Z,1750193769.941 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.994822
2025-06-17T20:56:09.975Z,1750193769.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.50 m.
2025-06-17T20:56:09.978Z,1750193769.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.501556 m,
      nav range: 31.508083 m,
      bearing: 333.660878 deg,
      approach rate: -0.733113 m/s,
      LOS rate: 0.019313 deg/s,
      cmd heading: 324.904067 deg,
      new cmd heading: 324.925236 deg.

2025-06-17T20:56:09.979Z,1750193769.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671015 target range: 32.501556 and range: 32.80 m.
2025-06-17T20:56:10.193Z,1750193770.193 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.246901
2025-06-17T20:56:10.380Z,1750193770.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:10.382Z,1750193770.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.50 m.
2025-06-17T20:56:10.385Z,1750193770.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.501556 m,
      nav range: 31.226076 m,
      bearing: 333.668060 deg,
      approach rate: -0.692908 m/s,
      LOS rate: 0.017807 deg/s,
      cmd heading: 324.925240 deg,
      new cmd heading: 324.946982 deg.

2025-06-17T20:56:10.386Z,1750193770.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671395 target range: 32.501556 and range: 32.80 m.
2025-06-17T20:56:10.446Z,1750193770.446 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.500202
2025-06-17T20:56:10.697Z,1750193770.697 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.750858
2025-06-17T20:56:10.803Z,1750193770.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.50 m.
2025-06-17T20:56:10.806Z,1750193770.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.501556 m,
      nav range: 30.944252 m,
      bearing: 333.684198 deg,
      approach rate: -0.669733 m/s,
      LOS rate: 0.038699 deg/s,
      cmd heading: 324.946987 deg,
      new cmd heading: 324.995842 deg.

2025-06-17T20:56:10.807Z,1750193770.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672247 target range: 32.501556 and range: 32.80 m.
2025-06-17T20:56:10.949Z,1750193770.949 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.003212
2025-06-17T20:56:11.181Z,1750193771.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.50 m.
2025-06-17T20:56:11.183Z,1750193771.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.501556 m,
      nav range: 30.691961 m,
      bearing: 333.698597 deg,
      approach rate: -0.668440 m/s,
      LOS rate: 0.038465 deg/s,
      cmd heading: 324.995837 deg,
      new cmd heading: 325.039391 deg.

2025-06-17T20:56:11.185Z,1750193771.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673007 target range: 32.501556 and range: 32.80 m.
2025-06-17T20:56:11.218Z,1750193771.218 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.272344
2025-06-17T20:56:11.471Z,1750193771.471 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.524897
2025-06-17T20:56:11.616Z,1750193771.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.50 m.
2025-06-17T20:56:11.619Z,1750193771.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.501556 m,
      nav range: 30.404932 m,
      bearing: 333.722349 deg,
      approach rate: -0.658798 m/s,
      LOS rate: 0.055030 deg/s,
      cmd heading: 325.039386 deg,
      new cmd heading: 325.111314 deg.

2025-06-17T20:56:11.620Z,1750193771.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674263 target range: 32.501556 and range: 32.80 m.
2025-06-17T20:56:11.721Z,1750193771.721 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.774949
2025-06-17T20:56:11.973Z,1750193771.973 [DAT](INFO): DAT read: Rx Time:20:56:11.6317

2025-06-17T20:56:11.973Z,1750193771.973 [DAT](INFO): Rx dataTimestamp_ set to:1750193771.972999
2025-06-17T20:56:11.974Z,1750193771.974 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.027917
2025-06-17T20:56:11.993Z,1750193771.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.50 m.
2025-06-17T20:56:11.995Z,1750193771.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.501556 m,
      nav range: 30.156792 m,
      bearing: 333.743647 deg,
      approach rate: -0.659530 m/s,
      LOS rate: 0.057073 deg/s,
      cmd heading: 325.111322 deg,
      new cmd heading: 325.175741 deg.

2025-06-17T20:56:11.997Z,1750193771.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675387 target range: 32.501556 and range: 32.80 m.
2025-06-17T20:56:12.225Z,1750193772.225 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.278918
2025-06-17T20:56:12.447Z,1750193772.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:12.450Z,1750193772.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.50 m.
2025-06-17T20:56:12.453Z,1750193772.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.501556 m,
      nav range: 29.865540 m,
      bearing: 333.769305 deg,
      approach rate: -0.637178 m/s,
      LOS rate: 0.056680 deg/s,
      cmd heading: 325.175744 deg,
      new cmd heading: 325.253468 deg.

2025-06-17T20:56:12.454Z,1750193772.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676744 target range: 32.501556 and range: 32.80 m.
2025-06-17T20:56:12.512Z,1750193772.512 [DAT](INFO): DAT read: 20:56:11.6317 LVL= 30640, 32753, 28866, 32755, AGC= 64, IDX= 411, 0.22, 0.873,-0.430, 0.631, 0.417, PHS= 0.544,-0.800, 0.211, RAW= 136.2,   0.8, CAL= 141.3,  -7.9, ROT=   8.7,   7.9

2025-06-17T20:56:12.515Z,1750193772.515 [DAT](INFO): got valid direction response:
 20:56:11.6317 LVL= 30640, 32753, 28866, 32755, AGC= 64, IDX= 411, 0.22, 0.873,-0.430, 0.631, 0.417, PHS= 0.544,-0.800, 0.211, RAW= 136.2,   0.8, CAL= 141.3,  -7.9, ROT=   8.7,   7.9

2025-06-17T20:56:12.523Z,1750193772.523 [DAT](INFO): DAT read: Bearing   8.7,   7.9 (Local)

2025-06-17T20:56:12.541Z,1750193772.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.7,   7.9 (Local)

2025-06-17T20:56:12.550Z,1750193772.550 [DAT](INFO): DAT read: Range 10 to 50 : 30.4 m  (Round-trip  40.6 ms) speed  0.6 m/s

2025-06-17T20:56:12.550Z,1750193772.550 [DAT](INFO): DAT read: user:795>

2025-06-17T20:56:12.551Z,1750193772.551 [DAT](INFO): DAT read: Tx time:20:56:12.7370

2025-06-17T20:56:12.551Z,1750193772.551 [DAT](INFO): Ping request sent.
2025-06-17T20:56:12.551Z,1750193772.551 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:12.556Z,1750193772.556 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-17T20:56:12.558Z,1750193772.558 [DAT](INFO): direction in FSK: [0.979113,0.149825,-0.137445]
2025-06-17T20:56:12.558Z,1750193772.558 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:12.559Z,1750193772.559 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:12.577Z,1750193772.577 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:12.577Z,1750193772.577 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:12.625Z,1750193772.625 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.073474
2025-06-17T20:56:12.730Z,1750193772.730 [DAT](INFO): DAT read: TxSync time:20:56:12.7362

2025-06-17T20:56:12.731Z,1750193772.731 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.179341
2025-06-17T20:56:12.895Z,1750193772.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.400000 m,
      deltaT: 3.543863 s,
      deltaX: -2.400000 m,
      approachRate: -0.677227 m/s,
      rangeRepo size: 4

2025-06-17T20:56:12.901Z,1750193772.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.123344 m,
      bearing: 336.077613 deg,
      lat: 36.905985 deg,
      lon: -122.115747 deg,
      deltaT: 3.543863 s,
      deltaX: -2.378212 m,
      approachRate: -0.671079 m/s,
      posRepo size: 4

2025-06-17T20:56:12.902Z,1750193772.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.12 m.
2025-06-17T20:56:12.909Z,1750193772.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.123344 m,
      nav range: 29.454542 m,
      bearing: 334.430646 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.056680 deg/s,
      cmd heading: 325.253472 deg,
      new cmd heading: 325.329113 deg.

2025-06-17T20:56:12.910Z,1750193772.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678064 target range: 30.123344 and range: 30.40 m.
2025-06-17T20:56:12.982Z,1750193772.982 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.430072
2025-06-17T20:56:13.226Z,1750193773.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.12 m.
2025-06-17T20:56:13.229Z,1750193773.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.123344 m,
      nav range: 29.223289 m,
      bearing: 334.464991 deg,
      approach rate: -0.698227 m/s,
      LOS rate: 0.104519 deg/s,
      cmd heading: 325.329123 deg,
      new cmd heading: 325.432973 deg.

2025-06-17T20:56:13.230Z,1750193773.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679877 target range: 30.123344 and range: 30.40 m.
2025-06-17T20:56:13.233Z,1750193773.233 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.681440
2025-06-17T20:56:13.489Z,1750193773.489 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.936662
2025-06-17T20:56:13.658Z,1750193773.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.12 m.
2025-06-17T20:56:13.661Z,1750193773.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.123344 m,
      nav range: 28.941580 m,
      bearing: 334.510695 deg,
      approach rate: -0.651668 m/s,
      LOS rate: 0.106754 deg/s,
      cmd heading: 325.432969 deg,
      new cmd heading: 325.571415 deg.

2025-06-17T20:56:13.662Z,1750193773.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682293 target range: 30.123344 and range: 30.40 m.
2025-06-17T20:56:13.739Z,1750193773.739 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.187839
2025-06-17T20:56:13.989Z,1750193773.989 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.437539
2025-06-17T20:56:14.023Z,1750193774.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.12 m.
2025-06-17T20:56:14.026Z,1750193774.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.123344 m,
      nav range: 28.704222 m,
      bearing: 334.550206 deg,
      approach rate: -0.650803 m/s,
      LOS rate: 0.109230 deg/s,
      cmd heading: 325.571403 deg,
      new cmd heading: 325.690917 deg.

2025-06-17T20:56:14.027Z,1750193774.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684379 target range: 30.123344 and range: 30.40 m.
2025-06-17T20:56:14.242Z,1750193774.242 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.690009
2025-06-17T20:56:14.468Z,1750193774.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:14.470Z,1750193774.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.12 m.
2025-06-17T20:56:14.477Z,1750193774.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.123344 m,
      nav range: 28.422817 m,
      bearing: 334.597963 deg,
      approach rate: -0.628681 m/s,
      LOS rate: 0.107748 deg/s,
      cmd heading: 325.690904 deg,
      new cmd heading: 325.835592 deg.

2025-06-17T20:56:14.478Z,1750193774.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686904 target range: 30.123344 and range: 30.40 m.
2025-06-17T20:56:14.495Z,1750193774.495 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.943784
2025-06-17T20:56:14.747Z,1750193774.747 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.195191
2025-06-17T20:56:14.899Z,1750193774.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.12 m.
2025-06-17T20:56:14.902Z,1750193774.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.123344 m,
      nav range: 28.128088 m,
      bearing: 334.645521 deg,
      approach rate: -0.688235 m/s,
      LOS rate: 0.112219 deg/s,
      cmd heading: 325.835595 deg,
      new cmd heading: 325.979764 deg.

2025-06-17T20:56:14.903Z,1750193774.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689420 target range: 30.123344 and range: 30.40 m.
2025-06-17T20:56:14.997Z,1750193774.997 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.445385
2025-06-17T20:56:15.250Z,1750193775.250 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.698048
2025-06-17T20:56:15.313Z,1750193775.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.12 m.
2025-06-17T20:56:15.320Z,1750193775.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.123344 m,
      nav range: 27.866243 m,
      bearing: 334.687048 deg,
      approach rate: -0.631837 m/s,
      LOS rate: 0.101146 deg/s,
      cmd heading: 325.979767 deg,
      new cmd heading: 326.105517 deg.

2025-06-17T20:56:15.321Z,1750193775.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691615 target range: 30.123344 and range: 30.40 m.
2025-06-17T20:56:15.501Z,1750193775.501 [DAT](INFO): DAT read: Rx Time:20:56:15.1784

2025-06-17T20:56:15.502Z,1750193775.502 [DAT](INFO): Rx dataTimestamp_ set to:1750193775.501264
2025-06-17T20:56:15.502Z,1750193775.502 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.950641
2025-06-17T20:56:15.717Z,1750193775.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.12 m.
2025-06-17T20:56:15.720Z,1750193775.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.123344 m,
      nav range: 27.588362 m,
      bearing: 334.738115 deg,
      approach rate: -0.687001 m/s,
      LOS rate: 0.127525 deg/s,
      cmd heading: 326.105524 deg,
      new cmd heading: 326.260269 deg.

2025-06-17T20:56:15.721Z,1750193775.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694316 target range: 30.123344 and range: 30.40 m.
2025-06-17T20:56:15.753Z,1750193775.753 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.201615
2025-06-17T20:56:16.011Z,1750193776.011 [DAT](INFO): DAT read: 20:56:15.1784 LVL= 21792, 32753, 21698, 32755, AGC= 63, IDX= 410,-0.48,-1.956, 2.956,-2.208,-2.425, PHS= 0.557,-0.855, 0.214, RAW= 136.5,   1.3, CAL= 141.5,  -7.2, ROT=   8.5,   7.2

2025-06-17T20:56:16.012Z,1750193776.012 [DAT](INFO): got valid direction response:
 20:56:15.1784 LVL= 21792, 32753, 21698, 32755, AGC= 63, IDX= 410,-0.48,-1.956, 2.956,-2.208,-2.425, PHS= 0.557,-0.855, 0.214, RAW= 136.5,   1.3, CAL= 141.5,  -7.2, ROT=   8.5,   7.2

2025-06-17T20:56:16.013Z,1750193776.013 [DAT](INFO): DAT read: Bearing   8.5,   7.2 (Local)

2025-06-17T20:56:16.013Z,1750193776.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.5,   7.2 (Local)

2025-06-17T20:56:16.015Z,1750193776.015 [DAT](INFO): DAT read: Range 10 to 50 : 27.9 m  (Round-trip  37.3 ms) speed  0.7 m/s

2025-06-17T20:56:16.015Z,1750193776.015 [DAT](INFO): DAT read: user:796>

2025-06-17T20:56:16.016Z,1750193776.016 [DAT](INFO): DAT read: Tx time:20:56:16.2870

2025-06-17T20:56:16.016Z,1750193776.016 [DAT](INFO): Ping request sent.
2025-06-17T20:56:16.017Z,1750193776.017 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:16.017Z,1750193776.017 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-17T20:56:16.018Z,1750193776.018 [DAT](INFO): direction in FSK: [0.981217,0.146644,-0.125333]
2025-06-17T20:56:16.018Z,1750193776.018 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:16.018Z,1750193776.018 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:16.022Z,1750193776.022 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:16.022Z,1750193776.022 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:16.025Z,1750193776.025 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.008826
2025-06-17T20:56:16.149Z,1750193776.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 3.527242 s,
      deltaX: -2.500000 m,
      approachRate: -0.708769 m/s,
      rangeRepo size: 4

2025-06-17T20:56:16.165Z,1750193776.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.646091 m,
      bearing: 335.927207 deg,
      lat: 36.905986 deg,
      lon: -122.115742 deg,
      deltaT: 3.527242 s,
      deltaX: -2.477253 m,
      approachRate: -0.702320 m/s,
      posRepo size: 4

2025-06-17T20:56:16.166Z,1750193776.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-17T20:56:16.173Z,1750193776.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.646091 m,
      nav range: 27.197485 m,
      bearing: 335.689194 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.127525 deg/s,
      cmd heading: 326.260269 deg,
      new cmd heading: 326.425093 deg.

2025-06-17T20:56:16.174Z,1750193776.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697193 target range: 27.646091 and range: 27.90 m.
2025-06-17T20:56:16.262Z,1750193776.262 [DAT](INFO): DAT read: TxSync time:20:56:16.2862

2025-06-17T20:56:16.262Z,1750193776.262 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.245877
2025-06-17T20:56:16.494Z,1750193776.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:16.496Z,1750193776.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-17T20:56:16.499Z,1750193776.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.646091 m,
      nav range: 26.951801 m,
      bearing: 335.745288 deg,
      approach rate: -0.706696 m/s,
      LOS rate: 0.162823 deg/s,
      cmd heading: 326.425095 deg,
      new cmd heading: 326.594911 deg.

2025-06-17T20:56:16.500Z,1750193776.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700157 target range: 27.646091 and range: 27.90 m.
2025-06-17T20:56:16.513Z,1750193776.513 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.496352
2025-06-17T20:56:16.765Z,1750193776.765 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.748351
2025-06-17T20:56:16.930Z,1750193776.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-17T20:56:16.933Z,1750193776.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.646091 m,
      nav range: 26.666182 m,
      bearing: 335.805086 deg,
      approach rate: -0.658442 m/s,
      LOS rate: 0.139328 deg/s,
      cmd heading: 326.594921 deg,
      new cmd heading: 326.776234 deg.

2025-06-17T20:56:16.934Z,1750193776.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703321 target range: 27.646091 and range: 27.90 m.
2025-06-17T20:56:17.018Z,1750193777.018 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.001081
2025-06-17T20:56:17.270Z,1750193777.270 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.253122
2025-06-17T20:56:17.311Z,1750193777.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-17T20:56:17.314Z,1750193777.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.646091 m,
      nav range: 26.414598 m,
      bearing: 335.859221 deg,
      approach rate: -0.660337 m/s,
      LOS rate: 0.143444 deg/s,
      cmd heading: 326.776221 deg,
      new cmd heading: 326.940174 deg.

2025-06-17T20:56:17.315Z,1750193777.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706182 target range: 27.646091 and range: 27.90 m.
2025-06-17T20:56:17.523Z,1750193777.523 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.506070
2025-06-17T20:56:17.732Z,1750193777.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-17T20:56:17.737Z,1750193777.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.646091 m,
      nav range: 26.138657 m,
      bearing: 335.919400 deg,
      approach rate: -0.655981 m/s,
      LOS rate: 0.144570 deg/s,
      cmd heading: 326.940173 deg,
      new cmd heading: 327.122615 deg.

2025-06-17T20:56:17.738Z,1750193777.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709367 target range: 27.646091 and range: 27.90 m.
2025-06-17T20:56:17.773Z,1750193777.773 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.756251
2025-06-17T20:56:18.025Z,1750193778.025 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.008208
2025-06-17T20:56:18.136Z,1750193778.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-17T20:56:18.139Z,1750193778.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.646091 m,
      nav range: 25.871298 m,
      bearing: 335.977915 deg,
      approach rate: -0.661187 m/s,
      LOS rate: 0.146205 deg/s,
      cmd heading: 327.122621 deg,
      new cmd heading: 327.299980 deg.

2025-06-17T20:56:18.140Z,1750193778.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712462 target range: 27.646091 and range: 27.90 m.
2025-06-17T20:56:18.277Z,1750193778.277 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.260161
2025-06-17T20:56:18.519Z,1750193778.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:18.522Z,1750193778.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-17T20:56:18.525Z,1750193778.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.646091 m,
      nav range: 25.614508 m,
      bearing: 336.033920 deg,
      approach rate: -0.665399 m/s,
      LOS rate: 0.146576 deg/s,
      cmd heading: 327.299988 deg,
      new cmd heading: 327.469687 deg.

2025-06-17T20:56:18.526Z,1750193778.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715424 target range: 27.646091 and range: 27.90 m.
2025-06-17T20:56:18.529Z,1750193778.529 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.512312
2025-06-17T20:56:18.782Z,1750193778.782 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.764886
2025-06-17T20:56:18.951Z,1750193778.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-17T20:56:18.954Z,1750193778.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.646091 m,
      nav range: 25.321842 m,
      bearing: 336.093053 deg,
      approach rate: -0.681226 m/s,
      LOS rate: 0.139232 deg/s,
      cmd heading: 327.469677 deg,
      new cmd heading: 327.649125 deg.

2025-06-17T20:56:18.955Z,1750193778.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718556 target range: 27.646091 and range: 27.90 m.
2025-06-17T20:56:19.034Z,1750193779.034 [DAT](INFO): DAT read: Rx Time:20:56:18.7252

2025-06-17T20:56:19.034Z,1750193779.034 [DAT](INFO): Rx dataTimestamp_ set to:1750193779.034203
2025-06-17T20:56:19.035Z,1750193779.035 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.018799
2025-06-17T20:56:19.285Z,1750193779.285 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.268456
2025-06-17T20:56:19.394Z,1750193779.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-17T20:56:19.401Z,1750193779.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.646091 m,
      nav range: 25.025894 m,
      bearing: 336.152152 deg,
      approach rate: -0.668676 m/s,
      LOS rate: 0.135111 deg/s,
      cmd heading: 327.649120 deg,
      new cmd heading: 327.828514 deg.

2025-06-17T20:56:19.402Z,1750193779.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721687 target range: 27.646091 and range: 27.90 m.
2025-06-17T20:56:19.545Z,1750193779.545 [DAT](INFO): DAT read: 20:56:18.7252 LVL= 26688, 32753, 21586, 32755, AGC= 65, IDX= 409, 0.49, 2.469, 1.103, 2.288, 2.024, PHS= 0.533,-0.874, 0.261, RAW= 139.5,   1.3, CAL= 144.0,  -7.4, ROT=   6.0,   7.4

2025-06-17T20:56:19.546Z,1750193779.546 [DAT](INFO): got valid direction response:
 20:56:18.7252 LVL= 26688, 32753, 21586, 32755, AGC= 65, IDX= 409, 0.49, 2.469, 1.103, 2.288, 2.024, PHS= 0.533,-0.874, 0.261, RAW= 139.5,   1.3, CAL= 144.0,  -7.4, ROT=   6.0,   7.4

2025-06-17T20:56:19.547Z,1750193779.547 [DAT](INFO): DAT read: Bearing   6.0,   7.4 (Local)

2025-06-17T20:56:19.547Z,1750193779.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.0,   7.4 (Local)

2025-06-17T20:56:19.549Z,1750193779.549 [DAT](INFO): DAT read: Range 10 to 50 : 25.5 m  (Round-trip  34.1 ms) speed  0.6 m/s

2025-06-17T20:56:19.551Z,1750193779.551 [DAT](INFO): DAT read: user:797>

2025-06-17T20:56:19.554Z,1750193779.554 [DAT](INFO): DAT read: Tx time:20:56:19.8385

2025-06-17T20:56:19.555Z,1750193779.555 [DAT](INFO): Ping request sent.
2025-06-17T20:56:19.555Z,1750193779.555 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:19.555Z,1750193779.555 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-17T20:56:19.556Z,1750193779.556 [DAT](INFO): direction in FSK: [0.986239,0.103658,-0.128796]
2025-06-17T20:56:19.557Z,1750193779.557 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:19.557Z,1750193779.557 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:19.561Z,1750193779.561 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:19.561Z,1750193779.561 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:19.570Z,1750193779.570 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.015375
2025-06-17T20:56:19.789Z,1750193779.789 [DAT](INFO): DAT read: TxSync time:20:56:19.8377

2025-06-17T20:56:19.790Z,1750193779.790 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.235138
2025-06-17T20:56:19.819Z,1750193779.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 3.532496 s,
      deltaX: -2.400000 m,
      approachRate: -0.679406 m/s,
      rangeRepo size: 4

2025-06-17T20:56:19.825Z,1750193779.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.267912 m,
      bearing: 334.094699 deg,
      lat: 36.905986 deg,
      lon: -122.115742 deg,
      deltaT: 3.532496 s,
      deltaX: -2.378180 m,
      approachRate: -0.673229 m/s,
      posRepo size: 4

2025-06-17T20:56:19.826Z,1750193779.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.27 m.
2025-06-17T20:56:19.833Z,1750193779.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.267912 m,
      nav range: 24.739935 m,
      bearing: 336.209147 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.135111 deg/s,
      cmd heading: 327.828508 deg,
      new cmd heading: 328.000404 deg.

2025-06-17T20:56:19.834Z,1750193779.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724687 target range: 25.267912 and range: 25.50 m.
2025-06-17T20:56:20.046Z,1750193780.046 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.491387
2025-06-17T20:56:20.152Z,1750193780.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.27 m.
2025-06-17T20:56:20.155Z,1750193780.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.267912 m,
      nav range: 24.517725 m,
      bearing: 336.253362 deg,
      approach rate: -0.673110 m/s,
      LOS rate: 0.135148 deg/s,
      cmd heading: 328.000410 deg,
      new cmd heading: 328.134256 deg.

2025-06-17T20:56:20.157Z,1750193780.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727023 target range: 25.267912 and range: 25.50 m.
2025-06-17T20:56:20.293Z,1750193780.293 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.738223
2025-06-17T20:56:20.530Z,1750193780.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:20.532Z,1750193780.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.27 m.
2025-06-17T20:56:20.535Z,1750193780.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.267912 m,
      nav range: 24.245674 m,
      bearing: 336.308367 deg,
      approach rate: -0.708495 m/s,
      LOS rate: 0.144856 deg/s,
      cmd heading: 328.134254 deg,
      new cmd heading: 328.301121 deg.

2025-06-17T20:56:20.536Z,1750193780.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729936 target range: 25.267912 and range: 25.50 m.
2025-06-17T20:56:20.545Z,1750193780.545 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.990188
2025-06-17T20:56:20.797Z,1750193780.797 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.242134
2025-06-17T20:56:20.978Z,1750193780.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.27 m.
2025-06-17T20:56:20.985Z,1750193780.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.267912 m,
      nav range: 23.943480 m,
      bearing: 336.357802 deg,
      approach rate: -0.677835 m/s,
      LOS rate: 0.112285 deg/s,
      cmd heading: 328.301129 deg,
      new cmd heading: 328.451307 deg.

2025-06-17T20:56:20.986Z,1750193780.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732557 target range: 25.267912 and range: 25.50 m.
2025-06-17T20:56:21.050Z,1750193781.050 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.495048
2025-06-17T20:56:21.301Z,1750193781.301 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.746111
2025-06-17T20:56:21.352Z,1750193781.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.27 m.
2025-06-17T20:56:21.355Z,1750193781.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.267912 m,
      nav range: 23.685034 m,
      bearing: 336.398733 deg,
      approach rate: -0.690026 m/s,
      LOS rate: 0.110474 deg/s,
      cmd heading: 328.451312 deg,
      new cmd heading: 328.575444 deg.

2025-06-17T20:56:21.356Z,1750193781.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734724 target range: 25.267912 and range: 25.50 m.
2025-06-17T20:56:21.556Z,1750193781.556 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.001293
2025-06-17T20:56:21.782Z,1750193781.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.27 m.
2025-06-17T20:56:21.785Z,1750193781.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.267912 m,
      nav range: 23.391922 m,
      bearing: 336.457123 deg,
      approach rate: -0.682848 m/s,
      LOS rate: 0.137733 deg/s,
      cmd heading: 328.575457 deg,
      new cmd heading: 328.752821 deg.

2025-06-17T20:56:21.786Z,1750193781.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737819 target range: 25.267912 and range: 25.50 m.
2025-06-17T20:56:21.805Z,1750193781.805 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.250196
2025-06-17T20:56:22.057Z,1750193782.057 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.502108
2025-06-17T20:56:22.179Z,1750193782.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.27 m.
2025-06-17T20:56:22.182Z,1750193782.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.267912 m,
      nav range: 23.131010 m,
      bearing: 336.510348 deg,
      approach rate: -0.682349 m/s,
      LOS rate: 0.140767 deg/s,
      cmd heading: 328.752823 deg,
      new cmd heading: 328.914299 deg.

2025-06-17T20:56:22.183Z,1750193782.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740637 target range: 25.267912 and range: 25.50 m.
2025-06-17T20:56:22.309Z,1750193782.309 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.754047
2025-06-17T20:56:22.551Z,1750193782.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:22.554Z,1750193782.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.27 m.
2025-06-17T20:56:22.557Z,1750193782.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.267912 m,
      nav range: 22.865461 m,
      bearing: 336.560963 deg,
      approach rate: -0.681347 m/s,
      LOS rate: 0.131376 deg/s,
      cmd heading: 328.914289 deg,
      new cmd heading: 329.067897 deg.

2025-06-17T20:56:22.558Z,1750193782.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743318 target range: 25.267912 and range: 25.50 m.
2025-06-17T20:56:22.561Z,1750193782.561 [DAT](INFO): DAT read: Rx Time:20:56:22.2738

2025-06-17T20:56:22.561Z,1750193782.561 [DAT](INFO): Rx dataTimestamp_ set to:1750193782.561214
2025-06-17T20:56:22.562Z,1750193782.562 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.007407
2025-06-17T20:56:22.813Z,1750193782.813 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.258122
2025-06-17T20:56:22.985Z,1750193782.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.27 m.
2025-06-17T20:56:22.988Z,1750193782.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.267912 m,
      nav range: 22.572298 m,
      bearing: 336.605858 deg,
      approach rate: -0.679695 m/s,
      LOS rate: 0.105439 deg/s,
      cmd heading: 329.067886 deg,
      new cmd heading: 329.204319 deg.

2025-06-17T20:56:22.989Z,1750193782.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745699 target range: 25.267912 and range: 25.50 m.
2025-06-17T20:56:23.071Z,1750193783.071 [DAT](INFO): DAT read: 20:56:22.2738 LVL= 20048, 30545, 18402, 32755, AGC= 66, IDX= 409, 0.27,-1.357,-2.734,-1.364,-1.810, PHS= 0.542,-0.877, 0.444, RAW= 146.5,  -1.6, CAL= 150.5, -10.6, ROT= 359.5,  10.6

2025-06-17T20:56:23.072Z,1750193783.072 [DAT](INFO): got valid direction response:
 20:56:22.2738 LVL= 20048, 30545, 18402, 32755, AGC= 66, IDX= 409, 0.27,-1.357,-2.734,-1.364,-1.810, PHS= 0.542,-0.877, 0.444, RAW= 146.5,  -1.6, CAL= 150.5, -10.6, ROT= 359.5,  10.6

2025-06-17T20:56:23.073Z,1750193783.073 [DAT](INFO): DAT read: Bearing 359.5,  10.6 (Local)

2025-06-17T20:56:23.073Z,1750193783.073 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,  10.6 (Local)

2025-06-17T20:56:23.075Z,1750193783.075 [DAT](INFO): DAT read: Range 10 to 50 : 23.2 m  (Round-trip  31.0 ms) speed  0.7 m/s

2025-06-17T20:56:23.076Z,1750193783.076 [DAT](INFO): DAT read: user:798>

2025-06-17T20:56:23.077Z,1750193783.077 [DAT](INFO): DAT read: Tx time:20:56:23.3871

2025-06-17T20:56:23.077Z,1750193783.077 [DAT](INFO): Ping request sent.
2025-06-17T20:56:23.077Z,1750193783.077 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:23.077Z,1750193783.077 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-17T20:56:23.078Z,1750193783.078 [DAT](INFO): direction in FSK: [0.982898,-0.008577,-0.183951]
2025-06-17T20:56:23.078Z,1750193783.078 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:23.079Z,1750193783.079 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:23.087Z,1750193783.087 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:23.087Z,1750193783.087 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:23.100Z,1750193783.100 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.018634
2025-06-17T20:56:23.317Z,1750193783.317 [DAT](INFO): DAT read: TxSync time:20:56:23.3863

2025-06-17T20:56:23.318Z,1750193783.318 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.240978
2025-06-17T20:56:23.394Z,1750193783.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.200001 m,
      deltaT: 3.527587 s,
      deltaX: -2.299999 m,
      approachRate: -0.652004 m/s,
      rangeRepo size: 4

2025-06-17T20:56:23.405Z,1750193783.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.988861 m,
      bearing: 329.414208 deg,
      lat: 36.905985 deg,
      lon: -122.115751 deg,
      deltaT: 3.527587 s,
      deltaX: -2.279051 m,
      approachRate: -0.646065 m/s,
      posRepo size: 4

2025-06-17T20:56:23.405Z,1750193783.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-17T20:56:23.416Z,1750193783.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.988861 m,
      nav range: 22.575405 m,
      bearing: 334.743523 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.105439 deg/s,
      cmd heading: 329.204326 deg,
      new cmd heading: 329.333558 deg.

2025-06-17T20:56:23.418Z,1750193783.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747955 target range: 22.988861 and range: 23.20 m.
2025-06-17T20:56:23.569Z,1750193783.569 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.491996
2025-06-17T20:56:23.821Z,1750193783.821 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.744218
2025-06-17T20:56:23.829Z,1750193783.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-17T20:56:23.839Z,1750193783.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.988861 m,
      nav range: 22.284946 m,
      bearing: 334.759967 deg,
      approach rate: -0.667172 m/s,
      LOS rate: 0.038264 deg/s,
      cmd heading: 329.333553 deg,
      new cmd heading: 329.383528 deg.

2025-06-17T20:56:23.844Z,1750193783.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748827 target range: 22.988861 and range: 23.20 m.
2025-06-17T20:56:24.073Z,1750193784.073 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.995974
2025-06-17T20:56:24.188Z,1750193784.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-17T20:56:24.191Z,1750193784.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.988861 m,
      nav range: 22.035336 m,
      bearing: 334.773442 deg,
      approach rate: -0.728451 m/s,
      LOS rate: 0.039771 deg/s,
      cmd heading: 329.383523 deg,
      new cmd heading: 329.424407 deg.

2025-06-17T20:56:24.196Z,1750193784.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749540 target range: 22.988861 and range: 23.20 m.
2025-06-17T20:56:24.326Z,1750193784.326 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.249443
2025-06-17T20:56:24.577Z,1750193784.577 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.499717
2025-06-17T20:56:24.591Z,1750193784.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:24.594Z,1750193784.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-17T20:56:24.597Z,1750193784.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.988861 m,
      nav range: 21.750088 m,
      bearing: 334.789220 deg,
      approach rate: -0.675829 m/s,
      LOS rate: 0.037872 deg/s,
      cmd heading: 329.424395 deg,
      new cmd heading: 329.472349 deg.

2025-06-17T20:56:24.598Z,1750193784.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750377 target range: 22.988861 and range: 23.20 m.
2025-06-17T20:56:24.830Z,1750193784.830 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.752423
2025-06-17T20:56:24.996Z,1750193784.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-17T20:56:24.999Z,1750193784.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.988861 m,
      nav range: 21.479300 m,
      bearing: 334.803767 deg,
      approach rate: -0.673075 m/s,
      LOS rate: 0.036613 deg/s,
      cmd heading: 329.472343 deg,
      new cmd heading: 329.516533 deg.

2025-06-17T20:56:25.000Z,1750193785.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751148 target range: 22.988861 and range: 23.20 m.
2025-06-17T20:56:25.081Z,1750193785.081 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.004139
2025-06-17T20:56:25.333Z,1750193785.333 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.255853
2025-06-17T20:56:25.417Z,1750193785.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-17T20:56:25.428Z,1750193785.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.988861 m,
      nav range: 21.201307 m,
      bearing: 334.815748 deg,
      approach rate: -0.659919 m/s,
      LOS rate: 0.028815 deg/s,
      cmd heading: 329.516521 deg,
      new cmd heading: 329.552935 deg.

2025-06-17T20:56:25.429Z,1750193785.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751784 target range: 22.988861 and range: 23.20 m.
2025-06-17T20:56:25.585Z,1750193785.585 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.507872
2025-06-17T20:56:25.818Z,1750193785.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-17T20:56:25.821Z,1750193785.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.988861 m,
      nav range: 20.922882 m,
      bearing: 334.813302 deg,
      approach rate: -0.695550 m/s,
      LOS rate: -0.006192 deg/s,
      cmd heading: 329.552939 deg,
      new cmd heading: 329.545503 deg.

2025-06-17T20:56:25.822Z,1750193785.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751654 target range: 22.988861 and range: 23.20 m.
2025-06-17T20:56:25.854Z,1750193785.854 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.777210
2025-06-17T20:56:26.105Z,1750193786.105 [DAT](INFO): DAT read: Rx Time:20:56:25.8188

2025-06-17T20:56:26.106Z,1750193786.106 [DAT](INFO): Rx dataTimestamp_ set to:1750193786.105245
2025-06-17T20:56:26.106Z,1750193786.106 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.029193
2025-06-17T20:56:26.205Z,1750193786.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-17T20:56:26.207Z,1750193786.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.988861 m,
      nav range: 20.659079 m,
      bearing: 334.808596 deg,
      approach rate: -0.681839 m/s,
      LOS rate: -0.012317 deg/s,
      cmd heading: 329.545508 deg,
      new cmd heading: 329.531211 deg.

2025-06-17T20:56:26.209Z,1750193786.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751405 target range: 22.988861 and range: 23.20 m.
2025-06-17T20:56:26.357Z,1750193786.357 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.279929
2025-06-17T20:56:26.615Z,1750193786.615 [DAT](INFO): DAT read: 20:56:25.8188 LVL= 21456, 26993, 17506, 30499, AGC= 59, IDX= 407,-0.10, 2.489, 1.152, 2.617, 2.117, PHS= 0.460,-0.918, 0.497, RAW= 151.3,  -0.6, CAL= 154.6,  -9.4, ROT= 355.4,   9.4

2025-06-17T20:56:26.616Z,1750193786.616 [DAT](INFO): got valid direction response:
 20:56:25.8188 LVL= 21456, 26993, 17506, 30499, AGC= 59, IDX= 407,-0.10, 2.489, 1.152, 2.617, 2.117, PHS= 0.460,-0.918, 0.497, RAW= 151.3,  -0.6, CAL= 154.6,  -9.4, ROT= 355.4,   9.4

2025-06-17T20:56:26.617Z,1750193786.617 [DAT](INFO): DAT read: Bearing 355.4,   9.4 (Local)

2025-06-17T20:56:26.617Z,1750193786.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.4,   9.4 (Local)

2025-06-17T20:56:26.619Z,1750193786.619 [DAT](INFO): DAT read: Range 10 to 50 : 20.7 m  (Round-trip  27.6 ms) speed  0.6 m/s

2025-06-17T20:56:26.619Z,1750193786.619 [DAT](INFO): DAT read: user:799>

2025-06-17T20:56:26.620Z,1750193786.620 [DAT](INFO): DAT read: Tx time:20:56:26.9371

2025-06-17T20:56:26.621Z,1750193786.621 [DAT](INFO): Ping request sent.
2025-06-17T20:56:26.621Z,1750193786.621 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:26.621Z,1750193786.621 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-17T20:56:26.622Z,1750193786.622 [DAT](INFO): direction in FSK: [0.983394,-0.079122,-0.163326]
2025-06-17T20:56:26.622Z,1750193786.622 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:26.623Z,1750193786.623 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:26.630Z,1750193786.630 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:26.630Z,1750193786.630 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:26.642Z,1750193786.642 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.020823
2025-06-17T20:56:26.763Z,1750193786.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 3.543962 s,
      deltaX: -2.500000 m,
      approachRate: -0.705425 m/s,
      rangeRepo size: 4

2025-06-17T20:56:26.765Z,1750193786.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.511604 m,
      bearing: 326.603045 deg,
      lat: 36.905985 deg,
      lon: -122.115753 deg,
      deltaT: 3.543962 s,
      deltaX: -2.477257 m,
      approachRate: -0.699008 m/s,
      posRepo size: 4

2025-06-17T20:56:26.766Z,1750193786.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-17T20:56:26.785Z,1750193786.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.511604 m,
      nav range: 20.436338 m,
      bearing: 334.304557 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012317 deg/s,
      cmd heading: 329.531219 deg,
      new cmd heading: 329.510613 deg.

2025-06-17T20:56:26.786Z,1750193786.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751045 target range: 20.511604 and range: 20.70 m.
2025-06-17T20:56:26.861Z,1750193786.861 [DAT](INFO): DAT read: TxSync time:20:56:26.9363

2025-06-17T20:56:26.862Z,1750193786.862 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.241563
2025-06-17T20:56:27.110Z,1750193787.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:27.113Z,1750193787.113 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.492240
2025-06-17T20:56:27.117Z,1750193787.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-17T20:56:27.119Z,1750193787.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.511604 m,
      nav range: 20.141991 m,
      bearing: 334.283886 deg,
      approach rate: -0.830419 m/s,
      LOS rate: -0.059170 deg/s,
      cmd heading: 329.510619 deg,
      new cmd heading: 329.447700 deg.

2025-06-17T20:56:27.126Z,1750193787.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749947 target range: 20.511604 and range: 20.70 m.
2025-06-17T20:56:27.369Z,1750193787.369 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.748327
2025-06-17T20:56:27.492Z,1750193787.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-17T20:56:27.495Z,1750193787.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.511604 m,
      nav range: 19.873522 m,
      bearing: 334.263693 deg,
      approach rate: -0.715585 m/s,
      LOS rate: -0.054550 deg/s,
      cmd heading: 329.447700 deg,
      new cmd heading: 329.386303 deg.

2025-06-17T20:56:27.496Z,1750193787.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748876 target range: 20.511604 and range: 20.70 m.
2025-06-17T20:56:27.621Z,1750193787.621 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.000052
2025-06-17T20:56:27.877Z,1750193787.877 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.255757
2025-06-17T20:56:27.918Z,1750193787.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-17T20:56:27.921Z,1750193787.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.511604 m,
      nav range: 19.578501 m,
      bearing: 334.226463 deg,
      approach rate: -0.691833 m/s,
      LOS rate: -0.088621 deg/s,
      cmd heading: 329.386310 deg,
      new cmd heading: 329.272936 deg.

2025-06-17T20:56:27.922Z,1750193787.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746897 target range: 20.511604 and range: 20.70 m.
2025-06-17T20:56:28.125Z,1750193788.125 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.503996
2025-06-17T20:56:28.301Z,1750193788.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-17T20:56:28.303Z,1750193788.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.511604 m,
      nav range: 19.315825 m,
      bearing: 334.188880 deg,
      approach rate: -0.687086 m/s,
      LOS rate: -0.099644 deg/s,
      cmd heading: 329.272929 deg,
      new cmd heading: 329.158645 deg.

2025-06-17T20:56:28.304Z,1750193788.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744902 target range: 20.511604 and range: 20.70 m.
2025-06-17T20:56:28.377Z,1750193788.377 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.756142
2025-06-17T20:56:28.629Z,1750193788.629 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.008131
2025-06-17T20:56:28.706Z,1750193788.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-17T20:56:28.713Z,1750193788.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.511604 m,
      nav range: 19.047657 m,
      bearing: 334.147457 deg,
      approach rate: -0.660941 m/s,
      LOS rate: -0.103531 deg/s,
      cmd heading: 329.158646 deg,
      new cmd heading: 329.032627 deg.

2025-06-17T20:56:28.714Z,1750193788.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742702 target range: 20.511604 and range: 20.70 m.
2025-06-17T20:56:28.881Z,1750193788.881 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.260667
2025-06-17T20:56:29.115Z,1750193789.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:29.118Z,1750193789.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-17T20:56:29.121Z,1750193789.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.511604 m,
      nav range: 18.750061 m,
      bearing: 334.104335 deg,
      approach rate: -0.723221 m/s,
      LOS rate: -0.106457 deg/s,
      cmd heading: 329.032615 deg,
      new cmd heading: 328.901198 deg.

2025-06-17T20:56:29.122Z,1750193789.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740409 target range: 20.511604 and range: 20.70 m.
2025-06-17T20:56:29.133Z,1750193789.133 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.512157
2025-06-17T20:56:29.387Z,1750193789.387 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.765726
2025-06-17T20:56:29.524Z,1750193789.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-17T20:56:29.527Z,1750193789.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.511604 m,
      nav range: 18.475527 m,
      bearing: 334.063146 deg,
      approach rate: -0.675168 m/s,
      LOS rate: -0.102803 deg/s,
      cmd heading: 328.901203 deg,
      new cmd heading: 328.775799 deg.

2025-06-17T20:56:29.533Z,1750193789.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738220 target range: 20.511604 and range: 20.70 m.
2025-06-17T20:56:29.637Z,1750193789.637 [DAT](INFO): DAT read: Rx Time:20:56:29.3656

2025-06-17T20:56:29.637Z,1750193789.637 [DAT](INFO): Rx dataTimestamp_ set to:1750193789.636969
2025-06-17T20:56:29.638Z,1750193789.638 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.017099
2025-06-17T20:56:29.889Z,1750193789.889 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.268287
2025-06-17T20:56:29.939Z,1750193789.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-17T20:56:29.958Z,1750193789.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.511604 m,
      nav range: 18.179256 m,
      bearing: 334.025097 deg,
      approach rate: -0.715214 m/s,
      LOS rate: -0.093350 deg/s,
      cmd heading: 328.775800 deg,
      new cmd heading: 328.659792 deg.

2025-06-17T20:56:29.959Z,1750193789.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736196 target range: 20.511604 and range: 20.70 m.
2025-06-17T20:56:30.149Z,1750193790.149 [DAT](INFO): DAT read: 20:56:29.3656 LVL= 20064, 23377, 17890, 29795, AGC= 62, IDX= 405, 0.29,-0.829,-2.152,-0.572,-1.131, PHS= 0.389,-0.974, 0.556, RAW= 155.7,   0.4, CAL= 158.2,  -8.4, ROT= 351.8,   8.4

2025-06-17T20:56:30.151Z,1750193790.151 [DAT](INFO): got valid direction response:
 20:56:29.3656 LVL= 20064, 23377, 17890, 29795, AGC= 62, IDX= 405, 0.29,-0.829,-2.152,-0.572,-1.131, PHS= 0.389,-0.974, 0.556, RAW= 155.7,   0.4, CAL= 158.2,  -8.4, ROT= 351.8,   8.4

2025-06-17T20:56:30.154Z,1750193790.154 [DAT](INFO): DAT read: Bearing 351.8,   8.4 (Local)

2025-06-17T20:56:30.155Z,1750193790.155 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.8,   8.4 (Local)

2025-06-17T20:56:30.159Z,1750193790.159 [DAT](INFO): DAT read: Range 10 to 50 : 18.3 m  (Round-trip  24.4 ms) speed  0.7 m/s

2025-06-17T20:56:30.163Z,1750193790.163 [DAT](INFO): DAT read: user:800>

2025-06-17T20:56:30.166Z,1750193790.166 [DAT](INFO): DAT read: Tx time:20:56:30.4871

2025-06-17T20:56:30.166Z,1750193790.166 [DAT](INFO): Ping request sent.
2025-06-17T20:56:30.166Z,1750193790.166 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:30.167Z,1750193790.167 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-17T20:56:30.168Z,1750193790.168 [DAT](INFO): direction in FSK: [0.979158,-0.141099,-0.146083]
2025-06-17T20:56:30.168Z,1750193790.168 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:30.168Z,1750193790.168 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:30.171Z,1750193790.171 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:30.172Z,1750193790.172 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:30.177Z,1750193790.177 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.010526
2025-06-17T20:56:30.326Z,1750193790.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 3.533927 s,
      deltaX: -2.400002 m,
      approachRate: -0.679132 m/s,
      rangeRepo size: 4

2025-06-17T20:56:30.332Z,1750193790.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.133461 m,
      bearing: 323.593216 deg,
      lat: 36.905977 deg,
      lon: -122.115772 deg,
      deltaT: 3.533927 s,
      deltaX: -2.378143 m,
      approachRate: -0.672946 m/s,
      posRepo size: 4

2025-06-17T20:56:30.333Z,1750193790.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.13 m.
2025-06-17T20:56:30.348Z,1750193790.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.133461 m,
      nav range: 17.932692 m,
      bearing: 327.822154 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.093350 deg/s,
      cmd heading: 328.659796 deg,
      new cmd heading: 328.551485 deg.

2025-06-17T20:56:30.349Z,1750193790.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734305 target range: 18.133461 and range: 18.30 m.
2025-06-17T20:56:30.393Z,1750193790.393 [DAT](INFO): DAT read: TxSync time:20:56:30.4863

2025-06-17T20:56:30.394Z,1750193790.394 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.227727
2025-06-17T20:56:30.645Z,1750193790.645 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.478600
2025-06-17T20:56:30.723Z,1750193790.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.13 m.
2025-06-17T20:56:30.728Z,1750193790.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.133461 m,
      nav range: 17.655945 m,
      bearing: 327.689524 deg,
      approach rate: -0.695434 m/s,
      LOS rate: -0.338509 deg/s,
      cmd heading: 328.551497 deg,
      new cmd heading: 328.147377 deg.

2025-06-17T20:56:30.731Z,1750193790.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727252 target range: 18.133461 and range: 18.30 m.
2025-06-17T20:56:30.898Z,1750193790.898 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.731375
2025-06-17T20:56:31.127Z,1750193791.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:31.129Z,1750193791.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.13 m.
2025-06-17T20:56:31.132Z,1750193791.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.133461 m,
      nav range: 17.370991 m,
      bearing: 327.559976 deg,
      approach rate: -0.702086 m/s,
      LOS rate: -0.324424 deg/s,
      cmd heading: 328.147368 deg,
      new cmd heading: 327.752355 deg.

2025-06-17T20:56:31.133Z,1750193791.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720358 target range: 18.133461 and range: 18.30 m.
2025-06-17T20:56:31.149Z,1750193791.149 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.982569
2025-06-17T20:56:31.401Z,1750193791.401 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.234553
2025-06-17T20:56:31.512Z,1750193791.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.13 m.
2025-06-17T20:56:31.515Z,1750193791.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.133461 m,
      nav range: 17.109003 m,
      bearing: 327.439037 deg,
      approach rate: -0.684498 m/s,
      LOS rate: -0.320816 deg/s,
      cmd heading: 327.752365 deg,
      new cmd heading: 327.383998 deg.

2025-06-17T20:56:31.516Z,1750193791.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713929 target range: 18.133461 and range: 18.30 m.
2025-06-17T20:56:31.654Z,1750193791.654 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.487179
2025-06-17T20:56:31.905Z,1750193791.905 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.738612
2025-06-17T20:56:31.954Z,1750193791.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.13 m.
2025-06-17T20:56:31.969Z,1750193791.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.133461 m,
      nav range: 16.805273 m,
      bearing: 327.294561 deg,
      approach rate: -0.687059 m/s,
      LOS rate: -0.332721 deg/s,
      cmd heading: 327.383999 deg,
      new cmd heading: 326.942746 deg.

2025-06-17T20:56:31.970Z,1750193791.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706227 target range: 18.133461 and range: 18.30 m.
2025-06-17T20:56:32.157Z,1750193792.157 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.990524
2025-06-17T20:56:32.322Z,1750193792.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.13 m.
2025-06-17T20:56:32.325Z,1750193792.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.133461 m,
      nav range: 16.552530 m,
      bearing: 327.171910 deg,
      approach rate: -0.687414 m/s,
      LOS rate: -0.338682 deg/s,
      cmd heading: 326.942741 deg,
      new cmd heading: 326.569175 deg.

2025-06-17T20:56:32.326Z,1750193792.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699708 target range: 18.133461 and range: 18.30 m.
2025-06-17T20:56:32.377Z,1750193792.377 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:56:32.410Z,1750193792.410 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.243559
2025-06-17T20:56:32.661Z,1750193792.661 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.494674
2025-06-17T20:56:32.727Z,1750193792.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.13 m.
2025-06-17T20:56:32.732Z,1750193792.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.133461 m,
      nav range: 16.274765 m,
      bearing: 327.034371 deg,
      approach rate: -0.685319 m/s,
      LOS rate: -0.345134 deg/s,
      cmd heading: 326.569185 deg,
      new cmd heading: 326.149536 deg.

2025-06-17T20:56:32.734Z,1750193792.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692383 target range: 18.133461 and range: 18.30 m.
2025-06-17T20:56:32.914Z,1750193792.914 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.747467
2025-06-17T20:56:33.150Z,1750193793.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:33.152Z,1750193793.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.13 m.
2025-06-17T20:56:33.155Z,1750193793.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.133461 m,
      nav range: 15.988232 m,
      bearing: 326.896276 deg,
      approach rate: -0.674549 m/s,
      LOS rate: -0.330926 deg/s,
      cmd heading: 326.149538 deg,
      new cmd heading: 325.727836 deg.

2025-06-17T20:56:33.156Z,1750193793.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685023 target range: 18.133461 and range: 18.30 m.
2025-06-17T20:56:33.165Z,1750193793.165 [DAT](INFO): DAT read: Rx Time:20:56:32.9124

2025-06-17T20:56:33.165Z,1750193793.165 [DAT](INFO): Rx dataTimestamp_ set to:1750193793.165176
2025-06-17T20:56:33.166Z,1750193793.166 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.999769
2025-06-17T20:56:33.382Z,1750193793.382 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:56:33.417Z,1750193793.417 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.250521
2025-06-17T20:56:33.547Z,1750193793.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.13 m.
2025-06-17T20:56:33.550Z,1750193793.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.133461 m,
      nav range: 15.729386 m,
      bearing: 326.769303 deg,
      approach rate: -0.654167 m/s,
      LOS rate: -0.326174 deg/s,
      cmd heading: 325.727842 deg,
      new cmd heading: 325.340659 deg.

2025-06-17T20:56:33.551Z,1750193793.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678266 target range: 18.133461 and range: 18.30 m.
2025-06-17T20:56:33.696Z,1750193793.696 [DAT](INFO): DAT read: 20:56:32.9124 LVL= 22288, 26465, 16562, 29219, AGC= 61, IDX= 405,-0.23, 2.462, 1.193, 2.799, 2.206, PHS= 0.344,-0.966, 0.591, RAW= 158.5,   0.4, CAL= 160.7,  -8.3, ROT= 349.3,   8.3

2025-06-17T20:56:33.697Z,1750193793.697 [DAT](INFO): got valid direction response:
 20:56:32.9124 LVL= 22288, 26465, 16562, 29219, AGC= 61, IDX= 405,-0.23, 2.462, 1.193, 2.799, 2.206, PHS= 0.344,-0.966, 0.591, RAW= 158.5,   0.4, CAL= 160.7,  -8.3, ROT= 349.3,   8.3

2025-06-17T20:56:33.698Z,1750193793.698 [DAT](INFO): DAT read: Bearing 349.3,   8.3 (Local)

2025-06-17T20:56:33.698Z,1750193793.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.3,   8.3 (Local)

2025-06-17T20:56:33.706Z,1750193793.706 [DAT](INFO): DAT read: Range 10 to 50 : 15.8 m  (Round-trip  21.1 ms) speed  0.7 m/s

2025-06-17T20:56:33.706Z,1750193793.706 [DAT](INFO): DAT read: user:801>

2025-06-17T20:56:33.707Z,1750193793.707 [DAT](INFO): DAT read: Tx time:20:56:34.0371

2025-06-17T20:56:33.708Z,1750193793.708 [DAT](INFO): Ping request sent.
2025-06-17T20:56:33.708Z,1750193793.708 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:33.708Z,1750193793.708 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-17T20:56:33.709Z,1750193793.709 [DAT](INFO): direction in FSK: [0.972321,-0.183722,-0.144356]
2025-06-17T20:56:33.709Z,1750193793.709 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:33.710Z,1750193793.710 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:33.715Z,1750193793.715 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:33.724Z,1750193793.724 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:33.729Z,1750193793.729 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.021374
2025-06-17T20:56:33.925Z,1750193793.925 [DAT](INFO): DAT read: TxSync time:20:56:34.0363

2025-06-17T20:56:33.926Z,1750193793.926 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.218239
2025-06-17T20:56:34.015Z,1750193794.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 3.532260 s,
      deltaX: -2.499999 m,
      approachRate: -0.707762 m/s,
      rangeRepo size: 4

2025-06-17T20:56:34.023Z,1750193794.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.656212 m,
      bearing: 319.879311 deg,
      lat: 36.905972 deg,
      lon: -122.115779 deg,
      deltaT: 3.532260 s,
      deltaX: -2.477249 m,
      approachRate: -0.701321 m/s,
      posRepo size: 4

2025-06-17T20:56:34.028Z,1750193794.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.66 m.
2025-06-17T20:56:34.031Z,1750193794.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.656212 m,
      nav range: 15.301915 m,
      bearing: 323.572915 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.326174 deg/s,
      cmd heading: 325.340652 deg,
      new cmd heading: 324.883553 deg.

2025-06-17T20:56:34.036Z,1750193794.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670288 target range: 15.656212 and range: 15.80 m.
2025-06-17T20:56:34.177Z,1750193794.177 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.469296
2025-06-17T20:56:34.348Z,1750193794.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.66 m.
2025-06-17T20:56:34.375Z,1750193794.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.656212 m,
      nav range: 15.066878 m,
      bearing: 323.416848 deg,
      approach rate: -0.705821 m/s,
      LOS rate: -0.475983 deg/s,
      cmd heading: 324.883549 deg,
      new cmd heading: 324.408055 deg.

2025-06-17T20:56:34.400Z,1750193794.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661989 target range: 15.656212 and range: 15.80 m.
2025-06-17T20:56:34.429Z,1750193794.429 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.721225
2025-06-17T20:56:34.681Z,1750193794.681 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.973176
2025-06-17T20:56:34.770Z,1750193794.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.66 m.
2025-06-17T20:56:34.777Z,1750193794.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.656212 m,
      nav range: 14.794986 m,
      bearing: 323.234087 deg,
      approach rate: -0.643930 m/s,
      LOS rate: -0.440791 deg/s,
      cmd heading: 324.408058 deg,
      new cmd heading: 323.849718 deg.

2025-06-17T20:56:34.778Z,1750193794.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.652244 target range: 15.656212 and range: 15.80 m.
2025-06-17T20:56:34.933Z,1750193794.933 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.225089
2025-06-17T20:56:35.179Z,1750193795.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:35.182Z,1750193795.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.66 m.
2025-06-17T20:56:35.186Z,1750193795.186 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.478156
2025-06-17T20:56:35.197Z,1750193795.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.656212 m,
      nav range: 14.506304 m,
      bearing: 323.062023 deg,
      approach rate: -0.701146 m/s,
      LOS rate: -0.426222 deg/s,
      cmd heading: 323.849731 deg,
      new cmd heading: 323.323282 deg.

2025-06-17T20:56:35.198Z,1750193795.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.643056 target range: 15.656212 and range: 15.80 m.
2025-06-17T20:56:35.437Z,1750193795.437 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.729244
2025-06-17T20:56:35.586Z,1750193795.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.66 m.
2025-06-17T20:56:35.596Z,1750193795.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.656212 m,
      nav range: 14.245758 m,
      bearing: 322.903928 deg,
      approach rate: -0.644738 m/s,
      LOS rate: -0.398371 deg/s,
      cmd heading: 323.323288 deg,
      new cmd heading: 322.840340 deg.

2025-06-17T20:56:35.598Z,1750193795.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.634627 target range: 15.656212 and range: 15.80 m.
2025-06-17T20:56:35.689Z,1750193795.689 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.981253
2025-06-17T20:56:35.941Z,1750193795.941 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.233405
2025-06-17T20:56:35.998Z,1750193795.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.66 m.
2025-06-17T20:56:36.005Z,1750193796.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.656212 m,
      nav range: 13.973058 m,
      bearing: 322.731521 deg,
      approach rate: -0.661687 m/s,
      LOS rate: -0.426497 deg/s,
      cmd heading: 322.840339 deg,
      new cmd heading: 322.313039 deg.

2025-06-17T20:56:36.006Z,1750193796.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625424 target range: 15.656212 and range: 15.80 m.
2025-06-17T20:56:36.193Z,1750193796.193 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.485189
2025-06-17T20:56:36.363Z,1750193796.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.66 m.
2025-06-17T20:56:36.366Z,1750193796.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.656212 m,
      nav range: 13.715023 m,
      bearing: 322.569056 deg,
      approach rate: -0.706879 m/s,
      LOS rate: -0.453440 deg/s,
      cmd heading: 322.313048 deg,
      new cmd heading: 321.816497 deg.

2025-06-17T20:56:36.367Z,1750193796.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616757 target range: 15.656212 and range: 15.80 m.
2025-06-17T20:56:36.446Z,1750193796.446 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.738062
2025-06-17T20:56:36.697Z,1750193796.697 [DAT](INFO): DAT read: Rx Time:20:56:36.4592

2025-06-17T20:56:36.697Z,1750193796.697 [DAT](INFO): Rx dataTimestamp_ set to:1750193796.697007
2025-06-17T20:56:36.698Z,1750193796.698 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.990202
2025-06-17T20:56:36.798Z,1750193796.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.66 m.
2025-06-17T20:56:36.805Z,1750193796.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.656212 m,
      nav range: 13.428970 m,
      bearing: 322.390089 deg,
      approach rate: -0.656827 m/s,
      LOS rate: -0.419692 deg/s,
      cmd heading: 321.816493 deg,
      new cmd heading: 321.268173 deg.

2025-06-17T20:56:36.806Z,1750193796.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607187 target range: 15.656212 and range: 15.80 m.
2025-06-17T20:56:36.949Z,1750193796.949 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.241219
2025-06-17T20:56:37.204Z,1750193797.204 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.496210
2025-06-17T20:56:37.274Z,1750193797.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:37.283Z,1750193797.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.66 m.
2025-06-17T20:56:37.296Z,1750193797.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.656212 m,
      nav range: 13.113349 m,
      bearing: 322.187804 deg,
      approach rate: -0.651470 m/s,
      LOS rate: -0.427582 deg/s,
      cmd heading: 321.268166 deg,
      new cmd heading: 320.646730 deg.

2025-06-17T20:56:37.298Z,1750193797.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596341 target range: 15.656212 and range: 15.80 m.
2025-06-17T20:56:37.459Z,1750193797.459 [DAT](INFO): DAT read: 20:56:36.4592 LVL= 22128, 26993, 16306, 30563, AGC= 59, IDX= 404,-0.41, 2.226, 0.939, 2.536, 1.953, PHS= 0.361,-0.967, 0.581, RAW= 157.5,   0.4, CAL= 159.8,  -8.4, ROT= 350.2,   8.4

2025-06-17T20:56:37.460Z,1750193797.460 [DAT](INFO): got valid direction response:
 20:56:36.4592 LVL= 22128, 26993, 16306, 30563, AGC= 59, IDX= 404,-0.41, 2.226, 0.939, 2.536, 1.953, PHS= 0.361,-0.967, 0.581, RAW= 157.5,   0.4, CAL= 159.8,  -8.4, ROT= 350.2,   8.4

2025-06-17T20:56:37.461Z,1750193797.461 [DAT](INFO): DAT read: Bearing 350.2,   8.4 (Local)

2025-06-17T20:56:37.461Z,1750193797.461 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.2,   8.4 (Local)

2025-06-17T20:56:37.463Z,1750193797.463 [DAT](INFO): DAT read: Range 10 to 50 : 13.4 m  (Round-trip  17.9 ms) speed  0.7 m/s

2025-06-17T20:56:37.464Z,1750193797.464 [DAT](INFO): DAT read: user:802>

2025-06-17T20:56:37.465Z,1750193797.465 [DAT](INFO): DAT read: Tx time:20:56:37.5372

2025-06-17T20:56:37.465Z,1750193797.465 [DAT](INFO): Ping request sent.
2025-06-17T20:56:37.465Z,1750193797.465 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:37.466Z,1750193797.466 [DAT](INFO): DAT read: TxSync time:20:56:37.5364

2025-06-17T20:56:37.466Z,1750193797.466 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-17T20:56:37.467Z,1750193797.467 [DAT](INFO): direction in FSK: [0.974837,-0.168384,-0.146083]
2025-06-17T20:56:37.468Z,1750193797.468 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:37.468Z,1750193797.468 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:37.471Z,1750193797.471 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:37.471Z,1750193797.471 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:37.474Z,1750193797.474 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.009370
2025-06-17T20:56:37.641Z,1750193797.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 3.777744 s,
      deltaX: -2.400001 m,
      approachRate: -0.635300 m/s,
      rangeRepo size: 4

2025-06-17T20:56:37.643Z,1750193797.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.278061 m,
      bearing: 317.934406 deg,
      lat: 36.905971 deg,
      lon: -122.115785 deg,
      deltaT: 3.777744 s,
      deltaX: -2.378151 m,
      approachRate: -0.629516 m/s,
      posRepo size: 4

2025-06-17T20:56:37.643Z,1750193797.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.28 m.
2025-06-17T20:56:37.654Z,1750193797.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.278061 m,
      nav range: 13.082927 m,
      bearing: 319.876213 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.427582 deg/s,
      cmd heading: 320.646728 deg,
      new cmd heading: 320.194186 deg.

2025-06-17T20:56:37.655Z,1750193797.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588443 target range: 13.278061 and range: 13.40 m.
2025-06-17T20:56:37.705Z,1750193797.705 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.239857
2025-06-17T20:56:37.957Z,1750193797.957 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.491679
2025-06-17T20:56:38.035Z,1750193798.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.28 m.
2025-06-17T20:56:38.042Z,1750193798.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.278061 m,
      nav range: 12.806516 m,
      bearing: 319.643607 deg,
      approach rate: -0.691951 m/s,
      LOS rate: -0.594859 deg/s,
      cmd heading: 320.194187 deg,
      new cmd heading: 319.481346 deg.

2025-06-17T20:56:38.043Z,1750193798.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576001 target range: 13.278061 and range: 13.40 m.
2025-06-17T20:56:38.209Z,1750193798.209 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.743803
2025-06-17T20:56:38.397Z,1750193798.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.28 m.
2025-06-17T20:56:38.409Z,1750193798.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.278061 m,
      nav range: 12.558949 m,
      bearing: 319.437534 deg,
      approach rate: -0.684399 m/s,
      LOS rate: -0.580919 deg/s,
      cmd heading: 319.481333 deg,
      new cmd heading: 318.850955 deg.

2025-06-17T20:56:38.411Z,1750193798.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.564999 target range: 13.278061 and range: 13.40 m.
2025-06-17T20:56:38.461Z,1750193798.461 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.995877
2025-06-17T20:56:38.713Z,1750193798.713 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.247676
2025-06-17T20:56:38.802Z,1750193798.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.28 m.
2025-06-17T20:56:38.805Z,1750193798.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.278061 m,
      nav range: 12.286004 m,
      bearing: 319.214764 deg,
      approach rate: -0.673854 m/s,
      LOS rate: -0.562198 deg/s,
      cmd heading: 318.850962 deg,
      new cmd heading: 318.167838 deg.

2025-06-17T20:56:38.806Z,1750193798.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553076 target range: 13.278061 and range: 13.40 m.
2025-06-17T20:56:38.965Z,1750193798.965 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.499810
2025-06-17T20:56:39.217Z,1750193799.217 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.751824
2025-06-17T20:56:39.233Z,1750193799.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.28 m.
2025-06-17T20:56:39.235Z,1750193799.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.278061 m,
      nav range: 12.001637 m,
      bearing: 318.958137 deg,
      approach rate: -0.660060 m/s,
      LOS rate: -0.609780 deg/s,
      cmd heading: 318.167833 deg,
      new cmd heading: 317.379765 deg.

2025-06-17T20:56:39.257Z,1750193799.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539322 target range: 13.278061 and range: 13.40 m.
2025-06-17T20:56:39.470Z,1750193799.470 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.004401
2025-06-17T20:56:39.619Z,1750193799.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:39.625Z,1750193799.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.28 m.
2025-06-17T20:56:39.632Z,1750193799.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.278061 m,
      nav range: 11.752567 m,
      bearing: 318.733314 deg,
      approach rate: -0.634969 m/s,
      LOS rate: -0.585304 deg/s,
      cmd heading: 317.379766 deg,
      new cmd heading: 316.691036 deg.

2025-06-17T20:56:39.633Z,1750193799.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527301 target range: 13.278061 and range: 13.40 m.
2025-06-17T20:56:39.722Z,1750193799.722 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.256217
2025-06-17T20:56:39.973Z,1750193799.973 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.507767
2025-06-17T20:56:40.064Z,1750193800.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.28 m.
2025-06-17T20:56:40.067Z,1750193800.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.278061 m,
      nav range: 11.468382 m,
      bearing: 318.463337 deg,
      approach rate: -0.653479 m/s,
      LOS rate: -0.636186 deg/s,
      cmd heading: 316.691037 deg,
      new cmd heading: 315.861100 deg.

2025-06-17T20:56:40.072Z,1750193800.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512816 target range: 13.278061 and range: 13.40 m.
2025-06-17T20:56:40.226Z,1750193800.226 [DAT](INFO): DAT read: Rx Time:20:56:39.9561

2025-06-17T20:56:40.226Z,1750193800.226 [DAT](INFO): Rx dataTimestamp_ set to:1750193800.226107
2025-06-17T20:56:40.227Z,1750193800.227 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.761868
2025-06-17T20:56:40.477Z,1750193800.477 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.011605
2025-06-17T20:56:40.499Z,1750193800.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.28 m.
2025-06-17T20:56:40.518Z,1750193800.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.278061 m,
      nav range: 11.176748 m,
      bearing: 318.186799 deg,
      approach rate: -0.664366 m/s,
      LOS rate: -0.646414 deg/s,
      cmd heading: 315.861087 deg,
      new cmd heading: 315.009891 deg.

2025-06-17T20:56:40.519Z,1750193800.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497960 target range: 13.278061 and range: 13.40 m.
2025-06-17T20:56:40.744Z,1750193800.744 [DAT](INFO): DAT read: 20:56:39.9561 LVL= 20976, 32753, 16114, 32755, AGC= 56, IDX= 403, 0.21, 2.361, 0.995, 2.517, 2.052, PHS= 0.397,-1.010, 0.462, RAW= 152.2,   2.1, CAL= 154.6,  -6.8, ROT= 355.4,   6.8

2025-06-17T20:56:40.746Z,1750193800.746 [DAT](INFO): got valid direction response:
 20:56:39.9561 LVL= 20976, 32753, 16114, 32755, AGC= 56, IDX= 403, 0.21, 2.361, 0.995, 2.517, 2.052, PHS= 0.397,-1.010, 0.462, RAW= 152.2,   2.1, CAL= 154.6,  -6.8, ROT= 355.4,   6.8

2025-06-17T20:56:40.747Z,1750193800.747 [DAT](INFO): DAT read: Bearing 355.4,   6.8 (Local)

2025-06-17T20:56:40.748Z,1750193800.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.4,   6.8 (Local)

2025-06-17T20:56:40.750Z,1750193800.750 [DAT](INFO): DAT read: Range 10 to 50 : 11.1 m  (Round-trip  14.8 ms) speed  0.5 m/s

2025-06-17T20:56:40.751Z,1750193800.751 [DAT](INFO): DAT read: user:803>

2025-06-17T20:56:40.753Z,1750193800.753 [DAT](INFO): DAT read: Tx time:20:56:41.0372

2025-06-17T20:56:40.753Z,1750193800.753 [DAT](INFO): Ping request sent.
2025-06-17T20:56:40.753Z,1750193800.753 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:40.754Z,1750193800.754 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-17T20:56:40.755Z,1750193800.755 [DAT](INFO): direction in FSK: [0.989767,-0.079635,-0.118404]
2025-06-17T20:56:40.757Z,1750193800.757 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:40.757Z,1750193800.757 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:40.801Z,1750193800.801 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:40.801Z,1750193800.801 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:40.809Z,1750193800.809 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.055476
2025-06-17T20:56:40.981Z,1750193800.981 [DAT](INFO): DAT read: TxSync time:20:56:41.0364

2025-06-17T20:56:40.982Z,1750193800.982 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.228440
2025-06-17T20:56:41.002Z,1750193801.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 3.278092 s,
      deltaX: -2.299999 m,
      approachRate: -0.701627 m/s,
      rangeRepo size: 4

2025-06-17T20:56:41.009Z,1750193801.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.998992 m,
      bearing: 318.596962 deg,
      lat: 36.905971 deg,
      lon: -122.115785 deg,
      deltaT: 3.278092 s,
      deltaX: -2.279069 m,
      approachRate: -0.695243 m/s,
      posRepo size: 4

2025-06-17T20:56:41.009Z,1750193801.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-06-17T20:56:41.016Z,1750193801.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.998992 m,
      nav range: 10.901786 m,
      bearing: 317.927746 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.646414 deg/s,
      cmd heading: 315.009882 deg,
      new cmd heading: 314.035090 deg.

2025-06-17T20:56:41.017Z,1750193801.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480946 target range: 10.998992 and range: 11.10 m.
2025-06-17T20:56:41.234Z,1750193801.234 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.480086
2025-06-17T20:56:41.466Z,1750193801.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-06-17T20:56:41.473Z,1750193801.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.998992 m,
      nav range: 10.553149 m,
      bearing: 317.575724 deg,
      approach rate: -0.750689 m/s,
      LOS rate: -0.783014 deg/s,
      cmd heading: 314.035077 deg,
      new cmd heading: 312.944262 deg.

2025-06-17T20:56:41.474Z,1750193801.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461908 target range: 10.998992 and range: 11.10 m.
2025-06-17T20:56:41.485Z,1750193801.485 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.731583
2025-06-17T20:56:41.738Z,1750193801.738 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.983721
2025-06-17T20:56:41.862Z,1750193801.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:41.864Z,1750193801.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-06-17T20:56:41.867Z,1750193801.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.998992 m,
      nav range: 10.298275 m,
      bearing: 317.303008 deg,
      approach rate: -0.640452 m/s,
      LOS rate: -0.702244 deg/s,
      cmd heading: 312.944269 deg,
      new cmd heading: 312.105933 deg.

2025-06-17T20:56:41.868Z,1750193801.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447276 target range: 10.998992 and range: 11.10 m.
2025-06-17T20:56:41.989Z,1750193801.989 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.235482
2025-06-17T20:56:42.241Z,1750193802.241 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.487462
2025-06-17T20:56:42.246Z,1750193802.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-06-17T20:56:42.249Z,1750193802.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.998992 m,
      nav range: 10.039739 m,
      bearing: 317.042971 deg,
      approach rate: -0.675870 m/s,
      LOS rate: -0.697296 deg/s,
      cmd heading: 312.105931 deg,
      new cmd heading: 311.305786 deg.

2025-06-17T20:56:42.250Z,1750193802.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.433311 target range: 10.998992 and range: 11.10 m.
2025-06-17T20:56:42.493Z,1750193802.493 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.739317
2025-06-17T20:56:42.636Z,1750193802.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-06-17T20:56:42.639Z,1750193802.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.998992 m,
      nav range: 9.782824 m,
      bearing: 316.784033 deg,
      approach rate: -0.660109 m/s,
      LOS rate: -0.682774 deg/s,
      cmd heading: 311.305788 deg,
      new cmd heading: 310.508630 deg.

2025-06-17T20:56:42.640Z,1750193802.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.419398 target range: 10.998992 and range: 11.10 m.
2025-06-17T20:56:42.746Z,1750193802.746 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.992691
2025-06-17T20:56:42.999Z,1750193802.999 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.245213
2025-06-17T20:56:43.065Z,1750193803.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-06-17T20:56:43.068Z,1750193803.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.998992 m,
      nav range: 9.505160 m,
      bearing: 316.480603 deg,
      approach rate: -0.646692 m/s,
      LOS rate: -0.727346 deg/s,
      cmd heading: 310.508623 deg,
      new cmd heading: 309.571829 deg.

2025-06-17T20:56:43.069Z,1750193803.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.403048 target range: 10.998992 and range: 11.10 m.
2025-06-17T20:56:43.249Z,1750193803.249 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.495838
2025-06-17T20:56:43.453Z,1750193803.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-06-17T20:56:43.456Z,1750193803.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.998992 m,
      nav range: 9.253770 m,
      bearing: 316.205154 deg,
      approach rate: -0.647485 m/s,
      LOS rate: -0.728721 deg/s,
      cmd heading: 309.571822 deg,
      new cmd heading: 308.723091 deg.

2025-06-17T20:56:43.457Z,1750193803.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.388235 target range: 10.998992 and range: 11.10 m.
2025-06-17T20:56:43.502Z,1750193803.502 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.748412
2025-06-17T20:56:43.754Z,1750193803.754 [DAT](INFO): DAT read: Rx Time:20:56:43.4531

2025-06-17T20:56:43.754Z,1750193803.754 [DAT](INFO): Rx dataTimestamp_ set to:1750193803.753737
2025-06-17T20:56:43.755Z,1750193803.755 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.001438
2025-06-17T20:56:43.860Z,1750193803.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-06-17T20:56:43.863Z,1750193803.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.998992 m,
      nav range: 8.997973 m,
      bearing: 315.926442 deg,
      approach rate: -0.635219 m/s,
      LOS rate: -0.711800 deg/s,
      cmd heading: 308.723102 deg,
      new cmd heading: 307.863263 deg.

2025-06-17T20:56:43.868Z,1750193803.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.373228 target range: 10.998992 and range: 11.10 m.
2025-06-17T20:56:44.005Z,1750193804.005 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.251334
2025-06-17T20:56:44.263Z,1750193804.263 [DAT](INFO): DAT read: 20:56:43.4531 LVL= 21568, 32753, 19330, 32755, AGC= 55, IDX= 405,-0.22,-0.277,-1.638,-0.367,-0.587, PHS= 0.399,-1.004, 0.218, RAW= 143.2,   5.9, CAL= 146.1,  -2.3, ROT=   3.9,   2.3

2025-06-17T20:56:44.264Z,1750193804.264 [DAT](INFO): got valid direction response:
 20:56:43.4531 LVL= 21568, 32753, 19330, 32755, AGC= 55, IDX= 405,-0.22,-0.277,-1.638,-0.367,-0.587, PHS= 0.399,-1.004, 0.218, RAW= 143.2,   5.9, CAL= 146.1,  -2.3, ROT=   3.9,   2.3

2025-06-17T20:56:44.265Z,1750193804.265 [DAT](INFO): DAT read: Bearing   3.9,   2.3 (Local)

2025-06-17T20:56:44.265Z,1750193804.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.9,   2.3 (Local)

2025-06-17T20:56:44.267Z,1750193804.267 [DAT](INFO): DAT read: Range 10 to 50 : 8.8 m  (Round-trip  11.8 ms) speed  0.6 m/s

2025-06-17T20:56:44.268Z,1750193804.268 [DAT](INFO): DAT read: user:804>

2025-06-17T20:56:44.268Z,1750193804.268 [DAT](INFO): DAT read: Tx time:20:56:44.5372

2025-06-17T20:56:44.269Z,1750193804.269 [DAT](INFO): Ping request sent.
2025-06-17T20:56:44.269Z,1750193804.269 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:44.269Z,1750193804.269 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-17T20:56:44.270Z,1750193804.270 [DAT](INFO): direction in FSK: [0.996881,0.067960,-0.040132]
2025-06-17T20:56:44.270Z,1750193804.270 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:44.271Z,1750193804.271 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:44.278Z,1750193804.278 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:44.278Z,1750193804.278 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:44.285Z,1750193804.285 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.016634
2025-06-17T20:56:44.421Z,1750193804.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.800000 m,
      deltaT: 3.526083 s,
      deltaX: -2.300000 m,
      approachRate: -0.652282 m/s,
      rangeRepo size: 4

2025-06-17T20:56:44.423Z,1750193804.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.719923 m,
      bearing: 321.668891 deg,
      lat: 36.905971 deg,
      lon: -122.115785 deg,
      deltaT: 3.526083 s,
      deltaX: -2.279069 m,
      approachRate: -0.646346 m/s,
      posRepo size: 4

2025-06-17T20:56:44.423Z,1750193804.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.72 m.
2025-06-17T20:56:44.437Z,1750193804.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 8.80 m.
2025-06-17T20:56:44.437Z,1750193804.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-17T20:56:44.444Z,1750193804.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 8.666888 m,
      bearing: 315.607730 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.711800 deg/s,
      cmd heading: 307.863264 deg,
      new cmd heading: 306.685099 deg.

2025-06-17T20:56:44.445Z,1750193804.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.352665 target range: 8.719923 and range: 8.80 m.
2025-06-17T20:56:44.510Z,1750193804.510 [DAT](INFO): DAT read: TxSync time:20:56:44.5364

2025-06-17T20:56:44.511Z,1750193804.511 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.242057
2025-06-17T20:56:44.761Z,1750193804.761 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.492478
2025-06-17T20:56:44.777Z,1750193804.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:44.784Z,1750193804.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:44.786Z,1750193804.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 8.405058 m,
      bearing: 315.356835 deg,
      approach rate: -0.704724 m/s,
      LOS rate: -0.696326 deg/s,
      cmd heading: 306.685111 deg,
      new cmd heading: 305.909028 deg.

2025-06-17T20:56:44.787Z,1750193804.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339120 target range: 8.719923 and range: 8.80 m.
2025-06-17T20:56:45.015Z,1750193805.015 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.745857
2025-06-17T20:56:45.165Z,1750193805.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:45.168Z,1750193805.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 8.141787 m,
      bearing: 315.126856 deg,
      approach rate: -0.682843 m/s,
      LOS rate: -0.615778 deg/s,
      cmd heading: 305.909037 deg,
      new cmd heading: 305.196831 deg.

2025-06-17T20:56:45.170Z,1750193805.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326690 target range: 8.719923 and range: 8.80 m.
2025-06-17T20:56:45.265Z,1750193805.265 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.996154
2025-06-17T20:56:45.517Z,1750193805.517 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.247970
2025-06-17T20:56:45.563Z,1750193805.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:45.566Z,1750193805.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 7.881138 m,
      bearing: 314.905598 deg,
      approach rate: -0.655115 m/s,
      LOS rate: -0.574502 deg/s,
      cmd heading: 305.196840 deg,
      new cmd heading: 304.511146 deg.

2025-06-17T20:56:45.567Z,1750193805.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314722 target range: 8.719923 and range: 8.80 m.
2025-06-17T20:56:45.769Z,1750193805.769 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.500153
2025-06-17T20:56:45.953Z,1750193805.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:45.956Z,1750193805.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 7.628426 m,
      bearing: 314.701726 deg,
      approach rate: -0.647456 m/s,
      LOS rate: -0.539629 deg/s,
      cmd heading: 304.511143 deg,
      new cmd heading: 303.879293 deg.

2025-06-17T20:56:45.957Z,1750193805.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303694 target range: 8.719923 and range: 8.80 m.
2025-06-17T20:56:46.024Z,1750193806.024 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.754227
2025-06-17T20:56:46.273Z,1750193806.273 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.003969
2025-06-17T20:56:46.383Z,1750193806.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:46.386Z,1750193806.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 7.340459 m,
      bearing: 314.470136 deg,
      approach rate: -0.669806 m/s,
      LOS rate: -0.559804 deg/s,
      cmd heading: 303.879296 deg,
      new cmd heading: 303.157312 deg.

2025-06-17T20:56:46.387Z,1750193806.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291093 target range: 8.719923 and range: 8.80 m.
2025-06-17T20:56:46.525Z,1750193806.525 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.255953
2025-06-17T20:56:46.777Z,1750193806.777 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.508135
2025-06-17T20:56:46.783Z,1750193806.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:46.786Z,1750193806.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:46.789Z,1750193806.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 7.075142 m,
      bearing: 314.239978 deg,
      approach rate: -0.658991 m/s,
      LOS rate: -0.593101 deg/s,
      cmd heading: 303.157318 deg,
      new cmd heading: 302.440989 deg.

2025-06-17T20:56:46.790Z,1750193806.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278591 target range: 8.719923 and range: 8.80 m.
2025-06-17T20:56:47.031Z,1750193807.031 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.762166
2025-06-17T20:56:47.195Z,1750193807.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:47.198Z,1750193807.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 6.806704 m,
      bearing: 314.089670 deg,
      approach rate: -0.656507 m/s,
      LOS rate: -0.382099 deg/s,
      cmd heading: 302.440995 deg,
      new cmd heading: 301.972299 deg.

2025-06-17T20:56:47.199Z,1750193807.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.270411 target range: 8.719923 and range: 8.80 m.
2025-06-17T20:56:47.281Z,1750193807.281 [DAT](INFO): DAT read: Rx Time:20:56:46.9501

2025-06-17T20:56:47.282Z,1750193807.282 [DAT](INFO): Rx dataTimestamp_ set to:1750193807.281495
2025-06-17T20:56:47.282Z,1750193807.282 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.013546
2025-06-17T20:56:47.533Z,1750193807.533 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.264004
2025-06-17T20:56:47.585Z,1750193807.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:47.588Z,1750193807.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 6.551981 m,
      bearing: 313.967781 deg,
      approach rate: -0.652772 m/s,
      LOS rate: -0.324504 deg/s,
      cmd heading: 301.972307 deg,
      new cmd heading: 301.592432 deg.

2025-06-17T20:56:47.589Z,1750193807.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.263781 target range: 8.719923 and range: 8.80 m.
2025-06-17T20:56:47.791Z,1750193807.791 [DAT](INFO): DAT read: 20:56:46.9501 LVL= 32752, 32753, 22898, 32755, AGC= 54, IDX= 406,-0.07,-0.059,-1.519,-0.367,-0.340, PHS= 0.369,-1.132,-0.030, RAW= 135.1,  11.8, CAL= 139.5,   5.8, ROT=  10.5,  -5.8

2025-06-17T20:56:47.792Z,1750193807.792 [DAT](INFO): got valid direction response:
 20:56:46.9501 LVL= 32752, 32753, 22898, 32755, AGC= 54, IDX= 406,-0.07,-0.059,-1.519,-0.367,-0.340, PHS= 0.369,-1.132,-0.030, RAW= 135.1,  11.8, CAL= 139.5,   5.8, ROT=  10.5,  -5.8

2025-06-17T20:56:47.794Z,1750193807.794 [DAT](INFO): DAT read: Bearing  10.5,  -5.8 (Local)

2025-06-17T20:56:47.794Z,1750193807.794 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.5,  -5.8 (Local)

2025-06-17T20:56:47.797Z,1750193807.797 [DAT](INFO): DAT read: Range 10 to 50 : 6.5 m  (Round-trip  8.7 ms) speed  0.5 m/s

2025-06-17T20:56:47.798Z,1750193807.798 [DAT](INFO): DAT read: user:805>

2025-06-17T20:56:47.799Z,1750193807.799 [DAT](INFO): DAT read: Tx time:20:56:48.0373

2025-06-17T20:56:47.800Z,1750193807.800 [DAT](INFO): Ping request sent.
2025-06-17T20:56:47.800Z,1750193807.800 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:47.800Z,1750193807.800 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-17T20:56:47.801Z,1750193807.801 [DAT](INFO): direction in FSK: [0.978221,0.181303,0.101056]
2025-06-17T20:56:47.802Z,1750193807.802 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:47.802Z,1750193807.802 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:47.826Z,1750193807.826 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:47.826Z,1750193807.826 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:47.838Z,1750193807.838 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.037825
2025-06-17T20:56:48.025Z,1750193808.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 3.528357 s,
      deltaX: -2.300000 m,
      approachRate: -0.651862 m/s,
      rangeRepo size: 4

2025-06-17T20:56:48.040Z,1750193808.040 [DAT](INFO): DAT read: TxSync time:20:56:48.0365

2025-06-17T20:56:48.042Z,1750193808.042 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.242128
2025-06-17T20:56:48.050Z,1750193808.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.440850 m,
      bearing: 321.488781 deg,
      lat: 36.905972 deg,
      lon: -122.115784 deg,
      deltaT: 3.528357 s,
      deltaX: -2.279073 m,
      approachRate: -0.645930 m/s,
      posRepo size: 4

2025-06-17T20:56:48.058Z,1750193808.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.44 m. 8.72 m.
2025-06-17T20:56:48.065Z,1750193808.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 6.298225 m,
      bearing: 313.869295 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.711800 deg/s,
      cmd heading: 301.592440 deg,
      new cmd heading: 300.669203 deg.

2025-06-17T20:56:48.066Z,1750193808.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.247667 target range: 8.719923 and range: 6.50 m.
2025-06-17T20:56:48.289Z,1750193808.289 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.488843
2025-06-17T20:56:48.406Z,1750193808.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:48.425Z,1750193808.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 6.016886 m,
      bearing: 313.785903 deg,
      approach rate: -0.723049 m/s,
      LOS rate: -0.224339 deg/s,
      cmd heading: 300.669189 deg,
      new cmd heading: 300.407319 deg.

2025-06-17T20:56:48.426Z,1750193808.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.243097 target range: 8.719923 and range: 6.50 m.
2025-06-17T20:56:48.541Z,1750193808.541 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.740845
2025-06-17T20:56:48.790Z,1750193808.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:48.797Z,1750193808.797 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.996609
2025-06-17T20:56:48.799Z,1750193808.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:48.802Z,1750193808.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 5.758924 m,
      bearing: 313.742267 deg,
      approach rate: -0.656835 m/s,
      LOS rate: -0.116085 deg/s,
      cmd heading: 300.407320 deg,
      new cmd heading: 300.270549 deg.

2025-06-17T20:56:48.803Z,1750193808.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.240710 target range: 8.719923 and range: 6.50 m.
2025-06-17T20:56:49.047Z,1750193809.047 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.246607
2025-06-17T20:56:49.209Z,1750193809.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:49.212Z,1750193809.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 5.485329 m,
      bearing: 313.731923 deg,
      approach rate: -0.667199 m/s,
      LOS rate: -0.026484 deg/s,
      cmd heading: 300.270552 deg,
      new cmd heading: 300.237972 deg.

2025-06-17T20:56:49.213Z,1750193809.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.240141 target range: 8.719923 and range: 6.50 m.
2025-06-17T20:56:49.298Z,1750193809.298 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.497505
2025-06-17T20:56:49.549Z,1750193809.549 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.748990
2025-06-17T20:56:49.612Z,1750193809.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:49.615Z,1750193809.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 5.228282 m,
      bearing: 313.762486 deg,
      approach rate: -0.658298 m/s,
      LOS rate: 0.082122 deg/s,
      cmd heading: 300.237958 deg,
      new cmd heading: 300.334157 deg.

2025-06-17T20:56:49.615Z,1750193809.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241820 target range: 8.719923 and range: 6.50 m.
2025-06-17T20:56:49.801Z,1750193809.801 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.000797
2025-06-17T20:56:50.005Z,1750193810.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:50.007Z,1750193810.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 4.965189 m,
      bearing: 313.831647 deg,
      approach rate: -0.653409 m/s,
      LOS rate: 0.180865 deg/s,
      cmd heading: 300.334155 deg,
      new cmd heading: 300.552629 deg.

2025-06-17T20:56:50.009Z,1750193810.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.245633 target range: 8.719923 and range: 6.50 m.
2025-06-17T20:56:50.057Z,1750193810.057 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.256168
2025-06-17T20:56:50.305Z,1750193810.305 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.504764
2025-06-17T20:56:50.424Z,1750193810.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:50.427Z,1750193810.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 4.694295 m,
      bearing: 313.980952 deg,
      approach rate: -0.642603 m/s,
      LOS rate: 0.374615 deg/s,
      cmd heading: 300.552639 deg,
      new cmd heading: 301.026392 deg.

2025-06-17T20:56:50.428Z,1750193810.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.253901 target range: 8.719923 and range: 6.50 m.
2025-06-17T20:56:50.557Z,1750193810.557 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.756933
2025-06-17T20:56:50.810Z,1750193810.810 [DAT](INFO): DAT read: Rx Time:20:56:50.4470

2025-06-17T20:56:50.811Z,1750193810.811 [DAT](INFO): Rx dataTimestamp_ set to:1750193810.810020
2025-06-17T20:56:50.812Z,1750193810.812 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.011472
2025-06-17T20:56:50.822Z,1750193810.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:50.826Z,1750193810.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:50.830Z,1750193810.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 4.445060 m,
      bearing: 314.171775 deg,
      approach rate: -0.620289 m/s,
      LOS rate: 0.501541 deg/s,
      cmd heading: 301.026381 deg,
      new cmd heading: 301.630924 deg.

2025-06-17T20:56:50.833Z,1750193810.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.264453 target range: 8.719923 and range: 6.50 m.
2025-06-17T20:56:51.065Z,1750193811.065 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.264297
2025-06-17T20:56:51.293Z,1750193811.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:51.300Z,1750193811.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 4.159479 m,
      bearing: 314.459996 deg,
      approach rate: -0.611379 m/s,
      LOS rate: 0.659390 deg/s,
      cmd heading: 301.630935 deg,
      new cmd heading: 302.554877 deg.

2025-06-17T20:56:51.301Z,1750193811.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280579 target range: 8.719923 and range: 6.50 m.
2025-06-17T20:56:51.319Z,1750193811.319 [DAT](INFO): DAT read: 20:56:50.4470 LVL= 12352, 31217, 18098, 28195, AGC= 49, IDX= 406,-0.30,-0.065,-1.802,-0.913,-0.837, PHS= 0.859,-0.919,-0.079, RAW= 118.2,   1.8, CAL= 127.0,  -4.0, ROT=  23.0,   4.0

2025-06-17T20:56:51.321Z,1750193811.321 [DAT](INFO): got valid direction response:
 20:56:50.4470 LVL= 12352, 31217, 18098, 28195, AGC= 49, IDX= 406,-0.30,-0.065,-1.802,-0.913,-0.837, PHS= 0.859,-0.919,-0.079, RAW= 118.2,   1.8, CAL= 127.0,  -4.0, ROT=  23.0,   4.0

2025-06-17T20:56:51.322Z,1750193811.322 [DAT](INFO): DAT read: Bearing  23.0,   4.0 (Local)

2025-06-17T20:56:51.322Z,1750193811.322 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.0,   4.0 (Local)

2025-06-17T20:56:51.323Z,1750193811.323 [DAT](INFO): DAT read: Range 10 to 50 : 4.2 m  (Round-trip  5.6 ms) speed  0.5 m/s

2025-06-17T20:56:51.324Z,1750193811.324 [DAT](INFO): DAT read: user:806>

2025-06-17T20:56:51.325Z,1750193811.325 [DAT](INFO): DAT read: Tx time:20:56:51.5373

2025-06-17T20:56:51.325Z,1750193811.325 [DAT](INFO): Ping request sent.
2025-06-17T20:56:51.325Z,1750193811.325 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:51.326Z,1750193811.326 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-17T20:56:51.327Z,1750193811.327 [DAT](INFO): direction in FSK: [0.918263,0.389779,-0.069756]
2025-06-17T20:56:51.327Z,1750193811.327 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:51.327Z,1750193811.327 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:51.347Z,1750193811.347 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:51.348Z,1750193811.348 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:51.367Z,1750193811.367 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.041650
2025-06-17T20:56:51.565Z,1750193811.565 [DAT](INFO): DAT read: TxSync time:20:56:51.5365

2025-06-17T20:56:51.566Z,1750193811.566 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.240315
2025-06-17T20:56:51.659Z,1750193811.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 3.527643 s,
      deltaX: -2.300000 m,
      approachRate: -0.651993 m/s,
      rangeRepo size: 4

2025-06-17T20:56:51.665Z,1750193811.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.161781 m,
      bearing: 326.790175 deg,
      lat: 36.905976 deg,
      lon: -122.115779 deg,
      deltaT: 7.056000 s,
      deltaX: -4.558142 m,
      approachRate: -0.645995 m/s,
      posRepo size: 4

2025-06-17T20:56:51.666Z,1750193811.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.16 m. 8.72 m.
2025-06-17T20:56:51.673Z,1750193811.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 3.924804 m,
      bearing: 314.763025 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.711800 deg/s,
      cmd heading: 302.554868 deg,
      new cmd heading: 301.773448 deg.

2025-06-17T20:56:51.674Z,1750193811.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.266940 target range: 8.719923 and range: 4.20 m.
2025-06-17T20:56:51.818Z,1750193811.818 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.491743
2025-06-17T20:56:52.011Z,1750193812.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:52.013Z,1750193812.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 3.694150 m,
      bearing: 315.135876 deg,
      approach rate: -0.655636 m/s,
      LOS rate: 1.125999 deg/s,
      cmd heading: 301.773440 deg,
      new cmd heading: 302.961655 deg.

2025-06-17T20:56:52.014Z,1750193812.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287678 target range: 8.719923 and range: 4.20 m.
2025-06-17T20:56:52.072Z,1750193812.072 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.745659
2025-06-17T20:56:52.321Z,1750193812.321 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.995320
2025-06-17T20:56:52.437Z,1750193812.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:52.439Z,1750193812.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 3.426073 m,
      bearing: 315.572467 deg,
      approach rate: -0.628994 m/s,
      LOS rate: 1.104525 deg/s,
      cmd heading: 302.961647 deg,
      new cmd heading: 304.373603 deg.

2025-06-17T20:56:52.441Z,1750193812.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.312322 target range: 8.719923 and range: 4.20 m.
2025-06-17T20:56:52.573Z,1750193812.573 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.247416
2025-06-17T20:56:52.825Z,1750193812.825 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.499466
2025-06-17T20:56:52.833Z,1750193812.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:52.835Z,1750193812.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:52.838Z,1750193812.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 3.175907 m,
      bearing: 316.064647 deg,
      approach rate: -0.628318 m/s,
      LOS rate: 1.333515 deg/s,
      cmd heading: 304.373611 deg,
      new cmd heading: 305.966029 deg.

2025-06-17T20:56:52.839Z,1750193812.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.340115 target range: 8.719923 and range: 4.20 m.
2025-06-17T20:56:53.079Z,1750193813.079 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.752682
2025-06-17T20:56:53.250Z,1750193813.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:53.253Z,1750193813.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 2.918452 m,
      bearing: 316.649096 deg,
      approach rate: -0.619806 m/s,
      LOS rate: 1.531119 deg/s,
      cmd heading: 305.966028 deg,
      new cmd heading: 307.873312 deg.

2025-06-17T20:56:53.254Z,1750193813.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.373403 target range: 8.719923 and range: 4.20 m.
2025-06-17T20:56:53.330Z,1750193813.330 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.004446
2025-06-17T20:56:53.581Z,1750193813.581 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.255386
2025-06-17T20:56:53.627Z,1750193813.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:53.630Z,1750193813.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 2.685691 m,
      bearing: 317.279430 deg,
      approach rate: -0.618434 m/s,
      LOS rate: 1.819883 deg/s,
      cmd heading: 307.873318 deg,
      new cmd heading: 309.927285 deg.

2025-06-17T20:56:53.630Z,1750193813.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409252 target range: 8.719923 and range: 4.20 m.
2025-06-17T20:56:53.833Z,1750193813.833 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.507331
2025-06-17T20:56:54.035Z,1750193814.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:54.038Z,1750193814.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 2.433424 m,
      bearing: 318.100520 deg,
      approach rate: -0.617280 m/s,
      LOS rate: 2.217359 deg/s,
      cmd heading: 309.927292 deg,
      new cmd heading: 312.643792 deg.

2025-06-17T20:56:54.039Z,1750193814.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456664 target range: 8.719923 and range: 4.20 m.
2025-06-17T20:56:54.088Z,1750193814.088 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.761781
2025-06-17T20:56:54.337Z,1750193814.337 [DAT](INFO): DAT read: Rx Time:20:56:53.9443

2025-06-17T20:56:54.337Z,1750193814.337 [DAT](INFO): Rx dataTimestamp_ set to:1750193814.337020
2025-06-17T20:56:54.338Z,1750193814.338 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.012428
2025-06-17T20:56:54.471Z,1750193814.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.72 m. 8.72 m.
2025-06-17T20:56:54.479Z,1750193814.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.719923 m,
      nav range: 2.175727 m,
      bearing: 319.165535 deg,
      approach rate: -0.591137 m/s,
      LOS rate: 2.732261 deg/s,
      cmd heading: 312.643795 deg,
      new cmd heading: 316.212438 deg.

2025-06-17T20:56:54.489Z,1750193814.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518948 target range: 8.719923 and range: 4.20 m.
2025-06-17T20:56:54.589Z,1750193814.589 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.263347
2025-06-17T20:56:54.846Z,1750193814.846 [DAT](INFO): DAT read: 20:56:53.9443 LVL=  9584, 23953, 32754, 32755, AGC= 36, IDX= 409, 0.46,-2.207,-3.087, 3.028,-1.644, PHS=-0.475,-1.396,-1.614, RAW=  79.6,  49.6, CAL=  78.6,  55.5, ROT=  71.4, -55.5

2025-06-17T20:56:54.848Z,1750193814.848 [DAT](INFO): got valid direction response:
 20:56:53.9443 LVL=  9584, 23953, 32754, 32755, AGC= 36, IDX= 409, 0.46,-2.207,-3.087, 3.028,-1.644, PHS=-0.475,-1.396,-1.614, RAW=  79.6,  49.6, CAL=  78.6,  55.5, ROT=  71.4, -55.5

2025-06-17T20:56:54.849Z,1750193814.849 [DAT](INFO): DAT read: Bearing  71.4, -55.5 (Local)

2025-06-17T20:56:54.849Z,1750193814.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.4, -55.5 (Local)

2025-06-17T20:56:54.850Z,1750193814.850 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.4 m/s

2025-06-17T20:56:54.851Z,1750193814.851 [DAT](INFO): DAT read: user:807>

2025-06-17T20:56:54.852Z,1750193814.852 [DAT](INFO): DAT read: Tx time:20:56:55.0373

2025-06-17T20:56:54.852Z,1750193814.852 [DAT](INFO): Ping request sent.
2025-06-17T20:56:54.852Z,1750193814.852 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:54.853Z,1750193814.853 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-17T20:56:54.854Z,1750193814.854 [DAT](INFO): direction in FSK: [0.180661,0.536822,0.824126]
2025-06-17T20:56:54.854Z,1750193814.854 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:54.854Z,1750193814.854 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:54.858Z,1750193814.858 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:54.858Z,1750193814.858 [DAT](INFO): publishing direction and range info
2025-06-17T20:56:54.862Z,1750193814.862 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.009366
2025-06-17T20:56:54.949Z,1750193814.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.527796 s,
      deltaX: -2.100000 m,
      approachRate: -0.595272 m/s,
      rangeRepo size: 4

2025-06-17T20:56:54.951Z,1750193814.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.080891 m,
      bearing: 10.263526 deg,
      lat: 36.905976 deg,
      lon: -122.115778 deg,
      deltaT: 10.583796 s,
      deltaX: -6.639032 m,
      approachRate: -0.627283 m/s,
      posRepo size: 4

2025-06-17T20:56:54.951Z,1750193814.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.10 m.
2025-06-17T20:56:54.951Z,1750193814.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-17T20:56:55.095Z,1750193815.095 [DAT](INFO): DAT read: TxSync time:20:56:55.0365

2025-06-17T20:56:55.096Z,1750193815.096 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.243835
2025-06-17T20:56:55.291Z,1750193815.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:55.350Z,1750193815.350 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.497429
2025-06-17T20:56:55.601Z,1750193815.601 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.748357
2025-06-17T20:56:55.853Z,1750193815.853 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.000415
2025-06-17T20:56:56.105Z,1750193816.105 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.252809
2025-06-17T20:56:56.357Z,1750193816.357 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.504335
2025-06-17T20:56:56.609Z,1750193816.609 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.756449
2025-06-17T20:56:56.854Z,1750193816.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m.
2025-06-17T20:56:56.854Z,1750193816.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.10 m.
2025-06-17T20:56:56.854Z,1750193816.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-06-17T20:56:56.861Z,1750193816.861 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.008451
2025-06-17T20:56:57.113Z,1750193817.113 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.260596
2025-06-17T20:56:57.305Z,1750193817.305 [DockingStepper](INFO): Changing to mode: 1
2025-06-17T20:56:57.305Z,1750193817.305 [DockingStepper](INFO): Standby mode.
2025-06-17T20:56:57.365Z,1750193817.365 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.512413
2025-06-17T20:56:57.368Z,1750193817.368 [DockingStepper](INFO): Commanding positive:54790
2025-06-17T20:56:57.617Z,1750193817.617 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.764341
2025-06-17T20:56:57.686Z,1750193817.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:56:57.869Z,1750193817.869 [DAT](INFO): DAT read: Rx Time:20:56:57.4426

2025-06-17T20:56:57.871Z,1750193817.871 [DAT](INFO): Rx dataTimestamp_ set to:1750193817.869942
2025-06-17T20:56:57.874Z,1750193817.874 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.021047
2025-06-17T20:56:58.124Z,1750193818.124 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.270634
2025-06-17T20:56:58.374Z,1750193818.374 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.2 ms) speed -0.1 m/s

2025-06-17T20:56:58.375Z,1750193818.375 [DAT](INFO): DAT read: user:808>

2025-06-17T20:56:58.375Z,1750193818.375 [DAT](INFO): DAT read: Tx time:20:56:58.5373

2025-06-17T20:56:58.376Z,1750193818.376 [DAT](INFO): Ping request sent.
2025-06-17T20:56:58.376Z,1750193818.376 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:56:58.376Z,1750193818.376 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-06-17T20:56:58.376Z,1750193818.376 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:58.377Z,1750193818.377 [DAT](INFO): publishing transmit ping time
2025-06-17T20:56:58.378Z,1750193818.378 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.001926
2025-06-17T20:56:58.513Z,1750193818.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 3.532176 s,
      deltaX: -1.200000 m,
      approachRate: -0.339734 m/s,
      rangeRepo size: 4

2025-06-17T20:56:58.625Z,1750193818.625 [DAT](INFO): DAT read: TxSync time:20:56:58.5366

2025-06-17T20:56:58.626Z,1750193818.626 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.249962
2025-06-17T20:56:58.877Z,1750193818.877 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.501094
2025-06-17T20:56:59.129Z,1750193819.129 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.752938
2025-06-17T20:56:59.381Z,1750193819.381 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.005543
2025-06-17T20:56:59.633Z,1750193819.633 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.256942
2025-06-17T20:56:59.885Z,1750193819.885 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.509547
2025-06-17T20:57:00.090Z,1750193820.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:57:00.138Z,1750193820.138 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.762261
2025-06-17T20:57:00.389Z,1750193820.389 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.012938
2025-06-17T20:57:00.641Z,1750193820.641 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.264839
2025-06-17T20:57:00.893Z,1750193820.893 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.517019
2025-06-17T20:57:01.145Z,1750193821.145 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.768908
2025-06-17T20:57:01.398Z,1750193821.398 [DAT](INFO): DAT read: Rx Time:20:57:00.9432

2025-06-17T20:57:01.398Z,1750193821.398 [DAT](INFO): Rx dataTimestamp_ set to:1750193821.398151
2025-06-17T20:57:01.399Z,1750193821.399 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.023507
2025-06-17T20:57:01.649Z,1750193821.649 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.273160
2025-06-17T20:57:01.907Z,1750193821.907 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-17T20:57:01.907Z,1750193821.907 [DAT](INFO): DAT read: user:809>

2025-06-17T20:57:01.908Z,1750193821.908 [DAT](INFO): DAT read: Tx time:20:57:02.0374

2025-06-17T20:57:01.909Z,1750193821.909 [DAT](INFO): Ping request sent.
2025-06-17T20:57:01.909Z,1750193821.909 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:57:01.909Z,1750193821.909 [DAT](INFO): DAT read: TxSync time:20:57:02.0366

2025-06-17T20:57:01.910Z,1750193821.910 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-06-17T20:57:01.910Z,1750193821.910 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:01.911Z,1750193821.911 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:01.912Z,1750193821.912 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.002758
2025-06-17T20:57:02.153Z,1750193822.153 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.244064
2025-06-17T20:57:02.161Z,1750193822.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:57:02.164Z,1750193822.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 3.529660 s,
      deltaX: 0.300000 m,
      approachRate: 0.084994 m/s,
      rangeRepo size: 4

2025-06-17T20:57:02.405Z,1750193822.405 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.495944
2025-06-17T20:57:02.658Z,1750193822.658 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.749177
2025-06-17T20:57:02.909Z,1750193822.909 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.999924
2025-06-17T20:57:03.161Z,1750193823.161 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.252265
2025-06-17T20:57:03.401Z,1750193823.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.20 m. Lat: 36.905976 Lon: -122.115778 Cable present.
2025-06-17T20:57:03.401Z,1750193823.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-06-17T20:57:03.402Z,1750193823.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-17T20:57:03.402Z,1750193823.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-06-17T20:57:03.413Z,1750193823.413 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.504129
2025-06-17T20:57:03.512Z,1750193823.512 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:57:03.665Z,1750193823.665 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.755973
2025-06-17T20:57:03.777Z,1750193823.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-06-17T20:57:03.777Z,1750193823.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-06-17T20:57:03.777Z,1750193823.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-06-17T20:57:03.789Z,1750193823.789 [DockingStepper](INFO): Pause
2025-06-17T20:57:03.917Z,1750193823.917 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.008071
2025-06-17T20:57:04.169Z,1750193824.169 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.260171
2025-06-17T20:57:04.194Z,1750193824.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:57:04.196Z,1750193824.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-06-17T20:57:04.197Z,1750193824.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-17T20:57:04.197Z,1750193824.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-17T20:57:04.197Z,1750193824.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-17T20:57:04.198Z,1750193824.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-17T20:57:04.198Z,1750193824.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-17T20:57:04.198Z,1750193824.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-17T20:57:04.198Z,1750193824.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-17T20:57:04.198Z,1750193824.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-17T20:57:04.198Z,1750193824.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-17T20:57:04.198Z,1750193824.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-17T20:57:04.421Z,1750193824.421 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.511927
2025-06-17T20:57:04.517Z,1750193824.517 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:57:04.617Z,1750193824.617 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-06-17T20:57:04.617Z,1750193824.617 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-17T20:57:04.617Z,1750193824.617 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-17T20:57:04.617Z,1750193824.617 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-17T20:57:04.617Z,1750193824.617 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-06-17T20:57:04.617Z,1750193824.617 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-17T20:57:04.618Z,1750193824.618 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-06-17T20:57:04.618Z,1750193824.618 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-06-17T20:57:04.618Z,1750193824.618 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-06-17T20:57:04.619Z,1750193824.619 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-06-17T20:57:04.619Z,1750193824.619 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-17T20:57:04.619Z,1750193824.619 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-06-17T20:57:04.619Z,1750193824.619 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-17T20:57:04.619Z,1750193824.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-17T20:57:04.619Z,1750193824.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-17T20:57:04.624Z,1750193824.624 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-06-17T20:57:04.624Z,1750193824.624 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-06-17T20:57:04.673Z,1750193824.673 [DAT](INFO): DAT read: Rx Time:20:57:04.4436

2025-06-17T20:57:04.674Z,1750193824.674 [DAT](INFO): Rx dataTimestamp_ set to:1750193824.673447
2025-06-17T20:57:04.674Z,1750193824.674 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.765457
2025-06-17T20:57:04.925Z,1750193824.925 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.015957
2025-06-17T20:57:05.012Z,1750193825.012 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-06-17T20:57:05.012Z,1750193825.012 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-06-17T20:57:05.180Z,1750193825.180 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.271052
2025-06-17T20:57:05.411Z,1750193825.411 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-06-17T20:57:05.411Z,1750193825.411 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-17T20:57:05.411Z,1750193825.411 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-06-17T20:57:05.435Z,1750193825.435 [DAT](INFO): DAT read: 20:57:04.4436 LVL= 10560, 26097, 10066, 13683, AGC= 40, IDX= 449,-0.11, 0.751, 0.909, 2.490, 1.700, PHS=-0.861,-0.744, 0.787, RAW= 213.6,  10.3, CAL= 217.7,   8.9, ROT= 292.3,  -8.9

2025-06-17T20:57:05.436Z,1750193825.436 [DAT](INFO): got valid direction response:
 20:57:04.4436 LVL= 10560, 26097, 10066, 13683, AGC= 40, IDX= 449,-0.11, 0.751, 0.909, 2.490, 1.700, PHS=-0.861,-0.744, 0.787, RAW= 213.6,  10.3, CAL= 217.7,   8.9, ROT= 292.3,  -8.9

2025-06-17T20:57:05.437Z,1750193825.437 [DAT](INFO): DAT read: Bearing 292.3,  -8.9 (Local)

2025-06-17T20:57:05.438Z,1750193825.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.3,  -8.9 (Local)

2025-06-17T20:57:05.439Z,1750193825.439 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-17T20:57:05.440Z,1750193825.440 [DAT](INFO): DAT read: user:810>

2025-06-17T20:57:05.441Z,1750193825.441 [DAT](INFO): DAT read: Tx time:20:57:05.5374

2025-06-17T20:57:05.441Z,1750193825.441 [DAT](INFO): Ping request sent.
2025-06-17T20:57:05.441Z,1750193825.441 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:57:05.442Z,1750193825.442 [DAT](INFO): DAT read: TxSync time:20:57:05.5366

2025-06-17T20:57:05.442Z,1750193825.442 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-17T20:57:05.443Z,1750193825.443 [DAT](INFO): direction in FSK: [0.374887,-0.914070,0.154710]
2025-06-17T20:57:05.448Z,1750193825.448 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:05.448Z,1750193825.448 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:05.451Z,1750193825.451 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:05.451Z,1750193825.451 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:05.459Z,1750193825.459 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.017550
2025-06-17T20:57:05.681Z,1750193825.681 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.239499
2025-06-17T20:57:05.933Z,1750193825.933 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.491441
2025-06-17T20:57:06.185Z,1750193826.185 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.743977
2025-06-17T20:57:06.195Z,1750193826.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:57:06.437Z,1750193826.437 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.995491
2025-06-17T20:57:06.689Z,1750193826.689 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.247354
2025-06-17T20:57:06.941Z,1750193826.941 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.499662
2025-06-17T20:57:07.193Z,1750193827.193 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.751469
2025-06-17T20:57:07.445Z,1750193827.445 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.003529
2025-06-17T20:57:07.697Z,1750193827.697 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.255469
2025-06-17T20:57:07.949Z,1750193827.949 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.507497
2025-06-17T20:57:08.201Z,1750193828.201 [DAT](INFO): DAT read: Rx Time:20:57:07.9437

2025-06-17T20:57:08.201Z,1750193828.201 [DAT](INFO): Rx dataTimestamp_ set to:1750193828.201111
2025-06-17T20:57:08.202Z,1750193828.202 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.760627
2025-06-17T20:57:08.219Z,1750193828.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:57:08.219Z,1750193828.219 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-06-17T20:57:08.220Z,1750193828.220 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-06-17T20:57:08.220Z,1750193828.220 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-06-17T20:57:08.220Z,1750193828.220 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-06-17T20:57:08.453Z,1750193828.453 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.011466
2025-06-17T20:57:08.641Z,1750193828.641 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-06-17T20:57:08.641Z,1750193828.641 [lineCaptureHoming:LineCapture:M] Stopped
2025-06-17T20:57:08.643Z,1750193828.643 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-06-17T20:57:08.643Z,1750193828.643 [lineCaptureHoming:LineCapture] Stopped
2025-06-17T20:57:08.643Z,1750193828.643 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-06-17T20:57:08.643Z,1750193828.643 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-06-17T20:57:08.643Z,1750193828.643 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-17T20:57:08.643Z,1750193828.643 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-17T20:57:08.643Z,1750193828.643 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-17T20:57:08.643Z,1750193828.643 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-17T20:57:08.644Z,1750193828.644 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-17T20:57:08.644Z,1750193828.644 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-17T20:57:08.644Z,1750193828.644 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-17T20:57:08.644Z,1750193828.644 [lineCaptureHoming:LineCapture:G] Stopped
2025-06-17T20:57:08.644Z,1750193828.644 [lineCaptureHoming:LineCapture:H] Stopped
2025-06-17T20:57:08.644Z,1750193828.644 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-06-17T20:57:08.644Z,1750193828.644 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-06-17T20:57:08.644Z,1750193828.644 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-06-17T20:57:08.644Z,1750193828.644 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-06-17T20:57:08.644Z,1750193828.644 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-06-17T20:57:08.645Z,1750193828.645 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-06-17T20:57:08.645Z,1750193828.645 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-17T20:57:08.645Z,1750193828.645 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-06-17T20:57:08.645Z,1750193828.645 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-17T20:57:08.721Z,1750193828.721 [DAT](INFO): DAT read: 20:57:07.9437 LVL= 13200, 30193, 10802, 16371, AGC= 42, IDX= 433, 0.13, 0.006,-0.708, 0.711, 0.988, PHS=-0.894,-1.649,-0.280, RAW= 176.6,  40.0, CAL= 180.2,  47.0, ROT= 329.8, -47.0

2025-06-17T20:57:08.723Z,1750193828.723 [DAT](INFO): got valid direction response:
 20:57:07.9437 LVL= 13200, 30193, 10802, 16371, AGC= 42, IDX= 433, 0.13, 0.006,-0.708, 0.711, 0.988, PHS=-0.894,-1.649,-0.280, RAW= 176.6,  40.0, CAL= 180.2,  47.0, ROT= 329.8, -47.0

2025-06-17T20:57:08.726Z,1750193828.726 [DAT](INFO): DAT read: Bearing 329.8, -47.0 (Local)

2025-06-17T20:57:08.726Z,1750193828.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.8, -47.0 (Local)

2025-06-17T20:57:08.728Z,1750193828.728 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-17T20:57:08.729Z,1750193828.729 [DAT](INFO): DAT read: user:811>

2025-06-17T20:57:08.730Z,1750193828.730 [DAT](INFO): DAT read: Tx time:20:57:09.0374

2025-06-17T20:57:08.730Z,1750193828.730 [DAT](INFO): Ping request sent.
2025-06-17T20:57:08.730Z,1750193828.730 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:57:08.731Z,1750193828.731 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-17T20:57:08.733Z,1750193828.733 [DAT](INFO): direction in FSK: [0.589434,-0.343059,0.731354]
2025-06-17T20:57:08.733Z,1750193828.733 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:08.733Z,1750193828.733 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:08.742Z,1750193828.742 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:08.742Z,1750193828.742 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:08.751Z,1750193828.751 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.020006
2025-06-17T20:57:08.957Z,1750193828.957 [DAT](INFO): DAT read: TxSync time:20:57:09.0366

2025-06-17T20:57:08.958Z,1750193828.958 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.227275
2025-06-17T20:57:09.040Z,1750193829.040 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-06-17T20:57:09.040Z,1750193829.040 [lineCaptureHoming:Lap:B] Stopped
2025-06-17T20:57:09.040Z,1750193829.040 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-06-17T20:57:09.040Z,1750193829.040 [lineCaptureHoming:Lap:C] Running Loop=1
2025-06-17T20:57:09.209Z,1750193829.209 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.478261
2025-06-17T20:57:09.459Z,1750193829.459 [lineCaptureHoming:Lap:C] Stopped
2025-06-17T20:57:09.459Z,1750193829.459 [lineCaptureHoming:Lap:D] Running Loop=1
2025-06-17T20:57:09.461Z,1750193829.461 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.730457
2025-06-17T20:57:09.716Z,1750193829.716 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.985532
2025-06-17T20:57:09.830Z,1750193829.830 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-06-17T20:57:09.830Z,1750193829.830 [lineCaptureHoming:Lap:D] Stopped
2025-06-17T20:57:09.830Z,1750193829.830 [lineCaptureHoming:Lap:E] Running Loop=1
2025-06-17T20:57:09.830Z,1750193829.830 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-06-17T20:57:09.965Z,1750193829.965 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.234278
2025-06-17T20:57:10.217Z,1750193830.217 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.486398
2025-06-17T20:57:10.417Z,1750193830.417 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-06-17T20:57:10.417Z,1750193830.417 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-06-17T20:57:10.417Z,1750193830.417 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-06-17T20:57:10.417Z,1750193830.417 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-06-17T20:57:10.417Z,1750193830.417 [lineCaptureHoming:restartDHCP:A] Stopped
2025-06-17T20:57:10.417Z,1750193830.417 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-06-17T20:57:10.418Z,1750193830.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:57:10.469Z,1750193830.469 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.738418
2025-06-17T20:57:10.661Z,1750193830.661 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-17T20:57:10.661Z,1750193830.661 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-06-17T20:57:10.661Z,1750193830.661 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-06-17T20:57:10.661Z,1750193830.661 [lineCaptureHoming:restartDHCP] Stopped
2025-06-17T20:57:10.661Z,1750193830.661 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-06-17T20:57:10.704Z,1750193830.704 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-17T20:57:10.726Z,1750193830.726 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.995287
2025-06-17T20:57:10.973Z,1750193830.973 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.242383
2025-06-17T20:57:11.099Z,1750193831.099 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-06-17T20:57:11.099Z,1750193831.099 [lineCaptureHoming:Lap:E] Stopped
2025-06-17T20:57:11.099Z,1750193831.099 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-06-17T20:57:11.099Z,1750193831.099 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-06-17T20:57:11.100Z,1750193831.100 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-06-17T20:57:11.101Z,1750193831.101 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-06-17T20:57:11.225Z,1750193831.225 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.494496
2025-06-17T20:57:11.280Z,1750193831.280 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-06-17UTC205711_sh
  
2025-06-17T20:57:11.477Z,1750193831.477 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.746323
2025-06-17T20:57:11.570Z,1750193831.570 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  5.000000 min 
2025-06-17T20:57:11.570Z,1750193831.570 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-06-17T20:57:11.570Z,1750193831.570 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-06-17T20:57:11.730Z,1750193831.730 [DAT](INFO): DAT read: Rx Time:20:57:11.4438

2025-06-17T20:57:11.730Z,1750193831.730 [DAT](INFO): Rx dataTimestamp_ set to:1750193831.730103
2025-06-17T20:57:11.731Z,1750193831.731 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.000772
2025-06-17T20:57:11.864Z,1750193831.864 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-06-17T20:57:11.864Z,1750193831.864 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-06-17T20:57:11.981Z,1750193831.981 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.250242
2025-06-17T20:57:12.246Z,1750193832.246 [DAT](INFO): DAT read: 20:57:11.4438 LVL=  9968, 27953,  8978, 14835, AGC= 39, IDX= 434,-0.35, 0.579, 1.301, 2.654, 1.935, PHS=-1.268,-0.586, 0.716, RAW= 229.8,  13.0, CAL= 239.5,  16.0, ROT= 270.5, -16.0

2025-06-17T20:57:12.248Z,1750193832.248 [DAT](INFO): got valid direction response:
 20:57:11.4438 LVL=  9968, 27953,  8978, 14835, AGC= 39, IDX= 434,-0.35, 0.579, 1.301, 2.654, 1.935, PHS=-1.268,-0.586, 0.716, RAW= 229.8,  13.0, CAL= 239.5,  16.0, ROT= 270.5, -16.0

2025-06-17T20:57:12.249Z,1750193832.249 [DAT](INFO): DAT read: Bearing 270.5, -16.0 (Local)

2025-06-17T20:57:12.250Z,1750193832.250 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.5, -16.0 (Local)

2025-06-17T20:57:12.251Z,1750193832.251 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-17T20:57:12.277Z,1750193832.277 [DAT](INFO): DAT read: user:812>

2025-06-17T20:57:12.278Z,1750193832.278 [DAT](INFO): DAT read: Tx time:20:57:12.5375

2025-06-17T20:57:12.278Z,1750193832.278 [DAT](INFO): Ping request sent.
2025-06-17T20:57:12.278Z,1750193832.278 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:57:12.279Z,1750193832.279 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-17T20:57:12.287Z,1750193832.287 [DAT](INFO): direction in FSK: [0.008388,-0.961225,0.275637]
2025-06-17T20:57:12.287Z,1750193832.287 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:12.287Z,1750193832.287 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:12.303Z,1750193832.303 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:12.321Z,1750193832.321 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:12.337Z,1750193832.337 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.058749
2025-06-17T20:57:12.339Z,1750193832.339 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-06-17T20:57:12.339Z,1750193832.339 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-06-17T20:57:12.339Z,1750193832.339 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-06-17T20:57:12.356Z,1750193832.356 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-06-17T20:57:12.489Z,1750193832.489 [DAT](INFO): DAT read: TxSync time:20:57:12.5367

2025-06-17T20:57:12.490Z,1750193832.490 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.211564
2025-06-17T20:57:12.741Z,1750193832.741 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.462856
2025-06-17T20:57:12.742Z,1750193832.742 [DAT](INFO): Requesting device enable set for address 50.
2025-06-17T20:57:12.853Z,1750193832.853 [DockingStepper](INFO): Resume
2025-06-17T20:57:12.993Z,1750193832.993 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.714823
2025-06-17T20:57:12.993Z,1750193832.993 [DAT](INFO): Requesting device enable set for address 50.
2025-06-17T20:57:13.100Z,1750193833.100 [DockingStepper](INFO): Resuming
2025-06-17T20:57:13.245Z,1750193833.245 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.966540
2025-06-17T20:57:13.245Z,1750193833.245 [DAT](INFO): Requesting device enable set for address 50.
2025-06-17T20:57:13.509Z,1750193833.509 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.230513
2025-06-17T20:57:13.525Z,1750193833.525 [DockingStepper](INFO): Start
2025-06-17T20:57:13.525Z,1750193833.525 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-17T20:57:13.645Z,1750193833.645 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-17T20:57:13.761Z,1750193833.761 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.483206
2025-06-17T20:57:13.889Z,1750193833.889 [DockingStepper](INFO): Starting
2025-06-17T20:57:14.013Z,1750193834.013 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.734528
2025-06-17T20:57:14.265Z,1750193834.265 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.986590
2025-06-17T20:57:14.312Z,1750193834.312 [DockingStepper](INFO): Starting
2025-06-17T20:57:14.518Z,1750193834.518 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.239382
2025-06-17T20:57:14.769Z,1750193834.769 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.490883
2025-06-17T20:57:14.792Z,1750193834.792 [DockingStepper](INFO): Starting
2025-06-17T20:57:14.847Z,1750193834.847 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-17T20:57:15.021Z,1750193835.021 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.742474
2025-06-17T20:57:15.104Z,1750193835.104 [DockingStepper](INFO): Starting
2025-06-17T20:57:15.273Z,1750193835.273 [DAT](INFO): DAT read: Rx Time:20:57:14.9439

2025-06-17T20:57:15.273Z,1750193835.273 [DAT](INFO): Rx dataTimestamp_ set to:1750193835.273019
2025-06-17T20:57:15.274Z,1750193835.274 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.995601
2025-06-17T20:57:15.533Z,1750193835.533 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.254619
2025-06-17T20:57:15.572Z,1750193835.572 [DockingStepper](INFO): Starting
2025-06-17T20:57:15.786Z,1750193835.786 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-06-17T20:57:15.786Z,1750193835.786 [DAT](INFO): DAT read: user:813>

2025-06-17T20:57:15.787Z,1750193835.787 [DAT](INFO): DAT read: Tx time:20:57:16.0375

2025-06-17T20:57:15.788Z,1750193835.788 [DAT](INFO): Ping request sent.
2025-06-17T20:57:15.788Z,1750193835.788 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:57:15.788Z,1750193835.788 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-06-17T20:57:15.788Z,1750193835.788 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:15.789Z,1750193835.789 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:15.790Z,1750193835.790 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.002273
2025-06-17T20:57:15.924Z,1750193835.924 [DockingStepper](INFO): Starting
2025-06-17T20:57:16.037Z,1750193836.037 [DAT](INFO): DAT read: TxSync time:20:57:16.0367

2025-06-17T20:57:16.038Z,1750193836.038 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.250095
2025-06-17T20:57:16.289Z,1750193836.289 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.501287
2025-06-17T20:57:16.310Z,1750193836.310 [DockingStepper](INFO): Starting
2025-06-17T20:57:16.333Z,1750193836.333 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-17T20:57:16.541Z,1750193836.541 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.753043
2025-06-17T20:57:16.767Z,1750193836.767 [DockingStepper](INFO): Starting
2025-06-17T20:57:16.793Z,1750193836.793 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.005494
2025-06-17T20:57:17.045Z,1750193837.045 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.257062
2025-06-17T20:57:17.124Z,1750193837.124 [DockingStepper](INFO): Changing to mode: 1
2025-06-17T20:57:17.124Z,1750193837.124 [DockingStepper](INFO): Standby mode.
2025-06-17T20:57:17.297Z,1750193837.297 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.509145
2025-06-17T20:57:17.549Z,1750193837.549 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.761451
2025-06-17T20:57:17.801Z,1750193837.801 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.013418
2025-06-17T20:57:18.053Z,1750193838.053 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.265130
2025-06-17T20:57:18.305Z,1750193838.305 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.517241
2025-06-17T20:57:18.557Z,1750193838.557 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.769564
2025-06-17T20:57:18.809Z,1750193838.809 [DAT](INFO): DAT read: Rx Time:20:57:18.4437

2025-06-17T20:57:18.810Z,1750193838.810 [DAT](INFO): Rx dataTimestamp_ set to:1750193838.809643
2025-06-17T20:57:18.811Z,1750193838.811 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.023159
2025-06-17T20:57:19.061Z,1750193839.061 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.273393
2025-06-17T20:57:19.319Z,1750193839.319 [DAT](INFO): DAT read: 20:57:18.4437 LVL= 11536, 32753,  9890, 15027, AGC= 40, IDX= 433,-0.34, 2.410, 2.673,-2.255,-2.882, PHS=-0.903,-0.681, 0.624, RAW= 217.8,  13.4, CAL= 226.0,  14.7, ROT= 284.0, -14.7

2025-06-17T20:57:19.320Z,1750193839.320 [DAT](INFO): got valid direction response:
 20:57:18.4437 LVL= 11536, 32753,  9890, 15027, AGC= 40, IDX= 433,-0.34, 2.410, 2.673,-2.255,-2.882, PHS=-0.903,-0.681, 0.624, RAW= 217.8,  13.4, CAL= 226.0,  14.7, ROT= 284.0, -14.7

2025-06-17T20:57:19.321Z,1750193839.321 [DAT](INFO): DAT read: Bearing 284.0, -14.7 (Local)

2025-06-17T20:57:19.321Z,1750193839.321 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.0, -14.7 (Local)

2025-06-17T20:57:19.322Z,1750193839.322 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-17T20:57:19.323Z,1750193839.323 [DAT](INFO): DAT read: user:814>

2025-06-17T20:57:19.324Z,1750193839.324 [DAT](INFO): DAT read: Tx time:20:57:19.5375

2025-06-17T20:57:19.324Z,1750193839.324 [DAT](INFO): Ping request sent.
2025-06-17T20:57:19.324Z,1750193839.324 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:57:19.325Z,1750193839.325 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-17T20:57:19.326Z,1750193839.326 [DAT](INFO): direction in FSK: [0.234003,-0.938536,0.253758]
2025-06-17T20:57:19.326Z,1750193839.326 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:19.326Z,1750193839.326 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:19.330Z,1750193839.330 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:19.330Z,1750193839.330 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:19.334Z,1750193839.334 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.009166
2025-06-17T20:57:19.565Z,1750193839.565 [DAT](INFO): DAT read: TxSync time:20:57:19.5367

2025-06-17T20:57:19.566Z,1750193839.566 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.241391
2025-06-17T20:57:19.817Z,1750193839.817 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.492443
2025-06-17T20:57:20.069Z,1750193840.069 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.744441
2025-06-17T20:57:20.321Z,1750193840.321 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.996481
2025-06-17T20:57:20.574Z,1750193840.574 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.249297
2025-06-17T20:57:20.826Z,1750193840.826 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.501422
2025-06-17T20:57:21.077Z,1750193841.077 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.752368
2025-06-17T20:57:21.329Z,1750193841.329 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.004579
2025-06-17T20:57:21.581Z,1750193841.581 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.256527
2025-06-17T20:57:21.833Z,1750193841.833 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.508459
2025-06-17T20:57:22.085Z,1750193842.085 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.760397
2025-06-17T20:57:22.337Z,1750193842.337 [DAT](INFO): DAT read: Rx Time:20:57:21.9438

2025-06-17T20:57:22.337Z,1750193842.337 [DAT](INFO): Rx dataTimestamp_ set to:1750193842.337183
2025-06-17T20:57:22.338Z,1750193842.338 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.013673
2025-06-17T20:57:22.589Z,1750193842.589 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.264328
2025-06-17T20:57:22.855Z,1750193842.855 [DAT](INFO): DAT read: 20:57:21.9438 LVL= 12192, 32753, 10930, 17587, AGC= 41, IDX= 433, 0.14,-1.493,-1.438,-0.174,-0.548, PHS=-0.857,-0.843, 0.371, RAW= 210.6,  21.1, CAL= 211.5,  27.4, ROT= 298.5, -27.4

2025-06-17T20:57:22.856Z,1750193842.856 [DAT](INFO): got valid direction response:
 20:57:21.9438 LVL= 12192, 32753, 10930, 17587, AGC= 41, IDX= 433, 0.14,-1.493,-1.438,-0.174,-0.548, PHS=-0.857,-0.843, 0.371, RAW= 210.6,  21.1, CAL= 211.5,  27.4, ROT= 298.5, -27.4

2025-06-17T20:57:22.857Z,1750193842.857 [DAT](INFO): DAT read: Bearing 298.5, -27.4 (Local)

2025-06-17T20:57:22.857Z,1750193842.857 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.5, -27.4 (Local)

2025-06-17T20:57:22.859Z,1750193842.859 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-17T20:57:22.859Z,1750193842.859 [DAT](INFO): DAT read: user:815>

2025-06-17T20:57:22.868Z,1750193842.868 [DAT](INFO): DAT read: Tx time:20:57:23.0375

2025-06-17T20:57:22.869Z,1750193842.869 [DAT](INFO): Ping request sent.
2025-06-17T20:57:22.869Z,1750193842.869 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:57:22.869Z,1750193842.869 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-17T20:57:22.870Z,1750193842.870 [DAT](INFO): direction in FSK: [0.423629,-0.780227,0.460200]
2025-06-17T20:57:22.870Z,1750193842.870 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:22.871Z,1750193842.871 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:22.878Z,1750193842.878 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:22.878Z,1750193842.878 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:22.886Z,1750193842.886 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.017260
2025-06-17T20:57:23.093Z,1750193843.093 [DAT](INFO): DAT read: TxSync time:20:57:23.0367

2025-06-17T20:57:23.094Z,1750193843.094 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.225068
2025-06-17T20:57:23.345Z,1750193843.345 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.476553
2025-06-17T20:57:23.598Z,1750193843.598 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.729676
2025-06-17T20:57:23.849Z,1750193843.849 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.980130
2025-06-17T20:57:24.101Z,1750193844.101 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.232030
2025-06-17T20:57:24.353Z,1750193844.353 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.484167
2025-06-17T20:57:24.605Z,1750193844.605 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.736086
2025-06-17T20:57:24.858Z,1750193844.858 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.988831
2025-06-17T20:57:25.110Z,1750193845.110 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.240886
2025-06-17T20:57:25.361Z,1750193845.361 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.492164
2025-06-17T20:57:25.619Z,1750193845.619 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.749882
2025-06-17T20:57:25.865Z,1750193845.865 [DAT](INFO): DAT read: Rx Time:20:57:25.4437

2025-06-17T20:57:25.866Z,1750193845.866 [DAT](INFO): Rx dataTimestamp_ set to:1750193845.865298
2025-06-17T20:57:25.866Z,1750193845.866 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.997431
2025-06-17T20:57:26.117Z,1750193846.117 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.248110
2025-06-17T20:57:26.375Z,1750193846.375 [DAT](INFO): DAT read: 20:57:25.4437 LVL= 12016, 28257, 10866, 18083, AGC= 42, IDX= 433,-0.24,-2.684,-2.610,-1.296,-1.721, PHS=-0.874,-0.842, 0.422, RAW= 211.3,  19.7, CAL= 214.1,  25.1, ROT= 295.9, -25.1

2025-06-17T20:57:26.376Z,1750193846.376 [DAT](INFO): got valid direction response:
 20:57:25.4437 LVL= 12016, 28257, 10866, 18083, AGC= 42, IDX= 433,-0.24,-2.684,-2.610,-1.296,-1.721, PHS=-0.874,-0.842, 0.422, RAW= 211.3,  19.7, CAL= 214.1,  25.1, ROT= 295.9, -25.1

2025-06-17T20:57:26.377Z,1750193846.377 [DAT](INFO): DAT read: Bearing 295.9, -25.1 (Local)

2025-06-17T20:57:26.378Z,1750193846.378 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.9, -25.1 (Local)

2025-06-17T20:57:26.379Z,1750193846.379 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-17T20:57:26.409Z,1750193846.409 [DAT](INFO): DAT read: user:816>

2025-06-17T20:57:26.409Z,1750193846.409 [DAT](INFO): DAT read: Tx time:20:57:26.5375

2025-06-17T20:57:26.410Z,1750193846.410 [DAT](INFO): Ping request sent.
2025-06-17T20:57:26.410Z,1750193846.410 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:57:26.410Z,1750193846.410 [DAT](INFO): DAT read: TxSync time:20:57:26.5368

2025-06-17T20:57:26.411Z,1750193846.411 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-17T20:57:26.420Z,1750193846.420 [DAT](INFO): direction in FSK: [0.395554,-0.814611,0.424199]
2025-06-17T20:57:26.421Z,1750193846.421 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:26.421Z,1750193846.421 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:26.432Z,1750193846.432 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:26.432Z,1750193846.432 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:26.444Z,1750193846.444 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.025751
2025-06-17T20:57:26.623Z,1750193846.623 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.212725
2025-06-17T20:57:26.873Z,1750193846.873 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.463637
2025-06-17T20:57:27.125Z,1750193847.125 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.714924
2025-06-17T20:57:27.377Z,1750193847.377 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.967310
2025-06-17T20:57:27.632Z,1750193847.632 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.221353
2025-06-17T20:57:27.881Z,1750193847.881 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.470944
2025-06-17T20:57:28.133Z,1750193848.133 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.723212
2025-06-17T20:57:28.387Z,1750193848.387 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.977174
2025-06-17T20:57:28.643Z,1750193848.643 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.233113
2025-06-17T20:57:28.894Z,1750193848.894 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.483927
2025-06-17T20:57:29.145Z,1750193849.145 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.734999
2025-06-17T20:57:29.401Z,1750193849.401 [DAT](INFO): DAT read: Rx Time:20:57:28.9439

2025-06-17T20:57:29.412Z,1750193849.412 [DAT](INFO): Rx dataTimestamp_ set to:1750193849.402508
2025-06-17T20:57:29.414Z,1750193849.414 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.004006
2025-06-17T20:57:29.656Z,1750193849.656 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.246065
2025-06-17T20:57:29.913Z,1750193849.913 [DAT](INFO): DAT read: 20:57:28.9439 LVL= 10736, 32753,  9554, 16275, AGC= 39, IDX= 434, 0.03,-2.441,-1.843,-0.496,-1.204, PHS=-1.149,-0.591, 0.706, RAW= 227.0,  12.5, CAL= 236.3,  15.1, ROT= 273.7, -15.1

2025-06-17T20:57:29.914Z,1750193849.914 [DAT](INFO): got valid direction response:
 20:57:28.9439 LVL= 10736, 32753,  9554, 16275, AGC= 39, IDX= 434, 0.03,-2.441,-1.843,-0.496,-1.204, PHS=-1.149,-0.591, 0.706, RAW= 227.0,  12.5, CAL= 236.3,  15.1, ROT= 273.7, -15.1

2025-06-17T20:57:29.915Z,1750193849.915 [DAT](INFO): DAT read: Bearing 273.7, -15.1 (Local)

2025-06-17T20:57:29.916Z,1750193849.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.7, -15.1 (Local)

2025-06-17T20:57:29.917Z,1750193849.917 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-17T20:57:29.918Z,1750193849.918 [DAT](INFO): DAT read: user:817>

2025-06-17T20:57:29.919Z,1750193849.919 [DAT](INFO): DAT read: Tx time:20:57:30.0375

2025-06-17T20:57:29.919Z,1750193849.919 [DAT](INFO): Ping request sent.
2025-06-17T20:57:29.919Z,1750193849.919 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:57:29.920Z,1750193849.920 [DAT](INFO): DAT read: TxSync time:20:57:30.0368

2025-06-17T20:57:29.921Z,1750193849.921 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-17T20:57:29.922Z,1750193849.922 [DAT](INFO): direction in FSK: [0.062305,-0.963460,0.260505]
2025-06-17T20:57:29.922Z,1750193849.922 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:29.922Z,1750193849.922 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:29.926Z,1750193849.926 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:29.926Z,1750193849.926 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:29.943Z,1750193849.943 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.023874
2025-06-17T20:57:30.157Z,1750193850.157 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.237494
2025-06-17T20:57:30.409Z,1750193850.409 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.489389
2025-06-17T20:57:30.664Z,1750193850.664 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.743876
2025-06-17T20:57:30.913Z,1750193850.913 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.993636
2025-06-17T20:57:31.165Z,1750193851.165 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.245648
2025-06-17T20:57:31.422Z,1750193851.422 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.501318
2025-06-17T20:57:31.672Z,1750193851.672 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.751768
2025-06-17T20:57:31.921Z,1750193851.921 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.001339
2025-06-17T20:57:32.177Z,1750193852.177 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.257291
2025-06-17T20:57:32.429Z,1750193852.429 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.509454
2025-06-17T20:57:32.683Z,1750193852.683 [DAT](INFO): DAT read: Rx Time:20:57:32.4439

2025-06-17T20:57:32.685Z,1750193852.685 [DAT](INFO): Rx dataTimestamp_ set to:1750193852.683970
2025-06-17T20:57:32.686Z,1750193852.686 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.766749
2025-06-17T20:57:32.933Z,1750193852.933 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.013932
2025-06-17T20:57:33.187Z,1750193853.187 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.267419
2025-06-17T20:57:33.443Z,1750193853.443 [DAT](INFO): DAT read: 20:57:32.4439 LVL= 11824, 32337, 10322, 15971, AGC= 39, IDX= 434,-0.21, 0.794, 1.688, 2.996, 2.236, PHS=-1.354,-0.502, 0.756, RAW= 233.7,  11.9, CAL= 243.2,  14.7, ROT= 266.8, -14.7

2025-06-17T20:57:33.445Z,1750193853.445 [DAT](INFO): got valid direction response:
 20:57:32.4439 LVL= 11824, 32337, 10322, 15971, AGC= 39, IDX= 434,-0.21, 0.794, 1.688, 2.996, 2.236, PHS=-1.354,-0.502, 0.756, RAW= 233.7,  11.9, CAL= 243.2,  14.7, ROT= 266.8, -14.7

2025-06-17T20:57:33.446Z,1750193853.446 [DAT](INFO): DAT read: Bearing 266.8, -14.7 (Local)

2025-06-17T20:57:33.446Z,1750193853.446 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.8, -14.7 (Local)

2025-06-17T20:57:33.447Z,1750193853.447 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-17T20:57:33.448Z,1750193853.448 [DAT](INFO): DAT read: user:818>

2025-06-17T20:57:33.449Z,1750193853.449 [DAT](INFO): DAT read: Tx time:20:57:33.5375

2025-06-17T20:57:33.449Z,1750193853.449 [DAT](INFO): Ping request sent.
2025-06-17T20:57:33.449Z,1750193853.449 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:57:33.450Z,1750193853.450 [DAT](INFO): DAT read: TxSync time:20:57:33.5368

2025-06-17T20:57:33.451Z,1750193853.451 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-17T20:57:33.452Z,1750193853.452 [DAT](INFO): direction in FSK: [-0.053995,-0.965760,0.253758]
2025-06-17T20:57:33.452Z,1750193853.452 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:33.452Z,1750193853.452 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:33.455Z,1750193853.455 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:33.456Z,1750193853.456 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:33.459Z,1750193853.459 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.009710
2025-06-17T20:57:33.692Z,1750193853.692 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.241700
2025-06-17T20:57:33.941Z,1750193853.941 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.491374
2025-06-17T20:57:34.193Z,1750193854.193 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.743275
2025-06-17T20:57:34.445Z,1750193854.445 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.995425
2025-06-17T20:57:34.662Z,1750193854.662 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-17T20:57:34.700Z,1750193854.700 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.249854
2025-06-17T20:57:34.950Z,1750193854.950 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.499768
2025-06-17T20:57:35.201Z,1750193855.201 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.751351
2025-06-17T20:57:35.453Z,1750193855.453 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.003346
2025-06-17T20:57:35.664Z,1750193855.664 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-17T20:57:35.705Z,1750193855.705 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.255405
2025-06-17T20:57:35.958Z,1750193855.958 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.508202
2025-06-17T20:57:36.209Z,1750193856.209 [DAT](INFO): DAT read: Rx Time:20:57:35.9439

2025-06-17T20:57:36.209Z,1750193856.209 [DAT](INFO): Rx dataTimestamp_ set to:1750193856.209023
2025-06-17T20:57:36.210Z,1750193856.210 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.760405
2025-06-17T20:57:36.461Z,1750193856.461 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.011295
2025-06-17T20:57:36.739Z,1750193856.739 [DAT](INFO): DAT read: 20:57:35.9439 LVL= 11328, 31857,  9634, 15843, AGC= 40, IDX= 434,-0.11, 1.089, 1.278, 2.632, 2.019, PHS=-0.842,-0.694, 0.610, RAW= 215.3,  13.3, CAL= 222.1,  14.3, ROT= 287.9, -14.3

2025-06-17T20:57:36.743Z,1750193856.743 [DAT](INFO): got valid direction response:
 20:57:35.9439 LVL= 11328, 31857,  9634, 15843, AGC= 40, IDX= 434,-0.11, 1.089, 1.278, 2.632, 2.019, PHS=-0.842,-0.694, 0.610, RAW= 215.3,  13.3, CAL= 222.1,  14.3, ROT= 287.9, -14.3

2025-06-17T20:57:36.747Z,1750193856.747 [DAT](INFO): DAT read: Bearing 287.9, -14.3 (Local)

2025-06-17T20:57:36.748Z,1750193856.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.9, -14.3 (Local)

2025-06-17T20:57:36.754Z,1750193856.754 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-17T20:57:36.757Z,1750193856.757 [DAT](INFO): DAT read: user:819>

2025-06-17T20:57:36.759Z,1750193856.759 [DAT](INFO): DAT read: Tx time:20:57:37.0375

2025-06-17T20:57:36.761Z,1750193856.761 [DAT](INFO): Ping request sent.
2025-06-17T20:57:36.761Z,1750193856.761 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:57:36.762Z,1750193856.762 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-17T20:57:36.766Z,1750193856.766 [DAT](INFO): direction in FSK: [0.297833,-0.922110,0.246999]
2025-06-17T20:57:36.767Z,1750193856.767 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:36.767Z,1750193856.767 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:36.822Z,1750193856.822 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:36.823Z,1750193856.823 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:36.830Z,1750193856.830 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.069604
2025-06-17T20:57:36.965Z,1750193856.965 [DAT](INFO): DAT read: TxSync time:20:57:37.0368

2025-06-17T20:57:36.966Z,1750193856.966 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.205150
2025-06-17T20:57:37.217Z,1750193857.217 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.456425
2025-06-17T20:57:37.469Z,1750193857.469 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.708127
2025-06-17T20:57:37.724Z,1750193857.724 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.962499
2025-06-17T20:57:37.973Z,1750193857.973 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.212173
2025-06-17T20:57:38.225Z,1750193858.225 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.464214
2025-06-17T20:57:38.477Z,1750193858.477 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.716201
2025-06-17T20:57:38.729Z,1750193858.729 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.968412
2025-06-17T20:57:38.981Z,1750193858.981 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.220171
2025-06-17T20:57:39.233Z,1750193859.233 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.472122
2025-06-17T20:57:39.485Z,1750193859.485 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.724152
2025-06-17T20:57:39.738Z,1750193859.738 [DAT](INFO): DAT read: Rx Time:20:57:39.4440

2025-06-17T20:57:39.738Z,1750193859.738 [DAT](INFO): Rx dataTimestamp_ set to:1750193859.738186
2025-06-17T20:57:39.739Z,1750193859.739 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.978690
2025-06-17T20:57:39.989Z,1750193859.989 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.228158
2025-06-17T20:57:40.249Z,1750193860.249 [DAT](INFO): DAT read: 20:57:39.4440 LVL= 12832, 29425, 10226, 16883, AGC= 41, IDX= 433, 0.10, 0.081,-0.628, 0.554, 1.023, PHS=-0.854,-1.604,-0.472, RAW= 169.3,  46.1, CAL= 173.1,  52.2, ROT= 336.9, -52.2

2025-06-17T20:57:40.250Z,1750193860.250 [DAT](INFO): got valid direction response:
 20:57:39.4440 LVL= 12832, 29425, 10226, 16883, AGC= 41, IDX= 433, 0.10, 0.081,-0.628, 0.554, 1.023, PHS=-0.854,-1.604,-0.472, RAW= 169.3,  46.1, CAL= 173.1,  52.2, ROT= 336.9, -52.2

2025-06-17T20:57:40.251Z,1750193860.251 [DAT](INFO): DAT read: Bearing 336.9, -52.2 (Local)

2025-06-17T20:57:40.251Z,1750193860.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.9, -52.2 (Local)

2025-06-17T20:57:40.253Z,1750193860.253 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-17T20:57:40.254Z,1750193860.254 [DAT](INFO): DAT read: user:820>

2025-06-17T20:57:40.255Z,1750193860.255 [DAT](INFO): DAT read: Tx time:20:57:40.5376

2025-06-17T20:57:40.260Z,1750193860.260 [DAT](INFO): Ping request sent.
2025-06-17T20:57:40.260Z,1750193860.260 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:57:40.261Z,1750193860.261 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-17T20:57:40.262Z,1750193860.262 [DAT](INFO): direction in FSK: [0.563765,-0.240466,0.790155]
2025-06-17T20:57:40.263Z,1750193860.263 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:40.263Z,1750193860.263 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:40.276Z,1750193860.276 [DAT](INFO): publishing transmit ping time
2025-06-17T20:57:40.277Z,1750193860.277 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:40.285Z,1750193860.285 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.025040
2025-06-17T20:57:40.493Z,1750193860.493 [DAT](INFO): DAT read: TxSync time:20:57:40.5369

2025-06-17T20:57:40.494Z,1750193860.494 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.233655
2025-06-17T20:57:40.745Z,1750193860.745 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.485207
2025-06-17T20:57:40.997Z,1750193860.997 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.736902
2025-06-17T20:57:41.249Z,1750193861.249 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.988647
2025-06-17T20:57:41.501Z,1750193861.501 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.240594
2025-06-17T20:57:41.754Z,1750193861.754 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.493050
2025-06-17T20:57:42.005Z,1750193862.005 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.744637
2025-06-17T20:57:42.257Z,1750193862.257 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.996595
2025-06-17T20:57:42.509Z,1750193862.509 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.248609
2025-06-17T20:57:42.764Z,1750193862.764 [DAT](INFO): DAT read: Rx Time:20:57:42.6690 

2025-06-17T20:57:42.764Z,1750193862.764 [DAT](INFO): Rx dataTimestamp_ set to:1750193862.763816
2025-06-17T20:57:42.765Z,1750193862.765 [DAT](INFO): DAT read: Bearing 307.7, -28.4 (Local)

2025-06-17T20:57:42.766Z,1750193862.766 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.7, -28.4 (Local)

2025-06-17T20:57:42.768Z,1750193862.768 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-17T20:57:42.773Z,1750193862.773 [DAT](INFO): DAT read: 20:57:42.6690 LVL= 12656, 14673, 10690, 16739, AGC= 43, IDX= 177,-0.06, 1.248, 1.109, 2.600, 2.221, PHS=-0.884,-1.065, 0.377, RAW= 203.4,  22.2, CAL= 202.3,  28.4, ROT= 307.7, -28.4

2025-06-17T20:57:42.774Z,1750193862.774 [DAT](INFO): got valid direction response:
 20:57:42.6690 LVL= 12656, 14673, 10690, 16739, AGC= 43, IDX= 177,-0.06, 1.248, 1.109, 2.600, 2.221, PHS=-0.884,-1.065, 0.377, RAW= 203.4,  22.2, CAL= 202.3,  28.4, ROT= 307.7, -28.4

2025-06-17T20:57:42.775Z,1750193862.775 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-17T20:57:42.776Z,1750193862.776 [DAT](INFO): direction in FSK: [0.537929,-0.695998,0.475624]
2025-06-17T20:57:42.776Z,1750193862.776 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:42.785Z,1750193862.785 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.524579
2025-06-17T20:57:43.013Z,1750193863.013 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.752694
2025-06-17T20:57:43.267Z,1750193863.267 [DAT](INFO): DAT read: Rx Time:20:57:43.1688 

2025-06-17T20:57:43.267Z,1750193863.267 [DAT](INFO): Rx dataTimestamp_ set to:1750193863.266756
2025-06-17T20:57:43.268Z,1750193863.268 [DAT](INFO): DAT read: Bearing 314.2, -38.9 (Local)

2025-06-17T20:57:43.269Z,1750193863.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.2, -38.9 (Local)

2025-06-17T20:57:43.271Z,1750193863.271 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:43.276Z,1750193863.276 [DAT](INFO): DAT read: 20:57:43.1688 LVL= 12144, 28113, 10610, 16531, AGC= 41, IDX= 495, 0.05,-0.416,-0.705, 0.647, 0.543, PHS=-0.871,-1.201, 0.101, RAW= 195.9,  30.7, CAL= 195.8,  38.9, ROT= 314.2, -38.9

2025-06-17T20:57:43.277Z,1750193863.277 [DAT](INFO): got valid direction response:
 20:57:43.1688 LVL= 12144, 28113, 10610, 16531, AGC= 41, IDX= 495, 0.05,-0.416,-0.705, 0.647, 0.543, PHS=-0.871,-1.201, 0.101, RAW= 195.9,  30.7, CAL= 195.8,  38.9, ROT= 314.2, -38.9

2025-06-17T20:57:43.277Z,1750193863.277 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-17T20:57:43.278Z,1750193863.278 [DAT](INFO): direction in FSK: [0.542564,-0.557931,0.627963]
2025-06-17T20:57:43.278Z,1750193863.278 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:43.291Z,1750193863.291 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.030657
2025-06-17T20:57:43.517Z,1750193863.517 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.256572
2025-06-17T20:57:43.769Z,1750193863.769 [DAT](INFO): DAT read: Rx Time:20:57:43.6689 

2025-06-17T20:57:43.770Z,1750193863.770 [DAT](INFO): Rx dataTimestamp_ set to:1750193863.769658
2025-06-17T20:57:43.771Z,1750193863.771 [DAT](INFO): DAT read: Bearing 279.9,  -3.6 (Local)

2025-06-17T20:57:43.772Z,1750193863.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.9,  -3.6 (Local)

2025-06-17T20:57:43.774Z,1750193863.774 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:57:43.782Z,1750193863.782 [DAT](INFO): DAT read: 20:57:43.6689 LVL= 11440, 13745, 10946, 12755, AGC= 44, IDX=   0, 0.66, 0.655, 1.245, 2.617, 1.674, PHS=-0.930,-0.381, 0.940, RAW= 226.6,   4.5, CAL= 230.1,   3.6, ROT= 279.9,  -3.6

2025-06-17T20:57:43.783Z,1750193863.783 [DAT](INFO): got valid direction response:
 20:57:43.6689 LVL= 11440, 13745, 10946, 12755, AGC= 44, IDX=   0, 0.66, 0.655, 1.245, 2.617, 1.674, PHS=-0.930,-0.381, 0.940, RAW= 226.6,   4.5, CAL= 230.1,   3.6, ROT= 279.9,  -3.6

2025-06-17T20:57:43.792Z,1750193863.792 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-06-17T20:57:43.793Z,1750193863.793 [DAT](INFO): direction in FSK: [0.171590,-0.983165,0.062791]
2025-06-17T20:57:43.793Z,1750193863.793 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:43.815Z,1750193863.815 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.554832
2025-06-17T20:57:44.021Z,1750193864.021 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.760683
2025-06-17T20:57:44.274Z,1750193864.274 [DAT](INFO): DAT read: Rx Time:20:57:44.1688 

2025-06-17T20:57:44.274Z,1750193864.274 [DAT](INFO): Rx dataTimestamp_ set to:1750193864.273719
2025-06-17T20:57:44.275Z,1750193864.275 [DAT](INFO): DAT read: Bearing 314.6, -42.3 (Local)

2025-06-17T20:57:44.276Z,1750193864.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.6, -42.3 (Local)

2025-06-17T20:57:44.278Z,1750193864.278 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:44.285Z,1750193864.285 [DAT](INFO): DAT read: 20:57:44.1688 LVL= 12096, 28881, 11090, 16723, AGC= 41, IDX= 495, 0.18,-0.496,-0.776, 0.485, 0.478, PHS=-0.886,-1.208, 0.003, RAW= 195.2,  34.2, CAL= 195.4,  42.3, ROT= 314.6, -42.3

2025-06-17T20:57:44.286Z,1750193864.286 [DAT](INFO): got valid direction response:
 20:57:44.1688 LVL= 12096, 28881, 11090, 16723, AGC= 41, IDX= 495, 0.18,-0.496,-0.776, 0.485, 0.478, PHS=-0.886,-1.208, 0.003, RAW= 195.2,  34.2, CAL= 195.4,  42.3, ROT= 314.6, -42.3

2025-06-17T20:57:44.287Z,1750193864.287 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-17T20:57:44.296Z,1750193864.296 [DAT](INFO): direction in FSK: [0.519334,-0.526636,0.673013]
2025-06-17T20:57:44.297Z,1750193864.297 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:44.303Z,1750193864.303 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=4.043163
2025-06-17T20:57:44.525Z,1750193864.525 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=4.264607
2025-06-17T20:57:44.777Z,1750193864.777 [DAT](INFO): DAT read: Rx Time:20:57:44.6689 

2025-06-17T20:57:44.778Z,1750193864.778 [DAT](INFO): Rx dataTimestamp_ set to:1750193864.777679
2025-06-17T20:57:44.779Z,1750193864.779 [DAT](INFO): DAT read: Bearing 285.8, -12.7 (Local)

2025-06-17T20:57:44.780Z,1750193864.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.8, -12.7 (Local)

2025-06-17T20:57:44.782Z,1750193864.782 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:57:44.787Z,1750193864.787 [DAT](INFO): DAT read: 20:57:44.6689 LVL= 11536, 13233, 11362, 13027, AGC= 44, IDX=   0, 0.55,-3.054,-2.786,-1.320,-2.031, PHS=-0.934,-0.708, 0.709, RAW= 217.3,  12.1, CAL= 224.2,  12.7, ROT= 285.8, -12.7

2025-06-17T20:57:44.788Z,1750193864.788 [DAT](INFO): got valid direction response:
 20:57:44.6689 LVL= 11536, 13233, 11362, 13027, AGC= 44, IDX=   0, 0.55,-3.054,-2.786,-1.320,-2.031, PHS=-0.934,-0.708, 0.709, RAW= 217.3,  12.1, CAL= 224.2,  12.7, ROT= 285.8, -12.7

2025-06-17T20:57:44.788Z,1750193864.788 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-06-17T20:57:44.789Z,1750193864.789 [DAT](INFO): direction in FSK: [0.265618,-0.938677,0.219846]
2025-06-17T20:57:44.789Z,1750193864.789 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:44.797Z,1750193864.797 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=4.536799
2025-06-17T20:57:45.029Z,1750193865.029 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=4.768671
2025-06-17T20:57:45.282Z,1750193865.282 [DAT](INFO): DAT read: Rx Time:20:57:45.1688 

2025-06-17T20:57:45.282Z,1750193865.282 [DAT](INFO): Rx dataTimestamp_ set to:1750193865.281752
2025-06-17T20:57:45.283Z,1750193865.283 [DAT](INFO): DAT read: Bearing 308.0, -35.5 (Local)

2025-06-17T20:57:45.284Z,1750193865.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.0, -35.5 (Local)

2025-06-17T20:57:45.286Z,1750193865.286 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:45.291Z,1750193865.291 [DAT](INFO): DAT read: 20:57:45.1688 LVL= 11328, 29169, 11074, 16547, AGC= 41, IDX= 495, 0.37,-1.544,-1.660,-0.356,-0.561, PHS=-0.896,-1.052, 0.202, RAW= 203.4,  27.6, CAL= 202.0,  35.5, ROT= 308.0, -35.5

2025-06-17T20:57:45.292Z,1750193865.292 [DAT](INFO): got valid direction response:
 20:57:45.1688 LVL= 11328, 29169, 11074, 16547, AGC= 41, IDX= 495, 0.37,-1.544,-1.660,-0.356,-0.561, PHS=-0.896,-1.052, 0.202, RAW= 203.4,  27.6, CAL= 202.0,  35.5, ROT= 308.0, -35.5

2025-06-17T20:57:45.292Z,1750193865.292 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-06-17T20:57:45.293Z,1750193865.293 [DAT](INFO): direction in FSK: [0.501220,-0.641532,0.580703]
2025-06-17T20:57:45.294Z,1750193865.294 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:45.297Z,1750193865.297 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=5.037147
2025-06-17T20:57:45.533Z,1750193865.533 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=5.273053
2025-06-17T20:57:45.786Z,1750193865.786 [DAT](INFO): DAT read: Rx Time:20:57:45.6689 

2025-06-17T20:57:45.786Z,1750193865.786 [DAT](INFO): Rx dataTimestamp_ set to:1750193865.785756
2025-06-17T20:57:45.787Z,1750193865.787 [DAT](INFO): DAT read: Bearing 290.7, -19.3 (Local)

2025-06-17T20:57:45.788Z,1750193865.788 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.7, -19.3 (Local)

2025-06-17T20:57:45.790Z,1750193865.790 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:57:45.795Z,1750193865.795 [DAT](INFO): DAT read: 20:57:45.6689 LVL= 10560, 12081,  9634, 12067, AGC= 43, IDX=   1,-0.47,-2.481,-2.375,-0.987,-1.525, PHS=-0.869,-0.803, 0.535, RAW= 212.4,  16.3, CAL= 219.3,  19.3, ROT= 290.7, -19.3

2025-06-17T20:57:45.796Z,1750193865.796 [DAT](INFO): got valid direction response:
 20:57:45.6689 LVL= 10560, 12081,  9634, 12067, AGC= 43, IDX=   1,-0.47,-2.481,-2.375,-0.987,-1.525, PHS=-0.869,-0.803, 0.535, RAW= 212.4,  16.3, CAL= 219.3,  19.3, ROT= 290.7, -19.3

2025-06-17T20:57:45.796Z,1750193865.796 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-06-17T20:57:45.797Z,1750193865.797 [DAT](INFO): direction in FSK: [0.333610,-0.882873,0.330514]
2025-06-17T20:57:45.797Z,1750193865.797 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:45.801Z,1750193865.801 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=5.540959
2025-06-17T20:57:46.037Z,1750193866.037 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=5.776609
2025-06-17T20:57:46.289Z,1750193866.289 [DAT](INFO): DAT read: Rx Time:20:57:46.1688 

2025-06-17T20:57:46.290Z,1750193866.290 [DAT](INFO): Rx dataTimestamp_ set to:1750193866.289663
2025-06-17T20:57:46.291Z,1750193866.291 [DAT](INFO): DAT read: Bearing 286.9, -15.3 (Local)

2025-06-17T20:57:46.292Z,1750193866.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.9, -15.3 (Local)

2025-06-17T20:57:46.294Z,1750193866.294 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:46.299Z,1750193866.299 [DAT](INFO): DAT read: 20:57:46.1688 LVL= 10944, 32193,  9586, 15091, AGC= 40, IDX= 496,-0.31, 1.945, 2.150,-2.725, 2.932, PHS=-0.898,-0.735, 0.623, RAW= 215.6,  13.9, CAL= 223.1,  15.3, ROT= 286.9, -15.3

2025-06-17T20:57:46.300Z,1750193866.300 [DAT](INFO): got valid direction response:
 20:57:46.1688 LVL= 10944, 32193,  9586, 15091, AGC= 40, IDX= 496,-0.31, 1.945, 2.150,-2.725, 2.932, PHS=-0.898,-0.735, 0.623, RAW= 215.6,  13.9, CAL= 223.1,  15.3, ROT= 286.9, -15.3

2025-06-17T20:57:46.300Z,1750193866.300 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-06-17T20:57:46.301Z,1750193866.301 [DAT](INFO): direction in FSK: [0.280399,-0.922902,0.263873]
2025-06-17T20:57:46.302Z,1750193866.302 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:46.305Z,1750193866.305 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=6.045148
2025-06-17T20:57:46.541Z,1750193866.541 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=6.280691
2025-06-17T20:57:46.793Z,1750193866.793 [DAT](INFO): DAT read: Rx Time:20:57:46.6688 

2025-06-17T20:57:46.793Z,1750193866.793 [DAT](INFO): Rx dataTimestamp_ set to:1750193866.793119
2025-06-17T20:57:46.795Z,1750193866.795 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:46.795Z,1750193866.795 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-06-17T20:57:46.796Z,1750193866.796 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=6.536103
2025-06-17T20:57:47.045Z,1750193867.045 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=6.784669
2025-06-17T20:57:47.297Z,1750193867.297 [DAT](INFO): DAT read: Rx Time:20:57:47.1687 

2025-06-17T20:57:47.298Z,1750193867.298 [DAT](INFO): Rx dataTimestamp_ set to:1750193867.297659
2025-06-17T20:57:47.299Z,1750193867.299 [DAT](INFO): DAT read: Bearing 282.2, -14.1 (Local)

2025-06-17T20:57:47.300Z,1750193867.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.2, -14.1 (Local)

2025-06-17T20:57:47.302Z,1750193867.302 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:57:47.307Z,1750193867.307 [DAT](INFO): DAT read: 20:57:47.1687 LVL= 10848, 31969,  9778, 15059, AGC= 40, IDX= 511,-0.16,-0.208, 0.121, 1.512, 0.840, PHS=-0.960,-0.672, 0.669, RAW= 219.5,  12.7, CAL= 227.8,  14.1, ROT= 282.2, -14.1

2025-06-17T20:57:47.308Z,1750193867.308 [DAT](INFO): got valid direction response:
 20:57:47.1687 LVL= 10848, 31969,  9778, 15059, AGC= 40, IDX= 511,-0.16,-0.208, 0.121, 1.512, 0.840, PHS=-0.960,-0.672, 0.669, RAW= 219.5,  12.7, CAL= 227.8,  14.1, ROT= 282.2, -14.1

2025-06-17T20:57:47.308Z,1750193867.308 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-06-17T20:57:47.309Z,1750193867.309 [DAT](INFO): direction in FSK: [0.204958,-0.947968,0.243615]
2025-06-17T20:57:47.309Z,1750193867.309 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:47.317Z,1750193867.317 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=7.056769
2025-06-17T20:57:47.549Z,1750193867.549 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=7.288609
2025-06-17T20:57:47.801Z,1750193867.801 [DAT](INFO): DAT read: Rx Time:20:57:47.6688 

2025-06-17T20:57:47.802Z,1750193867.802 [DAT](INFO): Rx dataTimestamp_ set to:1750193867.801510
2025-06-17T20:57:47.803Z,1750193867.803 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:47.804Z,1750193867.804 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-06-17T20:57:47.805Z,1750193867.805 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=7.544472
2025-06-17T20:57:48.053Z,1750193868.053 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=7.792660
2025-06-17T20:57:48.306Z,1750193868.306 [DAT](INFO): DAT read: Rx Time:20:57:48.1687 

2025-06-17T20:57:48.306Z,1750193868.306 [DAT](INFO): Rx dataTimestamp_ set to:1750193868.305703
2025-06-17T20:57:48.307Z,1750193868.307 [DAT](INFO): DAT read: Bearing 281.9, -13.6 (Local)

2025-06-17T20:57:48.308Z,1750193868.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.9, -13.6 (Local)

2025-06-17T20:57:48.310Z,1750193868.310 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:57:48.316Z,1750193868.316 [DAT](INFO): DAT read: 20:57:48.1687 LVL= 10608, 31921,  9842, 15091, AGC= 40, IDX= 511,-0.05,-0.449,-0.103, 1.279, 0.597, PHS=-0.958,-0.653, 0.680, RAW= 220.1,  12.3, CAL= 228.1,  13.6, ROT= 281.9, -13.6

2025-06-17T20:57:48.318Z,1750193868.318 [DAT](INFO): got valid direction response:
 20:57:48.1687 LVL= 10608, 31921,  9842, 15091, AGC= 40, IDX= 511,-0.05,-0.449,-0.103, 1.279, 0.597, PHS=-0.958,-0.653, 0.680, RAW= 220.1,  12.3, CAL= 228.1,  13.6, ROT= 281.9, -13.6

2025-06-17T20:57:48.318Z,1750193868.318 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-06-17T20:57:48.328Z,1750193868.328 [DAT](INFO): direction in FSK: [0.200422,-0.951073,0.235142]
2025-06-17T20:57:48.328Z,1750193868.328 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:48.334Z,1750193868.334 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.073578
2025-06-17T20:57:48.557Z,1750193868.557 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.296654
2025-06-17T20:57:48.809Z,1750193868.809 [DAT](INFO): DAT read: Rx Time:20:57:48.6690 

2025-06-17T20:57:48.810Z,1750193868.810 [DAT](INFO): Rx dataTimestamp_ set to:1750193868.809651
2025-06-17T20:57:48.811Z,1750193868.811 [DAT](INFO): DAT read: Bearing 273.6,  -7.3 (Local)

2025-06-17T20:57:48.812Z,1750193868.812 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.6,  -7.3 (Local)

2025-06-17T20:57:48.814Z,1750193868.814 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-17T20:57:48.833Z,1750193868.833 [DAT](INFO): DAT read: 20:57:48.6690 LVL= 10416, 12081,  9554, 11987, AGC= 43, IDX=   0, 0.63, 0.870, 1.549, 2.736, 1.925, PHS=-0.967,-0.329, 0.808, RAW= 230.8,   6.3, CAL= 236.4,   7.3, ROT= 273.6,  -7.3

2025-06-17T20:57:48.834Z,1750193868.834 [DAT](INFO): got valid direction response:
 20:57:48.6690 LVL= 10416, 12081,  9554, 11987, AGC= 43, IDX=   0, 0.63, 0.870, 1.549, 2.736, 1.925, PHS=-0.967,-0.329, 0.808, RAW= 230.8,   6.3, CAL= 236.4,   7.3, ROT= 273.6,  -7.3

2025-06-17T20:57:48.834Z,1750193868.834 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-06-17T20:57:48.835Z,1750193868.835 [DAT](INFO): direction in FSK: [0.062282,-0.989937,0.127065]
2025-06-17T20:57:48.835Z,1750193868.835 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:48.839Z,1750193868.839 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.578641
2025-06-17T20:57:49.061Z,1750193869.061 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.800728
2025-06-17T20:57:49.313Z,1750193869.313 [DAT](INFO): DAT read: Rx Time:20:57:49.1689 

2025-06-17T20:57:49.314Z,1750193869.314 [DAT](INFO): Rx dataTimestamp_ set to:1750193869.313600
2025-06-17T20:57:49.315Z,1750193869.315 [DAT](INFO): DAT read: Bearing 287.8, -16.6 (Local)

2025-06-17T20:57:49.315Z,1750193869.316 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.8, -16.6 (Local)

2025-06-17T20:57:49.318Z,1750193869.318 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:57:49.322Z,1750193869.322 [DAT](INFO): DAT read: 20:57:49.1689 LVL= 10096, 28945,  9618, 14627, AGC= 40, IDX= 495,-0.02, 0.989, 1.166, 2.594, 1.988, PHS=-0.911,-0.774, 0.604, RAW= 214.7,  14.8, CAL= 222.2,  16.6, ROT= 287.8, -16.6

2025-06-17T20:57:49.324Z,1750193869.324 [DAT](INFO): got valid direction response:
 20:57:49.1689 LVL= 10096, 28945,  9618, 14627, AGC= 40, IDX= 495,-0.02, 0.989, 1.166, 2.594, 1.988, PHS=-0.911,-0.774, 0.604, RAW= 214.7,  14.8, CAL= 222.2,  16.6, ROT= 287.8, -16.6

2025-06-17T20:57:49.324Z,1750193869.324 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-17T20:57:49.325Z,1750193869.325 [DAT](INFO): direction in FSK: [0.292955,-0.912447,0.285688]
2025-06-17T20:57:49.325Z,1750193869.325 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:49.329Z,1750193869.329 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=9.068744
2025-06-17T20:57:49.566Z,1750193869.566 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=9.305367
2025-06-17T20:57:49.817Z,1750193869.817 [DAT](INFO): DAT read: Rx Time:20:57:49.6690 

2025-06-17T20:57:49.818Z,1750193869.818 [DAT](INFO): Rx dataTimestamp_ set to:1750193869.817423
2025-06-17T20:57:49.819Z,1750193869.819 [DAT](INFO): DAT read: Bearing 271.2,  -6.5 (Local)

2025-06-17T20:57:49.819Z,1750193869.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.2,  -6.5 (Local)

2025-06-17T20:57:49.822Z,1750193869.822 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-17T20:57:49.826Z,1750193869.826 [DAT](INFO): DAT read: 20:57:49.6690 LVL= 11584, 13425, 10850, 12755, AGC= 44, IDX=   0, 0.69, 2.217, 3.010,-2.089,-2.952, PHS=-1.026,-0.274, 0.859, RAW= 233.3,   5.4, CAL= 238.8,   6.5, ROT= 271.2,  -6.5

2025-06-17T20:57:49.827Z,1750193869.827 [DAT](INFO): got valid direction response:
 20:57:49.6690 LVL= 11584, 13425, 10850, 12755, AGC= 44, IDX=   0, 0.69, 2.217, 3.010,-2.089,-2.952, PHS=-1.026,-0.274, 0.859, RAW= 233.3,   5.4, CAL= 238.8,   6.5, ROT= 271.2,  -6.5

2025-06-17T20:57:49.828Z,1750193869.828 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-06-17T20:57:49.829Z,1750193869.829 [DAT](INFO): direction in FSK: [0.020808,-0.993354,0.113203]
2025-06-17T20:57:49.829Z,1750193869.829 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:49.833Z,1750193869.833 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.572318
2025-06-17T20:57:50.069Z,1750193870.069 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.808681
2025-06-17T20:57:50.322Z,1750193870.322 [DAT](INFO): DAT read: Rx Time:20:57:50.1689 

2025-06-17T20:57:50.322Z,1750193870.322 [DAT](INFO): Rx dataTimestamp_ set to:1750193870.321726
2025-06-17T20:57:50.323Z,1750193870.323 [DAT](INFO): DAT read: Bearing 297.1, -24.5 (Local)

2025-06-17T20:57:50.324Z,1750193870.324 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.1, -24.5 (Local)

2025-06-17T20:57:50.326Z,1750193870.326 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:57:50.331Z,1750193870.331 [DAT](INFO): DAT read: 20:57:50.1689 LVL= 11328, 29249, 10978, 16467, AGC= 41, IDX= 495,-0.02, 2.348, 2.400,-2.466,-2.932, PHS=-0.915,-0.904, 0.463, RAW= 210.4,  19.3, CAL= 212.9,  24.5, ROT= 297.1, -24.5

2025-06-17T20:57:50.332Z,1750193870.332 [DAT](INFO): got valid direction response:
 20:57:50.1689 LVL= 11328, 29249, 10978, 16467, AGC= 41, IDX= 495,-0.02, 2.348, 2.400,-2.466,-2.932, PHS=-0.915,-0.904, 0.463, RAW= 210.4,  19.3, CAL= 212.9,  24.5, ROT= 297.1, -24.5

2025-06-17T20:57:50.332Z,1750193870.332 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-17T20:57:50.333Z,1750193870.333 [DAT](INFO): direction in FSK: [0.414528,-0.810059,0.414693]
2025-06-17T20:57:50.334Z,1750193870.334 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:50.349Z,1750193870.349 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=10.088803
2025-06-17T20:57:50.573Z,1750193870.573 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=10.312606
2025-06-17T20:57:50.826Z,1750193870.826 [DAT](INFO): DAT read: Rx Time:20:57:50.6689 

2025-06-17T20:57:50.826Z,1750193870.826 [DAT](INFO): Rx dataTimestamp_ set to:1750193870.825845
2025-06-17T20:57:50.827Z,1750193870.827 [DAT](INFO): DAT read: Bearing 304.0, -30.4 (Local)

2025-06-17T20:57:50.828Z,1750193870.828 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.0, -30.4 (Local)

2025-06-17T20:57:50.830Z,1750193870.830 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:57:50.835Z,1750193870.835 [DAT](INFO): DAT read: 20:57:50.6689 LVL= 11488, 28881, 10786, 16451, AGC= 41, IDX= 511, 0.02, 2.998, 2.961,-1.960,-2.293, PHS=-0.904,-0.982, 0.330, RAW= 206.9,  23.3, CAL= 206.0,  30.4, ROT= 304.0, -30.4

2025-06-17T20:57:50.838Z,1750193870.838 [DAT](INFO): got valid direction response:
 20:57:50.6689 LVL= 11488, 28881, 10786, 16451, AGC= 41, IDX= 511, 0.02, 2.998, 2.961,-1.960,-2.293, PHS=-0.904,-0.982, 0.330, RAW= 206.9,  23.3, CAL= 206.0,  30.4, ROT= 304.0, -30.4

2025-06-17T20:57:50.838Z,1750193870.838 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-17T20:57:50.839Z,1750193870.839 [DAT](INFO): direction in FSK: [0.482312,-0.715056,0.506034]
2025-06-17T20:57:50.839Z,1750193870.839 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:50.843Z,1750193870.843 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=10.582890
2025-06-17T20:57:51.089Z,1750193871.089 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=10.828302
2025-06-17T20:57:51.342Z,1750193871.342 [DAT](INFO): DAT read: Rx Time:20:57:51.1688 

2025-06-17T20:57:51.343Z,1750193871.343 [DAT](INFO): Rx dataTimestamp_ set to:1750193871.342482
2025-06-17T20:57:51.345Z,1750193871.345 [DAT](INFO): DAT read: Bearing 307.5, -32.5 (Local)

2025-06-17T20:57:51.345Z,1750193871.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.5, -32.5 (Local)

2025-06-17T20:57:51.347Z,1750193871.347 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:51.352Z,1750193871.352 [DAT](INFO): DAT read: 20:57:51.1688 LVL= 12272, 28913, 10834, 16211, AGC= 41, IDX= 510, 0.02, 2.494, 2.378,-2.536,-2.812, PHS=-0.890,-1.046, 0.273, RAW= 203.8,  25.2, CAL= 202.5,  32.5, ROT= 307.5, -32.5

2025-06-17T20:57:51.353Z,1750193871.353 [DAT](INFO): got valid direction response:
 20:57:51.1688 LVL= 12272, 28913, 10834, 16211, AGC= 41, IDX= 510, 0.02, 2.494, 2.378,-2.536,-2.812, PHS=-0.890,-1.046, 0.273, RAW= 203.8,  25.2, CAL= 202.5,  32.5, ROT= 307.5, -32.5

2025-06-17T20:57:51.354Z,1750193871.354 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-17T20:57:51.355Z,1750193871.355 [DAT](INFO): direction in FSK: [0.513424,-0.669107,0.537300]
2025-06-17T20:57:51.355Z,1750193871.355 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:51.359Z,1750193871.359 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.098466
2025-06-17T20:57:51.593Z,1750193871.593 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.332654
2025-06-17T20:57:51.846Z,1750193871.846 [DAT](INFO): DAT read: Rx Time:20:57:51.6689 

2025-06-17T20:57:51.846Z,1750193871.846 [DAT](INFO): Rx dataTimestamp_ set to:1750193871.845748
2025-06-17T20:57:51.847Z,1750193871.847 [DAT](INFO): DAT read: Bearing 313.0, -40.1 (Local)

2025-06-17T20:57:51.848Z,1750193871.848 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.0, -40.1 (Local)

2025-06-17T20:57:51.850Z,1750193871.850 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:57:51.855Z,1750193871.855 [DAT](INFO): DAT read: 20:57:51.6689 LVL= 11616, 28657, 10610, 16243, AGC= 41, IDX= 511, 0.05,-1.860,-2.106,-0.801,-0.887, PHS=-0.885,-1.173, 0.083, RAW= 197.4,  31.5, CAL= 197.0,  40.1, ROT= 313.0, -40.1

2025-06-17T20:57:51.856Z,1750193871.856 [DAT](INFO): got valid direction response:
 20:57:51.6689 LVL= 11616, 28657, 10610, 16243, AGC= 41, IDX= 511, 0.05,-1.860,-2.106,-0.801,-0.887, PHS=-0.885,-1.173, 0.083, RAW= 197.4,  31.5, CAL= 197.0,  40.1, ROT= 313.0, -40.1

2025-06-17T20:57:51.856Z,1750193871.856 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-17T20:57:51.857Z,1750193871.857 [DAT](INFO): direction in FSK: [0.521675,-0.559428,0.644124]
2025-06-17T20:57:51.857Z,1750193871.857 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:51.865Z,1750193871.865 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=11.604988
2025-06-17T20:57:52.097Z,1750193872.097 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=11.836690
2025-06-17T20:57:52.350Z,1750193872.350 [DAT](INFO): DAT read: Rx Time:20:57:52.1688 

2025-06-17T20:57:52.351Z,1750193872.351 [DAT](INFO): Rx dataTimestamp_ set to:1750193872.350225
2025-06-17T20:57:52.352Z,1750193872.352 [DAT](INFO): DAT read: Bearing 315.7, -42.5 (Local)

2025-06-17T20:57:52.353Z,1750193872.353 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.7, -42.5 (Local)

2025-06-17T20:57:52.356Z,1750193872.356 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:52.363Z,1750193872.363 [DAT](INFO): DAT read: 20:57:52.1688 LVL= 12096, 27921, 10594, 16563, AGC= 41, IDX= 510, 0.06,-2.388,-2.705,-1.417,-1.411, PHS=-0.889,-1.246,-0.009, RAW= 193.7,  34.5, CAL= 194.3,  42.5, ROT= 315.7, -42.5

2025-06-17T20:57:52.364Z,1750193872.364 [DAT](INFO): got valid direction response:
 20:57:52.1688 LVL= 12096, 27921, 10594, 16563, AGC= 41, IDX= 510, 0.06,-2.388,-2.705,-1.417,-1.411, PHS=-0.889,-1.246,-0.009, RAW= 193.7,  34.5, CAL= 194.3,  42.5, ROT= 315.7, -42.5

2025-06-17T20:57:52.364Z,1750193872.364 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-17T20:57:52.365Z,1750193872.365 [DAT](INFO): direction in FSK: [0.527664,-0.514926,0.675590]
2025-06-17T20:57:52.366Z,1750193872.366 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:52.376Z,1750193872.376 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=12.115319
2025-06-17T20:57:52.601Z,1750193872.601 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=12.340650
2025-06-17T20:57:52.855Z,1750193872.855 [DAT](INFO): DAT read: Rx Time:20:57:52.6689 

2025-06-17T20:57:52.858Z,1750193872.858 [DAT](INFO): Rx dataTimestamp_ set to:1750193872.855040
2025-06-17T20:57:52.861Z,1750193872.861 [DAT](INFO): DAT read: Bearing 315.2, -41.0 (Local)

2025-06-17T20:57:52.862Z,1750193872.862 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.2, -41.0 (Local)

2025-06-17T20:57:52.865Z,1750193872.865 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:57:52.892Z,1750193872.892 [DAT](INFO): DAT read: 20:57:52.6689 LVL= 12576, 27745, 10498, 16371, AGC= 41, IDX= 511, 0.07,-1.255,-1.571,-0.236,-0.280, PHS=-0.887,-1.244, 0.040, RAW= 194.4,  32.8, CAL= 194.8,  41.0, ROT= 315.2, -41.0

2025-06-17T20:57:52.893Z,1750193872.893 [DAT](INFO): got valid direction response:
 20:57:52.6689 LVL= 12576, 27745, 10498, 16371, AGC= 41, IDX= 511, 0.07,-1.255,-1.571,-0.236,-0.280, PHS=-0.887,-1.244, 0.040, RAW= 194.4,  32.8, CAL= 194.8,  41.0, ROT= 315.2, -41.0

2025-06-17T20:57:52.894Z,1750193872.894 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-17T20:57:52.895Z,1750193872.895 [DAT](INFO): direction in FSK: [0.535520,-0.531794,0.656059]
2025-06-17T20:57:52.895Z,1750193872.895 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:52.923Z,1750193872.923 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=12.663055
2025-06-17T20:57:53.105Z,1750193873.105 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=12.844648
2025-06-17T20:57:53.358Z,1750193873.358 [DAT](INFO): DAT read: Rx Time:20:57:53.1688 

2025-06-17T20:57:53.358Z,1750193873.358 [DAT](INFO): Rx dataTimestamp_ set to:1750193873.357789
2025-06-17T20:57:53.359Z,1750193873.359 [DAT](INFO): DAT read: Bearing 315.7, -38.2 (Local)

2025-06-17T20:57:53.360Z,1750193873.360 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.7, -38.2 (Local)

2025-06-17T20:57:53.362Z,1750193873.362 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:53.367Z,1750193873.367 [DAT](INFO): DAT read: 20:57:53.1688 LVL= 11984, 30257,  9410, 15091, AGC= 40, IDX= 510, 0.16,-2.382,-2.702,-1.385,-1.490, PHS=-0.805,-1.165, 0.102, RAW= 194.0,  30.3, CAL= 194.3,  38.2, ROT= 315.7, -38.2

2025-06-17T20:57:53.368Z,1750193873.368 [DAT](INFO): got valid direction response:
 20:57:53.1688 LVL= 11984, 30257,  9410, 15091, AGC= 40, IDX= 510, 0.16,-2.382,-2.702,-1.385,-1.490, PHS=-0.805,-1.165, 0.102, RAW= 194.0,  30.3, CAL= 194.3,  38.2, ROT= 315.7, -38.2

2025-06-17T20:57:53.368Z,1750193873.368 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-17T20:57:53.369Z,1750193873.369 [DAT](INFO): direction in FSK: [0.562432,-0.548854,0.618408]
2025-06-17T20:57:53.370Z,1750193873.370 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:53.409Z,1750193873.409 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=13.149205
2025-06-17T20:57:53.609Z,1750193873.609 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=13.348562
2025-06-17T20:57:53.861Z,1750193873.861 [DAT](INFO): DAT read: Rx Time:20:57:53.6688 

2025-06-17T20:57:53.862Z,1750193873.862 [DAT](INFO): Rx dataTimestamp_ set to:1750193873.861452
2025-06-17T20:57:53.863Z,1750193873.863 [DAT](INFO): DAT read: Bearing 324.9, -47.9 (Local)

2025-06-17T20:57:53.863Z,1750193873.863 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.9, -47.9 (Local)

2025-06-17T20:57:53.866Z,1750193873.866 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:53.870Z,1750193873.870 [DAT](INFO): DAT read: 20:57:53.6688 LVL= 13040, 31793, 10482, 16995, AGC= 41, IDX= 510, 0.12,-0.963,-1.467,-0.238,-0.005, PHS=-0.870,-1.415,-0.236, RAW= 182.5,  41.1, CAL= 185.1,  47.9, ROT= 324.9, -47.9

2025-06-17T20:57:53.871Z,1750193873.871 [DAT](INFO): got valid direction response:
 20:57:53.6688 LVL= 13040, 31793, 10482, 16995, AGC= 41, IDX= 510, 0.12,-0.963,-1.467,-0.238,-0.005, PHS=-0.870,-1.415,-0.236, RAW= 182.5,  41.1, CAL= 185.1,  47.9, ROT= 324.9, -47.9

2025-06-17T20:57:53.872Z,1750193873.872 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-06-17T20:57:53.873Z,1750193873.873 [DAT](INFO): direction in FSK: [0.548509,-0.385499,0.741976]
2025-06-17T20:57:53.873Z,1750193873.873 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:53.877Z,1750193873.877 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=13.616323
2025-06-17T20:57:54.113Z,1750193874.113 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=13.852749
2025-06-17T20:57:54.365Z,1750193874.365 [DAT](INFO): DAT read: Rx Time:20:57:54.1687 

2025-06-17T20:57:54.366Z,1750193874.366 [DAT](INFO): Rx dataTimestamp_ set to:1750193874.365673
2025-06-17T20:57:54.367Z,1750193874.367 [DAT](INFO): DAT read: Bearing 324.8, -47.4 (Local)

2025-06-17T20:57:54.368Z,1750193874.368 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.8, -47.4 (Local)

2025-06-17T20:57:54.370Z,1750193874.370 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:57:54.382Z,1750193874.382 [DAT](INFO): DAT read: 20:57:54.1687 LVL= 12096, 29425, 10482, 17011, AGC= 41, IDX= 509, 0.16,-2.214,-2.707,-1.499,-1.287, PHS=-0.839,-1.373,-0.215, RAW= 182.6,  40.5, CAL= 185.2,  47.4, ROT= 324.8, -47.4

2025-06-17T20:57:54.383Z,1750193874.383 [DAT](INFO): got valid direction response:
 20:57:54.1687 LVL= 12096, 29425, 10482, 17011, AGC= 41, IDX= 509, 0.16,-2.214,-2.707,-1.499,-1.287, PHS=-0.839,-1.373,-0.215, RAW= 182.6,  40.5, CAL= 185.2,  47.4, ROT= 324.8, -47.4

2025-06-17T20:57:54.383Z,1750193874.383 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-17T20:57:54.388Z,1750193874.388 [DAT](INFO): direction in FSK: [0.553106,-0.390173,0.736097]
2025-06-17T20:57:54.389Z,1750193874.389 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:54.396Z,1750193874.396 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=14.136201
2025-06-17T20:57:54.617Z,1750193874.617 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=14.356667
2025-06-17T20:57:54.869Z,1750193874.869 [DAT](INFO): DAT read: Rx Time:20:57:54.6688 

2025-06-17T20:57:54.870Z,1750193874.870 [DAT](INFO): Rx dataTimestamp_ set to:1750193874.869670
2025-06-17T20:57:54.871Z,1750193874.871 [DAT](INFO): DAT read: Bearing 318.1, -40.4 (Local)

2025-06-17T20:57:54.872Z,1750193874.872 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.1, -40.4 (Local)

2025-06-17T20:57:54.874Z,1750193874.874 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:54.883Z,1750193874.883 [DAT](INFO): DAT read: 20:57:54.6688 LVL= 11568, 29553, 10402, 15475, AGC= 40, IDX= 510, 0.26,-1.733,-2.121,-0.804,-0.845, PHS=-0.800,-1.229, 0.038, RAW= 190.5,  32.2, CAL= 191.9,  40.4, ROT= 318.1, -40.4

2025-06-17T20:57:54.885Z,1750193874.885 [DAT](INFO): got valid direction response:
 20:57:54.6688 LVL= 11568, 29553, 10402, 15475, AGC= 40, IDX= 510, 0.26,-1.733,-2.121,-0.804,-0.845, PHS=-0.800,-1.229, 0.038, RAW= 190.5,  32.2, CAL= 191.9,  40.4, ROT= 318.1, -40.4

2025-06-17T20:57:54.885Z,1750193874.885 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-17T20:57:54.886Z,1750193874.886 [DAT](INFO): direction in FSK: [0.566822,-0.508580,0.648120]
2025-06-17T20:57:54.886Z,1750193874.886 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:54.890Z,1750193874.890 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=14.629891
2025-06-17T20:57:55.122Z,1750193875.122 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=14.861548
2025-06-17T20:57:55.374Z,1750193875.374 [DAT](INFO): DAT read: Rx Time:20:57:55.1687 

2025-06-17T20:57:55.374Z,1750193875.374 [DAT](INFO): Rx dataTimestamp_ set to:1750193875.373857
2025-06-17T20:57:55.375Z,1750193875.375 [DAT](INFO): DAT read: Bearing 327.9, -48.9 (Local)

2025-06-17T20:57:55.376Z,1750193875.376 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.9, -48.9 (Local)

2025-06-17T20:57:55.378Z,1750193875.378 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:57:55.383Z,1750193875.383 [DAT](INFO): DAT read: 20:57:55.1687 LVL= 12144, 29569, 10514, 17091, AGC= 41, IDX= 509, 0.24,-1.650,-2.206,-0.994,-0.711, PHS=-0.851,-1.448,-0.286, RAW= 179.1,  42.2, CAL= 182.1,  48.9, ROT= 327.9, -48.9

2025-06-17T20:57:55.384Z,1750193875.384 [DAT](INFO): got valid direction response:
 20:57:55.1687 LVL= 12144, 29569, 10514, 17091, AGC= 41, IDX= 509, 0.24,-1.650,-2.206,-0.994,-0.711, PHS=-0.851,-1.448,-0.286, RAW= 179.1,  42.2, CAL= 182.1,  48.9, ROT= 327.9, -48.9

2025-06-17T20:57:55.384Z,1750193875.384 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-17T20:57:55.385Z,1750193875.385 [DAT](INFO): direction in FSK: [0.556877,-0.349328,0.753563]
2025-06-17T20:57:55.386Z,1750193875.386 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:55.389Z,1750193875.389 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=15.129054
2025-06-17T20:57:55.625Z,1750193875.625 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=15.364724
2025-06-17T20:57:55.877Z,1750193875.877 [DAT](INFO): DAT read: Rx Time:20:57:55.6689 

2025-06-17T20:57:55.878Z,1750193875.878 [DAT](INFO): Rx dataTimestamp_ set to:1750193875.877606
2025-06-17T20:57:55.879Z,1750193875.879 [DAT](INFO): DAT read: Bearing 323.1, -45.5 (Local)

2025-06-17T20:57:55.880Z,1750193875.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.1, -45.5 (Local)

2025-06-17T20:57:55.882Z,1750193875.882 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:57:55.887Z,1750193875.887 [DAT](INFO): DAT read: 20:57:55.6689 LVL= 12224, 29729, 10354, 16947, AGC= 41, IDX= 510, 0.33,-1.201,-1.691,-0.409,-0.260, PHS=-0.852,-1.384,-0.152, RAW= 184.5,  38.3, CAL= 186.9,  45.5, ROT= 323.1, -45.5

2025-06-17T20:57:55.888Z,1750193875.888 [DAT](INFO): got valid direction response:
 20:57:55.6689 LVL= 12224, 29729, 10354, 16947, AGC= 41, IDX= 510, 0.33,-1.201,-1.691,-0.409,-0.260, PHS=-0.852,-1.384,-0.152, RAW= 184.5,  38.3, CAL= 186.9,  45.5, ROT= 323.1, -45.5

2025-06-17T20:57:55.888Z,1750193875.888 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-17T20:57:55.889Z,1750193875.889 [DAT](INFO): direction in FSK: [0.560506,-0.420840,0.713250]
2025-06-17T20:57:55.889Z,1750193875.889 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:55.902Z,1750193875.902 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=15.642025
2025-06-17T20:57:56.129Z,1750193876.129 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=15.868593
2025-06-17T20:57:56.382Z,1750193876.382 [DAT](INFO): DAT read: Rx Time:20:57:56.1688 

2025-06-17T20:57:56.383Z,1750193876.383 [DAT](INFO): Rx dataTimestamp_ set to:1750193876.382579
2025-06-17T20:57:56.384Z,1750193876.384 [DAT](INFO): DAT read: Bearing 316.3, -36.9 (Local)

2025-06-17T20:57:56.385Z,1750193876.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.3, -36.9 (Local)

2025-06-17T20:57:56.387Z,1750193876.387 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:56.392Z,1750193876.392 [DAT](INFO): DAT read: 20:57:56.1688 LVL= 11824, 29585,  9714, 15011, AGC= 40, IDX= 509, 0.49, 3.005, 2.662,-2.263,-2.391, PHS=-0.800,-1.184, 0.125, RAW= 193.4,  29.4, CAL= 193.7,  36.9, ROT= 316.3, -36.9

2025-06-17T20:57:56.393Z,1750193876.393 [DAT](INFO): got valid direction response:
 20:57:56.1688 LVL= 11824, 29585,  9714, 15011, AGC= 40, IDX= 509, 0.49, 3.005, 2.662,-2.263,-2.391, PHS=-0.800,-1.184, 0.125, RAW= 193.4,  29.4, CAL= 193.7,  36.9, ROT= 316.3, -36.9

2025-06-17T20:57:56.394Z,1750193876.394 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-06-17T20:57:56.395Z,1750193876.395 [DAT](INFO): direction in FSK: [0.578146,-0.552488,0.600420]
2025-06-17T20:57:56.395Z,1750193876.395 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:56.406Z,1750193876.406 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=16.145773
2025-06-17T20:57:56.633Z,1750193876.633 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=16.372675
2025-06-17T20:57:56.885Z,1750193876.885 [DAT](INFO): DAT read: Rx Time:20:57:56.6689 

2025-06-17T20:57:56.886Z,1750193876.886 [DAT](INFO): Rx dataTimestamp_ set to:1750193876.885599
2025-06-17T20:57:56.887Z,1750193876.887 [DAT](INFO): DAT read: Bearing 309.6, -25.5 (Local)

2025-06-17T20:57:56.888Z,1750193876.888 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.6, -25.5 (Local)

2025-06-17T20:57:56.890Z,1750193876.890 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:57:56.894Z,1750193876.894 [DAT](INFO): DAT read: 20:57:56.6689 LVL= 12128, 29761,  9458, 14835, AGC= 40, IDX= 511,-0.38, 2.821, 2.640,-2.168,-2.585, PHS=-0.789,-1.011, 0.415, RAW= 201.7,  20.2, CAL= 200.4,  25.5, ROT= 309.6, -25.5

2025-06-17T20:57:56.904Z,1750193876.904 [DAT](INFO): got valid direction response:
 20:57:56.6689 LVL= 12128, 29761,  9458, 14835, AGC= 40, IDX= 511,-0.38, 2.821, 2.640,-2.168,-2.585, PHS=-0.789,-1.011, 0.415, RAW= 201.7,  20.2, CAL= 200.4,  25.5, ROT= 309.6, -25.5

2025-06-17T20:57:56.904Z,1750193876.904 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-06-17T20:57:56.906Z,1750193876.906 [DAT](INFO): direction in FSK: [0.575330,-0.695454,0.430511]
2025-06-17T20:57:56.906Z,1750193876.906 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:56.918Z,1750193876.918 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=16.657431
2025-06-17T20:57:57.137Z,1750193877.137 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=16.876812
2025-06-17T20:57:57.390Z,1750193877.390 [DAT](INFO): DAT read: Rx Time:20:57:57.1688 

2025-06-17T20:57:57.391Z,1750193877.391 [DAT](INFO): Rx dataTimestamp_ set to:1750193877.390872
2025-06-17T20:57:57.393Z,1750193877.393 [DAT](INFO): DAT read: Bearing 306.3, -22.0 (Local)

2025-06-17T20:57:57.393Z,1750193877.393 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.3, -22.0 (Local)

2025-06-17T20:57:57.395Z,1750193877.395 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:57.400Z,1750193877.400 [DAT](INFO): DAT read: 20:57:57.1688 LVL= 12096, 29553,  9618, 14611, AGC= 40, IDX= 510,-0.34, 1.419, 1.290, 2.815, 2.302, PHS=-0.795,-0.965, 0.510, RAW= 203.9,  17.5, CAL= 203.7,  22.0, ROT= 306.3, -22.0

2025-06-17T20:57:57.401Z,1750193877.401 [DAT](INFO): got valid direction response:
 20:57:57.1688 LVL= 12096, 29553,  9618, 14611, AGC= 40, IDX= 510,-0.34, 1.419, 1.290, 2.815, 2.302, PHS=-0.795,-0.965, 0.510, RAW= 203.9,  17.5, CAL= 203.7,  22.0, ROT= 306.3, -22.0

2025-06-17T20:57:57.402Z,1750193877.402 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-06-17T20:57:57.403Z,1750193877.403 [DAT](INFO): direction in FSK: [0.548905,-0.747244,0.374607]
2025-06-17T20:57:57.403Z,1750193877.403 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:57.407Z,1750193877.407 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=17.146301
2025-06-17T20:57:57.641Z,1750193877.641 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=17.380701
2025-06-17T20:57:57.893Z,1750193877.893 [DAT](INFO): DAT read: Rx Time:20:57:57.6688 

2025-06-17T20:57:57.894Z,1750193877.894 [DAT](INFO): Rx dataTimestamp_ set to:1750193877.893629
2025-06-17T20:57:57.895Z,1750193877.895 [DAT](INFO): DAT read: Bearing 307.9, -23.4 (Local)

2025-06-17T20:57:57.896Z,1750193877.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.9, -23.4 (Local)

2025-06-17T20:57:57.898Z,1750193877.898 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:57.903Z,1750193877.903 [DAT](INFO): DAT read: 20:57:57.6688 LVL= 12176, 29345,  9634, 14691, AGC= 40, IDX= 510,-0.26, 1.376, 1.221, 2.739, 2.261, PHS=-0.796,-0.993, 0.475, RAW= 202.9,  18.6, CAL= 202.1,  23.4, ROT= 307.9, -23.4

2025-06-17T20:57:57.905Z,1750193877.905 [DAT](INFO): got valid direction response:
 20:57:57.6688 LVL= 12176, 29345,  9634, 14691, AGC= 40, IDX= 510,-0.26, 1.376, 1.221, 2.739, 2.261, PHS=-0.796,-0.993, 0.475, RAW= 202.9,  18.6, CAL= 202.1,  23.4, ROT= 307.9, -23.4

2025-06-17T20:57:57.905Z,1750193877.905 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-06-17T20:57:57.906Z,1750193877.906 [DAT](INFO): direction in FSK: [0.563763,-0.724186,0.397148]
2025-06-17T20:57:57.906Z,1750193877.906 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:57.910Z,1750193877.910 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=17.649530
2025-06-17T20:57:58.145Z,1750193878.145 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=17.884613
2025-06-17T20:57:58.398Z,1750193878.398 [DAT](INFO): DAT read: Rx Time:20:57:58.1687 

2025-06-17T20:57:58.399Z,1750193878.399 [DAT](INFO): Rx dataTimestamp_ set to:1750193878.398410
2025-06-17T20:57:58.401Z,1750193878.401 [DAT](INFO): DAT read: Bearing 306.0, -21.5 (Local)

2025-06-17T20:57:58.401Z,1750193878.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.0, -21.5 (Local)

2025-06-17T20:57:58.404Z,1750193878.404 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:57:58.418Z,1750193878.418 [DAT](INFO): DAT read: 20:57:58.1687 LVL= 12208, 29297,  9618, 14323, AGC= 40, IDX= 509,-0.22, 0.059,-0.067, 1.476, 0.946, PHS=-0.799,-0.966, 0.528, RAW= 204.2,  17.1, CAL= 204.0,  21.5, ROT= 306.0, -21.5

2025-06-17T20:57:58.419Z,1750193878.419 [DAT](INFO): got valid direction response:
 20:57:58.1687 LVL= 12208, 29297,  9618, 14323, AGC= 40, IDX= 509,-0.22, 0.059,-0.067, 1.476, 0.946, PHS=-0.799,-0.966, 0.528, RAW= 204.2,  17.1, CAL= 204.0,  21.5, ROT= 306.0, -21.5

2025-06-17T20:57:58.419Z,1750193878.419 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-06-17T20:57:58.421Z,1750193878.421 [DAT](INFO): direction in FSK: [0.546886,-0.752724,0.366501]
2025-06-17T20:57:58.421Z,1750193878.421 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:58.425Z,1750193878.425 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=18.164999
2025-06-17T20:57:58.649Z,1750193878.649 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=18.388750
2025-06-17T20:57:58.901Z,1750193878.901 [DAT](INFO): DAT read: Rx Time:20:57:58.6688 

2025-06-17T20:57:58.902Z,1750193878.902 [DAT](INFO): Rx dataTimestamp_ set to:1750193878.901589
2025-06-17T20:57:58.903Z,1750193878.903 [DAT](INFO): DAT read: Bearing 314.0, -33.8 (Local)

2025-06-17T20:57:58.903Z,1750193878.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0, -33.8 (Local)

2025-06-17T20:57:58.906Z,1750193878.906 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:58.910Z,1750193878.910 [DAT](INFO): DAT read: 20:57:58.6688 LVL= 12368, 26817, 10402, 16019, AGC= 41, IDX= 510,-0.25, 2.565, 2.250,-2.515,-2.743, PHS=-0.887,-1.243, 0.225, RAW= 196.6,  26.9, CAL= 196.0,  33.8, ROT= 314.0, -33.8

2025-06-17T20:57:58.912Z,1750193878.912 [DAT](INFO): got valid direction response:
 20:57:58.6688 LVL= 12368, 26817, 10402, 16019, AGC= 41, IDX= 510,-0.25, 2.565, 2.250,-2.515,-2.743, PHS=-0.887,-1.243, 0.225, RAW= 196.6,  26.9, CAL= 196.0,  33.8, ROT= 314.0, -33.8

2025-06-17T20:57:58.912Z,1750193878.912 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-17T20:57:58.913Z,1750193878.913 [DAT](INFO): direction in FSK: [0.577250,-0.597760,0.556296]
2025-06-17T20:57:58.913Z,1750193878.913 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:58.951Z,1750193878.951 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=18.690857
2025-06-17T20:57:59.153Z,1750193879.153 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=18.892649
2025-06-17T20:57:59.405Z,1750193879.405 [DAT](INFO): DAT read: Rx Time:20:57:59.1687 

2025-06-17T20:57:59.406Z,1750193879.406 [DAT](INFO): Rx dataTimestamp_ set to:1750193879.405578
2025-06-17T20:57:59.407Z,1750193879.407 [DAT](INFO): DAT read: Bearing 305.8, -21.4 (Local)

2025-06-17T20:57:59.407Z,1750193879.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.8, -21.4 (Local)

2025-06-17T20:57:59.410Z,1750193879.410 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:57:59.414Z,1750193879.414 [DAT](INFO): DAT read: 20:57:59.1687 LVL= 12176, 29489,  9554, 14515, AGC= 40, IDX= 509,-0.10, 0.133, 0.009, 1.559, 1.023, PHS=-0.802,-0.968, 0.532, RAW= 204.2,  17.1, CAL= 204.2,  21.4, ROT= 305.8, -21.4

2025-06-17T20:57:59.415Z,1750193879.415 [DAT](INFO): got valid direction response:
 20:57:59.1687 LVL= 12176, 29489,  9554, 14515, AGC= 40, IDX= 509,-0.10, 0.133, 0.009, 1.559, 1.023, PHS=-0.802,-0.968, 0.532, RAW= 204.2,  17.1, CAL= 204.2,  21.4, ROT= 305.8, -21.4

2025-06-17T20:57:59.416Z,1750193879.416 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-17T20:57:59.424Z,1750193879.424 [DAT](INFO): direction in FSK: [0.544628,-0.755146,0.364877]
2025-06-17T20:57:59.427Z,1750193879.427 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:59.451Z,1750193879.451 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=19.191063
2025-06-17T20:57:59.657Z,1750193879.657 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=19.396732
2025-06-17T20:57:59.909Z,1750193879.909 [DAT](INFO): DAT read: Rx Time:20:57:59.6688 

2025-06-17T20:57:59.910Z,1750193879.910 [DAT](INFO): Rx dataTimestamp_ set to:1750193879.909470
2025-06-17T20:57:59.911Z,1750193879.911 [DAT](INFO): DAT read: Bearing 309.9, -28.5 (Local)

2025-06-17T20:57:59.911Z,1750193879.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.9, -28.5 (Local)

2025-06-17T20:57:59.914Z,1750193879.914 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:57:59.918Z,1750193879.918 [DAT](INFO): DAT read: 20:57:59.6688 LVL= 13280, 31441, 10386, 16675, AGC= 41, IDX= 510,-0.11, 1.948, 1.760,-3.031, 2.888, PHS=-0.852,-1.081, 0.361, RAW= 201.5,  22.5, CAL= 200.1,  28.5, ROT= 309.9, -28.5

2025-06-17T20:57:59.919Z,1750193879.919 [DAT](INFO): got valid direction response:
 20:57:59.6688 LVL= 13280, 31441, 10386, 16675, AGC= 41, IDX= 510,-0.11, 1.948, 1.760,-3.031, 2.888, PHS=-0.852,-1.081, 0.361, RAW= 201.5,  22.5, CAL= 200.1,  28.5, ROT= 309.9, -28.5

2025-06-17T20:57:59.920Z,1750193879.920 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-06-17T20:57:59.921Z,1750193879.921 [DAT](INFO): direction in FSK: [0.563717,-0.674198,0.477159]
2025-06-17T20:57:59.921Z,1750193879.921 [DAT](INFO): publishing direction and range info
2025-06-17T20:57:59.949Z,1750193879.949 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=19.688681
2025-06-17T20:58:00.161Z,1750193880.161 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=19.900673
2025-06-17T20:58:00.419Z,1750193880.419 [DAT](INFO): DAT read: Rx Time:20:58:00.1688 

2025-06-17T20:58:00.419Z,1750193880.419 [DAT](INFO): Rx dataTimestamp_ set to:1750193880.418772
2025-06-17T20:58:00.421Z,1750193880.421 [DAT](INFO): DAT read: Bearing 311.8, -29.1 (Local)

2025-06-17T20:58:00.422Z,1750193880.422 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.8, -29.1 (Local)

2025-06-17T20:58:00.425Z,1750193880.425 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:00.431Z,1750193880.431 [DAT](INFO): DAT read: 20:58:00.1688 LVL= 11952, 29841,  9538, 15123, AGC= 40, IDX= 509,-0.01, 0.934, 0.705, 2.140, 1.816, PHS=-0.794,-1.064, 0.321, RAW= 199.4,  23.1, CAL= 198.2,  29.1, ROT= 311.8, -29.1

2025-06-17T20:58:00.440Z,1750193880.440 [DAT](INFO): got valid direction response:
 20:58:00.1688 LVL= 11952, 29841,  9538, 15123, AGC= 40, IDX= 509,-0.01, 0.934, 0.705, 2.140, 1.816, PHS=-0.794,-1.064, 0.321, RAW= 199.4,  23.1, CAL= 198.2,  29.1, ROT= 311.8, -29.1

2025-06-17T20:58:00.441Z,1750193880.441 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-17T20:58:00.442Z,1750193880.442 [DAT](INFO): direction in FSK: [0.582397,-0.651376,0.486335]
2025-06-17T20:58:00.442Z,1750193880.442 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:00.457Z,1750193880.457 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=20.196575
2025-06-17T20:58:00.669Z,1750193880.669 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=20.408594
2025-06-17T20:58:00.922Z,1750193880.922 [DAT](INFO): DAT read: Rx Time:20:58:00.6689 

2025-06-17T20:58:00.922Z,1750193880.922 [DAT](INFO): Rx dataTimestamp_ set to:1750193880.921701
2025-06-17T20:58:00.923Z,1750193880.923 [DAT](INFO): DAT read: Bearing 315.2, -35.4 (Local)

2025-06-17T20:58:00.925Z,1750193880.925 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.2, -35.4 (Local)

2025-06-17T20:58:00.927Z,1750193880.927 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:00.931Z,1750193880.931 [DAT](INFO): DAT read: 20:58:00.6689 LVL= 13024, 31697,  9698, 15459, AGC= 40, IDX= 510, 0.04, 2.745, 2.436,-2.495,-2.660, PHS=-0.790,-1.140, 0.162, RAW= 195.0,  28.2, CAL= 194.8,  35.4, ROT= 315.2, -35.4

2025-06-17T20:58:00.932Z,1750193880.932 [DAT](INFO): got valid direction response:
 20:58:00.6689 LVL= 13024, 31697,  9698, 15459, AGC= 40, IDX= 510, 0.04, 2.745, 2.436,-2.495,-2.660, PHS=-0.790,-1.140, 0.162, RAW= 195.0,  28.2, CAL= 194.8,  35.4, ROT= 315.2, -35.4

2025-06-17T20:58:00.933Z,1750193880.933 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-06-17T20:58:00.934Z,1750193880.934 [DAT](INFO): direction in FSK: [0.578391,-0.574367,0.579281]
2025-06-17T20:58:00.934Z,1750193880.934 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:00.958Z,1750193880.958 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=20.698160
2025-06-17T20:58:01.173Z,1750193881.173 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=20.912661
2025-06-17T20:58:01.426Z,1750193881.426 [DAT](INFO): DAT read: Rx Time:20:58:01.1688 

2025-06-17T20:58:01.426Z,1750193881.426 [DAT](INFO): Rx dataTimestamp_ set to:1750193881.425892
2025-06-17T20:58:01.427Z,1750193881.427 [DAT](INFO): DAT read: Bearing 314.9, -35.9 (Local)

2025-06-17T20:58:01.428Z,1750193881.428 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.9, -35.9 (Local)

2025-06-17T20:58:01.430Z,1750193881.430 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:01.435Z,1750193881.435 [DAT](INFO): DAT read: 20:58:01.1688 LVL= 11920, 30129,  9826, 15635, AGC= 40, IDX= 509, 0.09, 1.475, 1.174, 2.521, 2.363, PHS=-0.800,-1.142, 0.154, RAW= 195.3,  28.5, CAL= 195.1,  35.9, ROT= 314.9, -35.9

2025-06-17T20:58:01.436Z,1750193881.436 [DAT](INFO): got valid direction response:
 20:58:01.1688 LVL= 11920, 30129,  9826, 15635, AGC= 40, IDX= 509, 0.09, 1.475, 1.174, 2.521, 2.363, PHS=-0.800,-1.142, 0.154, RAW= 195.3,  28.5, CAL= 195.1,  35.9, ROT= 314.9, -35.9

2025-06-17T20:58:01.436Z,1750193881.436 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-17T20:58:01.437Z,1750193881.437 [DAT](INFO): direction in FSK: [0.571785,-0.573785,0.586372]
2025-06-17T20:58:01.438Z,1750193881.438 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:01.441Z,1750193881.441 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=21.181070
2025-06-17T20:58:01.677Z,1750193881.677 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=21.416660
2025-06-17T20:58:01.929Z,1750193881.929 [DAT](INFO): DAT read: Rx Time:20:58:01.6688 

2025-06-17T20:58:01.930Z,1750193881.930 [DAT](INFO): Rx dataTimestamp_ set to:1750193881.929530
2025-06-17T20:58:01.931Z,1750193881.931 [DAT](INFO): DAT read: Bearing 314.5, -35.1 (Local)

2025-06-17T20:58:01.931Z,1750193881.931 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.5, -35.1 (Local)

2025-06-17T20:58:01.934Z,1750193881.934 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:01.938Z,1750193881.938 [DAT](INFO): DAT read: 20:58:01.6688 LVL= 11664, 30497,  9810, 15859, AGC= 40, IDX= 509, 0.13, 1.431, 1.144, 2.489, 2.315, PHS=-0.795,-1.124, 0.171, RAW= 195.9,  27.9, CAL= 195.5,  35.1, ROT= 314.5, -35.1

2025-06-17T20:58:01.939Z,1750193881.939 [DAT](INFO): got valid direction response:
 20:58:01.6688 LVL= 11664, 30497,  9810, 15859, AGC= 40, IDX= 509, 0.13, 1.431, 1.144, 2.489, 2.315, PHS=-0.795,-1.124, 0.171, RAW= 195.9,  27.9, CAL= 195.5,  35.1, ROT= 314.5, -35.1

2025-06-17T20:58:01.940Z,1750193881.940 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-06-17T20:58:01.941Z,1750193881.941 [DAT](INFO): direction in FSK: [0.573449,-0.583546,0.575005]
2025-06-17T20:58:01.941Z,1750193881.941 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:01.949Z,1750193881.949 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=21.688808
2025-06-17T20:58:02.181Z,1750193882.181 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=21.920671
2025-06-17T20:58:02.434Z,1750193882.434 [DAT](INFO): DAT read: Rx Time:20:58:02.1687 

2025-06-17T20:58:02.435Z,1750193882.435 [DAT](INFO): Rx dataTimestamp_ set to:1750193882.434472
2025-06-17T20:58:02.437Z,1750193882.437 [DAT](INFO): DAT read: Bearing 314.0, -34.9 (Local)

2025-06-17T20:58:02.437Z,1750193882.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0, -34.9 (Local)

2025-06-17T20:58:02.440Z,1750193882.440 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:02.446Z,1750193882.446 [DAT](INFO): DAT read: 20:58:02.1687 LVL= 11744, 30625,  9794, 15891, AGC= 40, IDX= 508, 0.19,-0.013,-0.290, 1.059, 0.878, PHS=-0.802,-1.120, 0.178, RAW= 196.4,  27.7, CAL= 196.0,  34.9, ROT= 314.0, -34.9

2025-06-17T20:58:02.449Z,1750193882.449 [DAT](INFO): got valid direction response:
 20:58:02.1687 LVL= 11744, 30625,  9794, 15891, AGC= 40, IDX= 508, 0.19,-0.013,-0.290, 1.059, 0.878, PHS=-0.802,-1.120, 0.178, RAW= 196.4,  27.7, CAL= 196.0,  34.9, ROT= 314.0, -34.9

2025-06-17T20:58:02.449Z,1750193882.449 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-17T20:58:02.451Z,1750193882.451 [DAT](INFO): direction in FSK: [0.569725,-0.589968,0.572146]
2025-06-17T20:58:02.451Z,1750193882.451 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:02.455Z,1750193882.455 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=22.194580
2025-06-17T20:58:02.685Z,1750193882.685 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=22.424599
2025-06-17T20:58:02.938Z,1750193882.938 [DAT](INFO): DAT read: Rx Time:20:58:02.6689 

2025-06-17T20:58:02.938Z,1750193882.938 [DAT](INFO): Rx dataTimestamp_ set to:1750193882.937789
2025-06-17T20:58:02.939Z,1750193882.939 [DAT](INFO): DAT read: Bearing 313.5, -33.6 (Local)

2025-06-17T20:58:02.940Z,1750193882.940 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.5, -33.6 (Local)

2025-06-17T20:58:02.942Z,1750193882.942 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:02.947Z,1750193882.947 [DAT](INFO): DAT read: 20:58:02.6689 LVL= 11808, 30865,  9506, 15091, AGC= 40, IDX= 509, 0.26, 1.100, 0.835, 2.203, 1.990, PHS=-0.802,-1.107, 0.211, RAW= 197.2,  26.7, CAL= 196.5,  33.6, ROT= 313.5, -33.6

2025-06-17T20:58:02.948Z,1750193882.948 [DAT](INFO): got valid direction response:
 20:58:02.6689 LVL= 11808, 30865,  9506, 15091, AGC= 40, IDX= 509, 0.26, 1.100, 0.835, 2.203, 1.990, PHS=-0.802,-1.107, 0.211, RAW= 197.2,  26.7, CAL= 196.5,  33.6, ROT= 313.5, -33.6

2025-06-17T20:58:02.948Z,1750193882.948 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-17T20:58:02.949Z,1750193882.949 [DAT](INFO): direction in FSK: [0.573345,-0.604180,0.553392]
2025-06-17T20:58:02.949Z,1750193882.949 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:02.981Z,1750193882.981 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=22.720709
2025-06-17T20:58:03.189Z,1750193883.189 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=22.928751
2025-06-17T20:58:03.441Z,1750193883.441 [DAT](INFO): DAT read: Rx Time:20:58:03.1688 

2025-06-17T20:58:03.442Z,1750193883.442 [DAT](INFO): Rx dataTimestamp_ set to:1750193883.441571
2025-06-17T20:58:03.443Z,1750193883.443 [DAT](INFO): DAT read: Bearing 315.8, -40.7 (Local)

2025-06-17T20:58:03.443Z,1750193883.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.8, -40.7 (Local)

2025-06-17T20:58:03.446Z,1750193883.446 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:03.450Z,1750193883.450 [DAT](INFO): DAT read: 20:58:03.1688 LVL= 12016, 28145, 10962, 16819, AGC= 41, IDX= 508, 0.27, 0.479, 0.140, 1.496, 1.448, PHS=-0.881,-1.261, 0.045, RAW= 193.6,  32.5, CAL= 194.2,  40.7, ROT= 315.8, -40.7

2025-06-17T20:58:03.451Z,1750193883.451 [DAT](INFO): got valid direction response:
 20:58:03.1688 LVL= 12016, 28145, 10962, 16819, AGC= 41, IDX= 508, 0.27, 0.479, 0.140, 1.496, 1.448, PHS=-0.881,-1.261, 0.045, RAW= 193.6,  32.5, CAL= 194.2,  40.7, ROT= 315.8, -40.7

2025-06-17T20:58:03.452Z,1750193883.452 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-06-17T20:58:03.453Z,1750193883.453 [DAT](INFO): direction in FSK: [0.543515,-0.528545,0.652098]
2025-06-17T20:58:03.453Z,1750193883.453 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:03.457Z,1750193883.457 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=23.196676
2025-06-17T20:58:03.693Z,1750193883.693 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=23.432865
2025-06-17T20:58:03.945Z,1750193883.945 [DAT](INFO): DAT read: Rx Time:20:58:03.6689 

2025-06-17T20:58:03.946Z,1750193883.946 [DAT](INFO): Rx dataTimestamp_ set to:1750193883.945537
2025-06-17T20:58:03.947Z,1750193883.947 [DAT](INFO): DAT read: Bearing 312.6, -34.3 (Local)

2025-06-17T20:58:03.947Z,1750193883.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.6, -34.3 (Local)

2025-06-17T20:58:03.950Z,1750193883.950 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:03.955Z,1750193883.955 [DAT](INFO): DAT read: 20:58:03.6689 LVL= 10976, 26081,  9330, 14707, AGC= 40, IDX= 509, 0.40, 0.934, 0.682, 2.094, 1.880, PHS=-0.858,-1.151, 0.210, RAW= 198.2,  27.1, CAL= 197.4,  34.3, ROT= 312.6, -34.3

2025-06-17T20:58:03.960Z,1750193883.960 [DAT](INFO): got valid direction response:
 20:58:03.6689 LVL= 10976, 26081,  9330, 14707, AGC= 40, IDX= 509, 0.40, 0.934, 0.682, 2.094, 1.880, PHS=-0.858,-1.151, 0.210, RAW= 198.2,  27.1, CAL= 197.4,  34.3, ROT= 312.6, -34.3

2025-06-17T20:58:03.960Z,1750193883.960 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-06-17T20:58:03.961Z,1750193883.961 [DAT](INFO): direction in FSK: [0.559166,-0.608089,0.563526]
2025-06-17T20:58:03.962Z,1750193883.962 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:03.970Z,1750193883.970 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=23.710272
2025-06-17T20:58:04.200Z,1750193884.200 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=23.938910
2025-06-17T20:58:04.450Z,1750193884.450 [DAT](INFO): DAT read: Rx Time:20:58:04.1688 

2025-06-17T20:58:04.451Z,1750193884.451 [DAT](INFO): Rx dataTimestamp_ set to:1750193884.450655
2025-06-17T20:58:04.452Z,1750193884.452 [DAT](INFO): DAT read: Bearing 303.3, -24.0 (Local)

2025-06-17T20:58:04.453Z,1750193884.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.3, -24.0 (Local)

2025-06-17T20:58:04.455Z,1750193884.455 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:04.460Z,1750193884.460 [DAT](INFO): DAT read: 20:58:04.1688 LVL= 10736, 25841,  9570, 14563, AGC= 40, IDX= 509,-0.49,-1.724,-1.786,-0.296,-0.776, PHS=-0.860,-0.962, 0.477, RAW= 206.3,  18.9, CAL= 206.7,  24.0, ROT= 303.3, -24.0

2025-06-17T20:58:04.461Z,1750193884.461 [DAT](INFO): got valid direction response:
 20:58:04.1688 LVL= 10736, 25841,  9570, 14563, AGC= 40, IDX= 509,-0.49,-1.724,-1.786,-0.296,-0.776, PHS=-0.860,-0.962, 0.477, RAW= 206.3,  18.9, CAL= 206.7,  24.0, ROT= 303.3, -24.0

2025-06-17T20:58:04.461Z,1750193884.461 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-17T20:58:04.462Z,1750193884.462 [DAT](INFO): direction in FSK: [0.501557,-0.763548,0.406737]
2025-06-17T20:58:04.462Z,1750193884.462 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:04.466Z,1750193884.466 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=24.205912
2025-06-17T20:58:04.704Z,1750193884.704 [DAT](INFO): DAT read: Rx Time:20:58:04.6689 

2025-06-17T20:58:04.705Z,1750193884.705 [DAT](INFO): Rx dataTimestamp_ set to:1750193884.704361
2025-06-17T20:58:04.707Z,1750193884.707 [DAT](INFO): DAT read: Bearing 297.2, -16.8 (Local)

2025-06-17T20:58:04.709Z,1750193884.709 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.2, -16.8 (Local)

2025-06-17T20:58:04.710Z,1750193884.710 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=24.449848
2025-06-17T20:58:04.954Z,1750193884.954 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:04.959Z,1750193884.959 [DAT](INFO): DAT read: 20:58:04.6689 LVL= 10800, 25905,  9586, 14323, AGC= 40, IDX= 510,-0.35,-1.271,-1.251, 0.333,-0.310, PHS=-0.873,-0.894, 0.639, RAW= 209.3,  14.7, CAL= 212.8,  16.8, ROT= 297.2, -16.8

2025-06-17T20:58:04.960Z,1750193884.960 [DAT](INFO): got valid direction response:
 20:58:04.6689 LVL= 10800, 25905,  9586, 14323, AGC= 40, IDX= 510,-0.35,-1.271,-1.251, 0.333,-0.310, PHS=-0.873,-0.894, 0.639, RAW= 209.3,  14.7, CAL= 212.8,  16.8, ROT= 297.2, -16.8

2025-06-17T20:58:04.960Z,1750193884.960 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-06-17T20:58:04.961Z,1750193884.961 [DAT](INFO): direction in FSK: [0.437589,-0.851456,0.289032]
2025-06-17T20:58:04.962Z,1750193884.962 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:04.965Z,1750193884.965 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=24.705057
2025-06-17T20:58:05.209Z,1750193885.209 [DAT](INFO): DAT read: Rx Time:20:58:05.1688 

2025-06-17T20:58:05.210Z,1750193885.210 [DAT](INFO): Rx dataTimestamp_ set to:1750193885.209414
2025-06-17T20:58:05.218Z,1750193885.218 [DAT](INFO): DAT read: Bearing 297.7, -13.8 (Local)

2025-06-17T20:58:05.218Z,1750193885.218 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.7, -13.8 (Local)

2025-06-17T20:58:05.222Z,1750193885.222 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:05.245Z,1750193885.245 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-06-17T20:58:05.247Z,1750193885.247 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=24.986740
2025-06-17T20:58:05.461Z,1750193885.461 [DAT](INFO): DAT read: 20:58:05.1688 LVL= 11856, 28849, 10962, 15923, AGC= 41, IDX= 509,-0.30,-2.515,-2.500,-0.816,-1.541, PHS=-0.886,-0.912, 0.722, RAW= 209.2,  13.2, CAL= 212.3,  13.8, ROT= 297.7, -13.8

2025-06-17T20:58:05.462Z,1750193885.462 [DAT](INFO): got valid direction response:
 20:58:05.1688 LVL= 11856, 28849, 10962, 15923, AGC= 41, IDX= 509,-0.30,-2.515,-2.500,-0.816,-1.541, PHS=-0.886,-0.912, 0.722, RAW= 209.2,  13.2, CAL= 212.3,  13.8, ROT= 297.7, -13.8

2025-06-17T20:58:05.462Z,1750193885.462 [DAT](INFO): #Rx 75: Read direction message, but no range.
2025-06-17T20:58:05.463Z,1750193885.463 [DAT](INFO): direction in FSK: [0.451424,-0.859836,0.238533]
2025-06-17T20:58:05.467Z,1750193885.467 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=25.206305
2025-06-17T20:58:05.711Z,1750193885.711 [DAT](INFO): DAT read: Rx Time:20:58:05.6688 

2025-06-17T20:58:05.713Z,1750193885.713 [DAT](INFO): Rx dataTimestamp_ set to:1750193885.711648
2025-06-17T20:58:05.715Z,1750193885.715 [DAT](INFO): DAT read: Bearing 297.6, -13.4 (Local)

2025-06-17T20:58:05.717Z,1750193885.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.6, -13.4 (Local)

2025-06-17T20:58:05.718Z,1750193885.718 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=25.457705
2025-06-17T20:58:05.963Z,1750193885.963 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:05.968Z,1750193885.968 [DAT](INFO): DAT read: 20:58:05.6688 LVL= 11920, 28961, 11186, 15859, AGC= 41, IDX= 509,-0.22,-2.562,-2.543,-0.856,-1.588, PHS=-0.886,-0.908, 0.729, RAW= 209.3,  13.0, CAL= 212.4,  13.4, ROT= 297.6, -13.4

2025-06-17T20:58:05.969Z,1750193885.969 [DAT](INFO): got valid direction response:
 20:58:05.6688 LVL= 11920, 28961, 11186, 15859, AGC= 41, IDX= 509,-0.22,-2.562,-2.543,-0.856,-1.588, PHS=-0.886,-0.908, 0.729, RAW= 209.3,  13.0, CAL= 212.4,  13.4, ROT= 297.6, -13.4

2025-06-17T20:58:05.969Z,1750193885.969 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-06-17T20:58:05.970Z,1750193885.970 [DAT](INFO): direction in FSK: [0.450683,-0.862077,0.231748]
2025-06-17T20:58:05.970Z,1750193885.970 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:05.974Z,1750193885.974 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=25.713940
2025-06-17T20:58:06.219Z,1750193886.219 [DAT](INFO): DAT read: Rx Time:20:58:06.1687 

2025-06-17T20:58:06.221Z,1750193886.221 [DAT](INFO): Rx dataTimestamp_ set to:1750193886.219458
2025-06-17T20:58:06.227Z,1750193886.227 [DAT](INFO): DAT read: Bearing 298.4, -12.4 (Local)

2025-06-17T20:58:06.229Z,1750193886.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.4, -12.4 (Local)

2025-06-17T20:58:06.233Z,1750193886.233 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:06.235Z,1750193886.235 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-06-17T20:58:06.239Z,1750193886.239 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=25.977999
2025-06-17T20:58:06.472Z,1750193886.472 [DAT](INFO): DAT read: 20:58:06.1687 LVL= 12720, 31297,  9906, 14323, AGC= 40, IDX= 508,-0.14, 2.461, 2.466,-2.177,-2.898, PHS=-0.836,-0.872, 0.718, RAW= 208.9,  12.5, CAL= 211.6,  12.4, ROT= 298.4, -12.4

2025-06-17T20:58:06.473Z,1750193886.473 [DAT](INFO): got valid direction response:
 20:58:06.1687 LVL= 12720, 31297,  9906, 14323, AGC= 40, IDX= 508,-0.14, 2.461, 2.466,-2.177,-2.898, PHS=-0.836,-0.872, 0.718, RAW= 208.9,  12.5, CAL= 211.6,  12.4, ROT= 298.4, -12.4

2025-06-17T20:58:06.473Z,1750193886.473 [DAT](INFO): #Rx 78: Read direction message, but no range.
2025-06-17T20:58:06.474Z,1750193886.474 [DAT](INFO): direction in FSK: [0.464529,-0.859129,0.214735]
2025-06-17T20:58:06.478Z,1750193886.478 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=26.217443
2025-06-17T20:58:06.720Z,1750193886.720 [DAT](INFO): DAT read: Rx Time:20:58:06.6688 

2025-06-17T20:58:06.722Z,1750193886.722 [DAT](INFO): Rx dataTimestamp_ set to:1750193886.720876
2025-06-17T20:58:06.725Z,1750193886.725 [DAT](INFO): DAT read: Bearing 298.6, -11.8 (Local)

2025-06-17T20:58:06.726Z,1750193886.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.6, -11.8 (Local)

2025-06-17T20:58:06.731Z,1750193886.731 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:06.745Z,1750193886.745 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-06-17T20:58:06.753Z,1750193886.753 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=26.492208
2025-06-17T20:58:06.973Z,1750193886.973 [DAT](INFO): DAT read: 20:58:06.6688 LVL= 11408, 28641,  9778, 14323, AGC= 40, IDX= 509,-0.08,-2.649,-2.648,-1.002,-1.732, PHS=-0.828,-0.869, 0.727, RAW= 208.7,  12.3, CAL= 211.4,  11.8, ROT= 298.6, -11.8

2025-06-17T20:58:06.974Z,1750193886.974 [DAT](INFO): got valid direction response:
 20:58:06.6688 LVL= 11408, 28641,  9778, 14323, AGC= 40, IDX= 509,-0.08,-2.649,-2.648,-1.002,-1.732, PHS=-0.828,-0.869, 0.727, RAW= 208.7,  12.3, CAL= 211.4,  11.8, ROT= 298.6, -11.8

2025-06-17T20:58:06.974Z,1750193886.974 [DAT](INFO): #Rx 80: Read direction message, but no range.
2025-06-17T20:58:06.975Z,1750193886.975 [DAT](INFO): direction in FSK: [0.468576,-0.859429,0.204496]
2025-06-17T20:58:06.978Z,1750193886.978 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=26.718269
2025-06-17T20:58:07.226Z,1750193887.226 [DAT](INFO): DAT read: Rx Time:20:58:07.1688 

2025-06-17T20:58:07.229Z,1750193887.229 [DAT](INFO): Rx dataTimestamp_ set to:1750193887.227115
2025-06-17T20:58:07.231Z,1750193887.231 [DAT](INFO): DAT read: Bearing 295.0, -12.7 (Local)

2025-06-17T20:58:07.233Z,1750193887.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.0, -12.7 (Local)

2025-06-17T20:58:07.246Z,1750193887.246 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:07.248Z,1750193887.248 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-06-17T20:58:07.251Z,1750193887.251 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=26.990379
2025-06-17T20:58:07.477Z,1750193887.477 [DAT](INFO): DAT read: 20:58:07.1688 LVL= 12576, 31041,  9714, 14675, AGC= 40, IDX= 508,-0.04, 2.405, 2.477,-2.232,-2.937, PHS=-0.854,-0.822, 0.702, RAW= 211.0,  12.6, CAL= 215.0,  12.7, ROT= 295.0, -12.7

2025-06-17T20:58:07.478Z,1750193887.478 [DAT](INFO): got valid direction response:
 20:58:07.1688 LVL= 12576, 31041,  9714, 14675, AGC= 40, IDX= 508,-0.04, 2.405, 2.477,-2.232,-2.937, PHS=-0.854,-0.822, 0.702, RAW= 211.0,  12.6, CAL= 215.0,  12.7, ROT= 295.0, -12.7

2025-06-17T20:58:07.478Z,1750193887.478 [DAT](INFO): #Rx 82: Read direction message, but no range.
2025-06-17T20:58:07.479Z,1750193887.479 [DAT](INFO): direction in FSK: [0.412279,-0.884135,0.219846]
2025-06-17T20:58:07.482Z,1750193887.482 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=27.222275
2025-06-17T20:58:07.729Z,1750193887.729 [DAT](INFO): DAT read: Rx Time:20:58:07.6689 

2025-06-17T20:58:07.730Z,1750193887.730 [DAT](INFO): Rx dataTimestamp_ set to:1750193887.729182
2025-06-17T20:58:07.738Z,1750193887.738 [DAT](INFO): DAT read: Bearing 298.6, -20.5 (Local)

2025-06-17T20:58:07.739Z,1750193887.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.6, -20.5 (Local)

2025-06-17T20:58:07.749Z,1750193887.749 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:07.751Z,1750193887.751 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-06-17T20:58:07.767Z,1750193887.767 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=27.506952
2025-06-17T20:58:07.981Z,1750193887.981 [DAT](INFO): DAT read: 20:58:07.6689 LVL= 12336, 28833, 10722, 16179, AGC= 41, IDX= 509,-0.03,-2.038,-2.039,-0.476,-1.059, PHS=-0.891,-0.933, 0.580, RAW= 208.6,  16.4, CAL= 211.4,  20.5, ROT= 298.6, -20.5

2025-06-17T20:58:07.982Z,1750193887.982 [DAT](INFO): got valid direction response:
 20:58:07.6689 LVL= 12336, 28833, 10722, 16179, AGC= 41, IDX= 509,-0.03,-2.038,-2.039,-0.476,-1.059, PHS=-0.891,-0.933, 0.580, RAW= 208.6,  16.4, CAL= 211.4,  20.5, ROT= 298.6, -20.5

2025-06-17T20:58:07.982Z,1750193887.982 [DAT](INFO): #Rx 84: Read direction message, but no range.
2025-06-17T20:58:07.983Z,1750193887.983 [DAT](INFO): direction in FSK: [0.448377,-0.822382,0.350207]
2025-06-17T20:58:08.003Z,1750193888.003 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=27.742365
2025-06-17T20:58:08.235Z,1750193888.235 [DAT](INFO): DAT read: Rx Time:20:58:08.1688 

2025-06-17T20:58:08.239Z,1750193888.239 [DAT](INFO): Rx dataTimestamp_ set to:1750193888.237395
2025-06-17T20:58:08.247Z,1750193888.247 [DAT](INFO): DAT read: Bearing 303.4, -25.7 (Local)

2025-06-17T20:58:08.252Z,1750193888.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.4, -25.7 (Local)

2025-06-17T20:58:08.258Z,1750193888.258 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:08.263Z,1750193888.263 [DAT](INFO): DAT read: 20:58:08.1688 LVL= 11904, 28449, 10706, 16627, AGC= 41, IDX= 508,-0.01,-2.572,-2.629,-1.151,-1.599, PHS=-0.885,-0.983, 0.445, RAW= 206.5,  20.0, CAL= 206.6,  25.7, ROT= 303.4, -25.7

2025-06-17T20:58:08.265Z,1750193888.265 [DAT](INFO): got valid direction response:
 20:58:08.1688 LVL= 11904, 28449, 10706, 16627, AGC= 41, IDX= 508,-0.01,-2.572,-2.629,-1.151,-1.599, PHS=-0.885,-0.983, 0.445, RAW= 206.5,  20.0, CAL= 206.6,  25.7, ROT= 303.4, -25.7

2025-06-17T20:58:08.265Z,1750193888.265 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-06-17T20:58:08.266Z,1750193888.266 [DAT](INFO): direction in FSK: [0.496025,-0.752262,0.433659]
2025-06-17T20:58:08.266Z,1750193888.266 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:08.270Z,1750193888.270 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=28.009665
2025-06-17T20:58:08.481Z,1750193888.481 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=28.220730
2025-06-17T20:58:08.737Z,1750193888.737 [DAT](INFO): DAT read: Rx Time:20:58:08.6689 

2025-06-17T20:58:08.738Z,1750193888.738 [DAT](INFO): Rx dataTimestamp_ set to:1750193888.737441
2025-06-17T20:58:08.742Z,1750193888.742 [DAT](INFO): DAT read: Bearing 309.0, -32.0 (Local)

2025-06-17T20:58:08.743Z,1750193888.743 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.0, -32.0 (Local)

2025-06-17T20:58:08.756Z,1750193888.756 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:08.774Z,1750193888.774 [DAT](INFO): DAT read: 20:58:08.6689 LVL= 11696, 28545, 10738, 16867, AGC= 41, IDX= 509, 0.01,-0.820,-0.977, 0.444, 0.158, PHS=-0.890,-1.088, 0.283, RAW= 202.3,  25.0, CAL= 201.0,  32.0, ROT= 309.0, -32.0

2025-06-17T20:58:08.775Z,1750193888.775 [DAT](INFO): got valid direction response:
 20:58:08.6689 LVL= 11696, 28545, 10738, 16867, AGC= 41, IDX= 509, 0.01,-0.820,-0.977, 0.444, 0.158, PHS=-0.890,-1.088, 0.283, RAW= 202.3,  25.0, CAL= 201.0,  32.0, ROT= 309.0, -32.0

2025-06-17T20:58:08.775Z,1750193888.775 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-06-17T20:58:08.801Z,1750193888.801 [DAT](INFO): direction in FSK: [0.533694,-0.659057,0.529919]
2025-06-17T20:58:08.801Z,1750193888.801 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:08.813Z,1750193888.813 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=28.552952
2025-06-17T20:58:08.985Z,1750193888.985 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=28.724819
2025-06-17T20:58:09.243Z,1750193889.243 [DAT](INFO): DAT read: Rx Time:20:58:09.1688 

2025-06-17T20:58:09.249Z,1750193889.249 [DAT](INFO): Rx dataTimestamp_ set to:1750193889.248216
2025-06-17T20:58:09.255Z,1750193889.255 [DAT](INFO): DAT read: Bearing 313.6, -41.2 (Local)

2025-06-17T20:58:09.288Z,1750193889.288 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.6, -41.2 (Local)

2025-06-17T20:58:09.290Z,1750193889.290 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:09.322Z,1750193889.322 [DAT](INFO): DAT read: 20:58:09.1688 LVL= 12112, 28593, 10498, 16627, AGC= 41, IDX= 508, 0.04,-1.361,-1.616,-0.349,-0.394, PHS=-0.879,-1.175, 0.042, RAW= 196.5,  32.9, CAL= 196.4,  41.2, ROT= 313.6, -41.2

2025-06-17T20:58:09.323Z,1750193889.323 [DAT](INFO): got valid direction response:
 20:58:09.1688 LVL= 12112, 28593, 10498, 16627, AGC= 41, IDX= 508, 0.04,-1.361,-1.616,-0.349,-0.394, PHS=-0.879,-1.175, 0.042, RAW= 196.5,  32.9, CAL= 196.4,  41.2, ROT= 313.6, -41.2

2025-06-17T20:58:09.323Z,1750193889.323 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-06-17T20:58:09.348Z,1750193889.348 [DAT](INFO): direction in FSK: [0.518880,-0.544878,0.658689]
2025-06-17T20:58:09.349Z,1750193889.349 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:09.356Z,1750193889.356 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=29.096107
2025-06-17T20:58:09.489Z,1750193889.489 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=29.228642
2025-06-17T20:58:09.746Z,1750193889.746 [DAT](INFO): DAT read: Rx Time:20:58:09.6689 

2025-06-17T20:58:09.747Z,1750193889.747 [DAT](INFO): Rx dataTimestamp_ set to:1750193889.746271
2025-06-17T20:58:09.751Z,1750193889.751 [DAT](INFO): DAT read: Bearing 312.5, -39.2 (Local)

2025-06-17T20:58:09.753Z,1750193889.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.5, -39.2 (Local)

2025-06-17T20:58:09.758Z,1750193889.758 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:09.763Z,1750193889.763 [DAT](INFO): DAT read: 20:58:09.6689 LVL= 11920, 28145, 10738, 16547, AGC= 41, IDX= 508, 0.07,-1.368,-1.600,-0.291,-0.398, PHS=-0.882,-1.155, 0.104, RAW= 198.1,  30.8, CAL= 197.5,  39.2, ROT= 312.5, -39.2

2025-06-17T20:58:09.770Z,1750193889.770 [DAT](INFO): got valid direction response:
 20:58:09.6689 LVL= 11920, 28145, 10738, 16547, AGC= 41, IDX= 508, 0.07,-1.368,-1.600,-0.291,-0.398, PHS=-0.882,-1.155, 0.104, RAW= 198.1,  30.8, CAL= 197.5,  39.2, ROT= 312.5, -39.2

2025-06-17T20:58:09.771Z,1750193889.771 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-06-17T20:58:09.781Z,1750193889.781 [DAT](INFO): direction in FSK: [0.523545,-0.571349,0.632029]
2025-06-17T20:58:09.781Z,1750193889.781 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:09.805Z,1750193889.805 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=29.539373
2025-06-17T20:58:09.993Z,1750193889.993 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=29.732517
2025-06-17T20:58:10.251Z,1750193890.251 [DAT](INFO): DAT read: Rx Time:20:58:10.1688 

2025-06-17T20:58:10.254Z,1750193890.254 [DAT](INFO): Rx dataTimestamp_ set to:1750193890.252203
2025-06-17T20:58:10.258Z,1750193890.258 [DAT](INFO): DAT read: Bearing 317.4, -44.1 (Local)

2025-06-17T20:58:10.259Z,1750193890.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.4, -44.1 (Local)

2025-06-17T20:58:10.267Z,1750193890.267 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:10.294Z,1750193890.294 [DAT](INFO): DAT read: 20:58:10.1688 LVL= 12048, 28017, 10722, 16883, AGC= 41, IDX= 507, 0.09,-1.833,-2.177,-0.934,-0.867, PHS=-0.878,-1.264,-0.070, RAW= 191.6,  36.5, CAL= 192.6,  44.1, ROT= 317.4, -44.1

2025-06-17T20:58:10.296Z,1750193890.296 [DAT](INFO): got valid direction response:
 20:58:10.1688 LVL= 12048, 28017, 10722, 16883, AGC= 41, IDX= 507, 0.09,-1.833,-2.177,-0.934,-0.867, PHS=-0.878,-1.264,-0.070, RAW= 191.6,  36.5, CAL= 192.6,  44.1, ROT= 317.4, -44.1

2025-06-17T20:58:10.296Z,1750193890.296 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-17T20:58:10.297Z,1750193890.297 [DAT](INFO): direction in FSK: [0.528611,-0.486083,0.695913]
2025-06-17T20:58:10.297Z,1750193890.297 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:10.313Z,1750193890.313 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=30.052805
2025-06-17T20:58:10.500Z,1750193890.500 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=30.239376
2025-06-17T20:58:10.753Z,1750193890.753 [DAT](INFO): DAT read: Rx Time:20:58:10.6689 

2025-06-17T20:58:10.755Z,1750193890.755 [DAT](INFO): Rx dataTimestamp_ set to:1750193890.753810
2025-06-17T20:58:10.757Z,1750193890.757 [DAT](INFO): DAT read: Bearing 318.6, -44.3 (Local)

2025-06-17T20:58:10.758Z,1750193890.758 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.6, -44.3 (Local)

2025-06-17T20:58:10.760Z,1750193890.760 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:10.765Z,1750193890.765 [DAT](INFO): DAT read: 20:58:10.6689 LVL= 12080, 27377, 10658, 16147, AGC= 41, IDX= 508, 0.13,-0.484,-0.870, 0.412, 0.494, PHS=-0.891,-1.318,-0.085, RAW= 190.1,  36.8, CAL= 191.4,  44.3, ROT= 318.6, -44.3

2025-06-17T20:58:10.766Z,1750193890.766 [DAT](INFO): got valid direction response:
 20:58:10.6689 LVL= 12080, 27377, 10658, 16147, AGC= 41, IDX= 508, 0.13,-0.484,-0.870, 0.412, 0.494, PHS=-0.891,-1.318,-0.085, RAW= 190.1,  36.8, CAL= 191.4,  44.3, ROT= 318.6, -44.3

2025-06-17T20:58:10.766Z,1750193890.766 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-17T20:58:10.767Z,1750193890.767 [DAT](INFO): direction in FSK: [0.536849,-0.473296,0.698415]
2025-06-17T20:58:10.781Z,1750193890.781 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:10.793Z,1750193890.793 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=30.532497
2025-06-17T20:58:11.001Z,1750193891.001 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=30.740580
2025-06-17T20:58:11.267Z,1750193891.267 [DAT](INFO): DAT read: Rx Time:20:58:11.1688 

2025-06-17T20:58:11.269Z,1750193891.269 [DAT](INFO): Rx dataTimestamp_ set to:1750193891.267166
2025-06-17T20:58:11.273Z,1750193891.273 [DAT](INFO): DAT read: Bearing 318.4, -40.6 (Local)

2025-06-17T20:58:11.274Z,1750193891.274 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.4, -40.6 (Local)

2025-06-17T20:58:11.297Z,1750193891.297 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:11.310Z,1750193891.310 [DAT](INFO): DAT read: 20:58:11.1688 LVL= 12160, 29681,  9698, 14195, AGC= 40, IDX= 507, 0.23,-1.539,-1.947,-0.594,-0.627, PHS=-0.825,-1.273, 0.030, RAW= 190.2,  32.5, CAL= 191.6,  40.6, ROT= 318.4, -40.6

2025-06-17T20:58:11.311Z,1750193891.311 [DAT](INFO): got valid direction response:
 20:58:11.1688 LVL= 12160, 29681,  9698, 14195, AGC= 40, IDX= 507, 0.23,-1.539,-1.947,-0.594,-0.627, PHS=-0.825,-1.273, 0.030, RAW= 190.2,  32.5, CAL= 191.6,  40.6, ROT= 318.4, -40.6

2025-06-17T20:58:11.311Z,1750193891.311 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-06-17T20:58:11.320Z,1750193891.320 [DAT](INFO): direction in FSK: [0.567782,-0.504100,0.650774]
2025-06-17T20:58:11.321Z,1750193891.321 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:11.333Z,1750193891.333 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=31.072796
2025-06-17T20:58:11.513Z,1750193891.513 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=31.252708
2025-06-17T20:58:11.765Z,1750193891.765 [DAT](INFO): DAT read: Rx Time:20:58:11.6689 

2025-06-17T20:58:11.766Z,1750193891.766 [DAT](INFO): Rx dataTimestamp_ set to:1750193891.765601
2025-06-17T20:58:11.767Z,1750193891.767 [DAT](INFO): DAT read: Bearing 326.6, -46.1 (Local)

2025-06-17T20:58:11.767Z,1750193891.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.6, -46.1 (Local)

2025-06-17T20:58:11.770Z,1750193891.770 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:11.774Z,1750193891.774 [DAT](INFO): DAT read: 20:58:11.6689 LVL= 13536, 30305, 10786, 15731, AGC= 41, IDX= 508, 0.18, 1.106, 0.470, 1.887, 2.102, PHS=-0.908,-1.585,-0.218, RAW= 180.3,  39.0, CAL= 183.4,  46.1, ROT= 326.6, -46.1

2025-06-17T20:58:11.775Z,1750193891.775 [DAT](INFO): got valid direction response:
 20:58:11.6689 LVL= 13536, 30305, 10786, 15731, AGC= 41, IDX= 508, 0.18, 1.106, 0.470, 1.887, 2.102, PHS=-0.908,-1.585,-0.218, RAW= 180.3,  39.0, CAL= 183.4,  46.1, ROT= 326.6, -46.1

2025-06-17T20:58:11.776Z,1750193891.776 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-06-17T20:58:11.777Z,1750193891.777 [DAT](INFO): direction in FSK: [0.578885,-0.381704,0.720551]
2025-06-17T20:58:11.777Z,1750193891.777 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:11.781Z,1750193891.781 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=31.520767
2025-06-17T20:58:12.017Z,1750193892.017 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=31.756828
2025-06-17T20:58:12.273Z,1750193892.273 [DAT](INFO): DAT read: Rx Time:20:58:12.1688 

2025-06-17T20:58:12.275Z,1750193892.275 [DAT](INFO): Rx dataTimestamp_ set to:1750193892.273813
2025-06-17T20:58:12.279Z,1750193892.279 [DAT](INFO): DAT read: Bearing 325.5, -42.7 (Local)

2025-06-17T20:58:12.280Z,1750193892.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.5, -42.7 (Local)

2025-06-17T20:58:12.287Z,1750193892.287 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:12.318Z,1750193892.318 [DAT](INFO): DAT read: 20:58:12.1688 LVL= 12224, 27281,  9890, 14707, AGC= 40, IDX= 507, 0.23,-0.004,-0.672, 0.866, 0.961, PHS=-0.877,-1.586,-0.098, RAW= 181.5,  35.1, CAL= 184.5,  42.7, ROT= 325.5, -42.7

2025-06-17T20:58:12.319Z,1750193892.319 [DAT](INFO): got valid direction response:
 20:58:12.1688 LVL= 12224, 27281,  9890, 14707, AGC= 40, IDX= 507, 0.23,-0.004,-0.672, 0.866, 0.961, PHS=-0.877,-1.586,-0.098, RAW= 181.5,  35.1, CAL= 184.5,  42.7, ROT= 325.5, -42.7

2025-06-17T20:58:12.319Z,1750193892.319 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-06-17T20:58:12.321Z,1750193892.321 [DAT](INFO): direction in FSK: [0.605662,-0.416260,0.678160]
2025-06-17T20:58:12.321Z,1750193892.321 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:12.329Z,1750193892.329 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=32.068333
2025-06-17T20:58:12.521Z,1750193892.521 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=32.260700
2025-06-17T20:58:12.773Z,1750193892.773 [DAT](INFO): DAT read: Rx Time:20:58:12.6689 

2025-06-17T20:58:12.774Z,1750193892.774 [DAT](INFO): Rx dataTimestamp_ set to:1750193892.773575
2025-06-17T20:58:12.775Z,1750193892.775 [DAT](INFO): DAT read: Bearing 334.4, -48.0 (Local)

2025-06-17T20:58:12.775Z,1750193892.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.4, -48.0 (Local)

2025-06-17T20:58:12.778Z,1750193892.778 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:12.782Z,1750193892.782 [DAT](INFO): DAT read: 20:58:12.6689 LVL= 13008, 27697, 10834, 16451, AGC= 41, IDX= 508, 0.13, 2.437, 1.542, 3.086,-2.806, PHS=-0.953,-1.888,-0.394, RAW= 171.7,  41.2, CAL= 175.6,  48.0, ROT= 334.4, -48.0

2025-06-17T20:58:12.783Z,1750193892.783 [DAT](INFO): got valid direction response:
 20:58:12.6689 LVL= 13008, 27697, 10834, 16451, AGC= 41, IDX= 508, 0.13, 2.437, 1.542, 3.086,-2.806, PHS=-0.953,-1.888,-0.394, RAW= 171.7,  41.2, CAL= 175.6,  48.0, ROT= 334.4, -48.0

2025-06-17T20:58:12.784Z,1750193892.784 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-06-17T20:58:12.785Z,1750193892.785 [DAT](INFO): direction in FSK: [0.603444,-0.289122,0.743145]
2025-06-17T20:58:12.785Z,1750193892.785 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:12.789Z,1750193892.789 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=32.528709
2025-06-17T20:58:13.025Z,1750193893.025 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=32.764679
2025-06-17T20:58:13.281Z,1750193893.281 [DAT](INFO): DAT read: Rx Time:20:58:13.1688 

2025-06-17T20:58:13.283Z,1750193893.283 [DAT](INFO): Rx dataTimestamp_ set to:1750193893.281495
2025-06-17T20:58:13.291Z,1750193893.291 [DAT](INFO): DAT read: Bearing 347.9, -55.2 (Local)

2025-06-17T20:58:13.293Z,1750193893.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.9, -55.2 (Local)

2025-06-17T20:58:13.304Z,1750193893.304 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:13.329Z,1750193893.329 [DAT](INFO): DAT read: 20:58:13.1688 LVL= 13296, 24689, 12066, 18659, AGC= 42, IDX= 507,-0.02,-3.012, 2.109,-2.777,-1.886, PHS=-1.038,-2.241,-0.894, RAW= 155.6,  49.0, CAL= 162.1,  55.2, ROT= 347.9, -55.2

2025-06-17T20:58:13.330Z,1750193893.330 [DAT](INFO): got valid direction response:
 20:58:13.1688 LVL= 13296, 24689, 12066, 18659, AGC= 42, IDX= 507,-0.02,-3.012, 2.109,-2.777,-1.886, PHS=-1.038,-2.241,-0.894, RAW= 155.6,  49.0, CAL= 162.1,  55.2, ROT= 347.9, -55.2

2025-06-17T20:58:13.330Z,1750193893.330 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-06-17T20:58:13.331Z,1750193893.331 [DAT](INFO): direction in FSK: [0.558034,-0.119632,0.821149]
2025-06-17T20:58:13.331Z,1750193893.331 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:13.355Z,1750193893.355 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=33.094994
2025-06-17T20:58:13.529Z,1750193893.529 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=33.268665
2025-06-17T20:58:13.782Z,1750193893.782 [DAT](INFO): DAT read: Rx Time:20:58:13.6688 

2025-06-17T20:58:13.782Z,1750193893.782 [DAT](INFO): Rx dataTimestamp_ set to:1750193893.781709
2025-06-17T20:58:13.783Z,1750193893.783 [DAT](INFO): DAT read: Bearing 353.1, -57.2 (Local)

2025-06-17T20:58:13.784Z,1750193893.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.1, -57.2 (Local)

2025-06-17T20:58:13.786Z,1750193893.786 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:13.791Z,1750193893.791 [DAT](INFO): DAT read: 20:58:13.6688 LVL= 13248, 23985, 11762, 18419, AGC= 42, IDX= 507,-0.05,-2.248, 2.804,-2.179,-1.117, PHS=-1.044,-2.315,-1.066, RAW= 149.1,  51.1, CAL= 156.9,  57.2, ROT= 353.1, -57.2

2025-06-17T20:58:13.792Z,1750193893.792 [DAT](INFO): got valid direction response:
 20:58:13.6688 LVL= 13248, 23985, 11762, 18419, AGC= 42, IDX= 507,-0.05,-2.248, 2.804,-2.179,-1.117, PHS=-1.044,-2.315,-1.066, RAW= 149.1,  51.1, CAL= 156.9,  57.2, ROT= 353.1, -57.2

2025-06-17T20:58:13.792Z,1750193893.792 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-17T20:58:13.793Z,1750193893.793 [DAT](INFO): direction in FSK: [0.537785,-0.065079,0.840567]
2025-06-17T20:58:13.793Z,1750193893.793 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:13.801Z,1750193893.801 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=33.541134
2025-06-17T20:58:14.033Z,1750193894.033 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=33.772442
2025-06-17T20:58:14.290Z,1750193894.290 [DAT](INFO): DAT read: Rx Time:20:58:14.1687 

2025-06-17T20:58:14.291Z,1750193894.291 [DAT](INFO): Rx dataTimestamp_ set to:1750193894.290285
2025-06-17T20:58:14.295Z,1750193894.295 [DAT](INFO): DAT read: Bearing 357.3, -58.3 (Local)

2025-06-17T20:58:14.297Z,1750193894.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3, -58.3 (Local)

2025-06-17T20:58:14.308Z,1750193894.308 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:14.365Z,1750193894.365 [DAT](INFO): DAT read: 20:58:14.1687 LVL= 13008, 23665, 11378, 18899, AGC= 42, IDX= 506,-0.05,-2.780, 2.232,-2.839,-1.663, PHS=-1.029,-2.342,-1.180, RAW= 144.0,  52.3, CAL= 152.7,  58.3, ROT= 357.3, -58.3

2025-06-17T20:58:14.366Z,1750193894.366 [DAT](INFO): got valid direction response:
 20:58:14.1687 LVL= 13008, 23665, 11378, 18899, AGC= 42, IDX= 506,-0.05,-2.780, 2.232,-2.839,-1.663, PHS=-1.029,-2.342,-1.180, RAW= 144.0,  52.3, CAL= 152.7,  58.3, ROT= 357.3, -58.3

2025-06-17T20:58:14.366Z,1750193894.366 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-06-17T20:58:14.367Z,1750193894.367 [DAT](INFO): direction in FSK: [0.524888,-0.024753,0.850811]
2025-06-17T20:58:14.367Z,1750193894.367 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:14.375Z,1750193894.375 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=34.114849
2025-06-17T20:58:14.537Z,1750193894.537 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=34.276703
2025-06-17T20:58:14.789Z,1750193894.789 [DAT](INFO): DAT read: Rx Time:20:58:14.6688 

2025-06-17T20:58:14.790Z,1750193894.790 [DAT](INFO): Rx dataTimestamp_ set to:1750193894.789462
2025-06-17T20:58:14.791Z,1750193894.791 [DAT](INFO): DAT read: Bearing 355.5, -57.2 (Local)

2025-06-17T20:58:14.791Z,1750193894.791 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.5, -57.2 (Local)

2025-06-17T20:58:14.794Z,1750193894.794 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:14.798Z,1750193894.798 [DAT](INFO): DAT read: 20:58:14.6688 LVL= 12528, 25969, 11938, 20275, AGC= 42, IDX= 507, 0.07,-1.723,-2.938,-1.727,-0.672, PHS=-0.963,-2.219,-1.059, RAW= 146.1,  51.1, CAL= 154.5,  57.2, ROT= 355.5, -57.2

2025-06-17T20:58:14.799Z,1750193894.799 [DAT](INFO): got valid direction response:
 20:58:14.6688 LVL= 12528, 25969, 11938, 20275, AGC= 42, IDX= 507, 0.07,-1.723,-2.938,-1.727,-0.672, PHS=-0.963,-2.219,-1.059, RAW= 146.1,  51.1, CAL= 154.5,  57.2, ROT= 355.5, -57.2

2025-06-17T20:58:14.800Z,1750193894.800 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-06-17T20:58:14.801Z,1750193894.801 [DAT](INFO): direction in FSK: [0.540038,-0.042502,0.840567]
2025-06-17T20:58:14.801Z,1750193894.801 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:14.805Z,1750193894.805 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=34.544338
2025-06-17T20:58:15.041Z,1750193895.041 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=34.780872
2025-06-17T20:58:15.297Z,1750193895.297 [DAT](INFO): DAT read: Rx Time:20:58:15.1687 

2025-06-17T20:58:15.299Z,1750193895.299 [DAT](INFO): Rx dataTimestamp_ set to:1750193895.298013
2025-06-17T20:58:15.303Z,1750193895.303 [DAT](INFO): DAT read: Bearing   2.3, -58.8 (Local)

2025-06-17T20:58:15.309Z,1750193895.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3, -58.8 (Local)

2025-06-17T20:58:15.315Z,1750193895.315 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:15.351Z,1750193895.351 [DAT](INFO): DAT read: 20:58:15.1687 LVL= 14736, 26449, 13666, 22947, AGC= 43, IDX= 506, 0.05,-1.541,-2.887,-1.742,-0.445, PHS=-1.008,-2.395,-1.300, RAW= 138.5,  52.7, CAL= 147.7,  58.8, ROT=   2.3, -58.8

2025-06-17T20:58:15.361Z,1750193895.361 [DAT](INFO): got valid direction response:
 20:58:15.1687 LVL= 14736, 26449, 13666, 22947, AGC= 43, IDX= 506, 0.05,-1.541,-2.887,-1.742,-0.445, PHS=-1.008,-2.395,-1.300, RAW= 138.5,  52.7, CAL= 147.7,  58.8, ROT=   2.3, -58.8

2025-06-17T20:58:15.361Z,1750193895.361 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-06-17T20:58:15.362Z,1750193895.362 [DAT](INFO): direction in FSK: [0.517610,0.020789,0.855364]
2025-06-17T20:58:15.362Z,1750193895.362 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:15.371Z,1750193895.371 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=35.111095
2025-06-17T20:58:15.545Z,1750193895.545 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=35.284729
2025-06-17T20:58:15.805Z,1750193895.805 [DAT](INFO): DAT read: Rx Time:20:58:15.6688 

2025-06-17T20:58:15.806Z,1750193895.806 [DAT](INFO): Rx dataTimestamp_ set to:1750193895.805509
2025-06-17T20:58:15.807Z,1750193895.807 [DAT](INFO): DAT read: Bearing   0.8, -58.3 (Local)

2025-06-17T20:58:15.807Z,1750193895.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8, -58.3 (Local)

2025-06-17T20:58:15.810Z,1750193895.810 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:15.815Z,1750193895.815 [DAT](INFO): DAT read: 20:58:15.6688 LVL= 14928, 27057, 14290, 23635, AGC= 43, IDX= 507, 0.14,-1.179,-2.456,-1.335,-0.141, PHS=-0.950,-2.268,-1.197, RAW= 139.8,  52.1, CAL= 149.2,  58.3, ROT=   0.8, -58.3

2025-06-17T20:58:15.816Z,1750193895.816 [DAT](INFO): got valid direction response:
 20:58:15.6688 LVL= 14928, 27057, 14290, 23635, AGC= 43, IDX= 507, 0.14,-1.179,-2.456,-1.335,-0.141, PHS=-0.950,-2.268,-1.197, RAW= 139.8,  52.1, CAL= 149.2,  58.3, ROT=   0.8, -58.3

2025-06-17T20:58:15.817Z,1750193895.817 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-06-17T20:58:15.818Z,1750193895.818 [DAT](INFO): direction in FSK: [0.525420,0.007337,0.850811]
2025-06-17T20:58:15.818Z,1750193895.818 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:15.822Z,1750193895.822 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=35.561329
2025-06-17T20:58:16.057Z,1750193896.057 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=35.796658
2025-06-17T20:58:16.313Z,1750193896.313 [DAT](INFO): DAT read: Rx Time:20:58:16.1687 

2025-06-17T20:58:16.315Z,1750193896.315 [DAT](INFO): Rx dataTimestamp_ set to:1750193896.314015
2025-06-17T20:58:16.319Z,1750193896.319 [DAT](INFO): DAT read: Bearing 359.1, -58.2 (Local)

2025-06-17T20:58:16.321Z,1750193896.321 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1, -58.2 (Local)

2025-06-17T20:58:16.330Z,1750193896.330 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:16.393Z,1750193896.393 [DAT](INFO): DAT read: 20:58:16.1687 LVL= 15296, 27825, 14002, 24003, AGC= 43, IDX= 506, 0.24,-2.641, 2.413,-2.749,-1.609, PHS=-0.944,-2.214,-1.142, RAW= 141.6,  52.1, CAL= 150.9,  58.2, ROT= 359.1, -58.2

2025-06-17T20:58:16.394Z,1750193896.394 [DAT](INFO): got valid direction response:
 20:58:16.1687 LVL= 15296, 27825, 14002, 24003, AGC= 43, IDX= 506, 0.24,-2.641, 2.413,-2.749,-1.609, PHS=-0.944,-2.214,-1.142, RAW= 141.6,  52.1, CAL= 150.9,  58.2, ROT= 359.1, -58.2

2025-06-17T20:58:16.394Z,1750193896.394 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-06-17T20:58:16.395Z,1750193896.395 [DAT](INFO): direction in FSK: [0.526891,-0.008277,0.849893]
2025-06-17T20:58:16.395Z,1750193896.395 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:16.403Z,1750193896.403 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=36.142803
2025-06-17T20:58:16.562Z,1750193896.562 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=36.301376
2025-06-17T20:58:16.815Z,1750193896.815 [DAT](INFO): DAT read: Rx Time:20:58:16.6689 

2025-06-17T20:58:16.820Z,1750193896.820 [DAT](INFO): Rx dataTimestamp_ set to:1750193896.819227
2025-06-17T20:58:16.821Z,1750193896.821 [DAT](INFO): DAT read: Bearing 333.7, -49.7 (Local)

2025-06-17T20:58:16.821Z,1750193896.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.7, -49.7 (Local)

2025-06-17T20:58:16.823Z,1750193896.823 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:16.828Z,1750193896.828 [DAT](INFO): DAT read: 20:58:16.6689 LVL= 13536, 28369, 12274, 20723, AGC= 42, IDX= 508,-0.38, 0.468,-0.234, 1.027, 1.401, PHS=-0.845,-1.588,-0.376, RAW= 172.6,  43.2, CAL= 176.3,  49.7, ROT= 333.7, -49.7

2025-06-17T20:58:16.829Z,1750193896.829 [DAT](INFO): got valid direction response:
 20:58:16.6689 LVL= 13536, 28369, 12274, 20723, AGC= 42, IDX= 508,-0.38, 0.468,-0.234, 1.027, 1.401, PHS=-0.845,-1.588,-0.376, RAW= 172.6,  43.2, CAL= 176.3,  49.7, ROT= 333.7, -49.7

2025-06-17T20:58:16.829Z,1750193896.829 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-06-17T20:58:16.831Z,1750193896.830 [DAT](INFO): direction in FSK: [0.579838,-0.286574,0.762668]
2025-06-17T20:58:16.831Z,1750193896.831 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:16.835Z,1750193896.835 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=36.574844
2025-06-17T20:58:17.065Z,1750193897.065 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=36.804565
2025-06-17T20:58:17.322Z,1750193897.322 [DAT](INFO): DAT read: Rx Time:20:58:17.1688 

2025-06-17T20:58:17.323Z,1750193897.323 [DAT](INFO): Rx dataTimestamp_ set to:1750193897.322614
2025-06-17T20:58:17.331Z,1750193897.331 [DAT](INFO): DAT read: Bearing 320.5, -42.2 (Local)

2025-06-17T20:58:17.341Z,1750193897.341 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.5, -42.2 (Local)

2025-06-17T20:58:17.355Z,1750193897.355 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:17.389Z,1750193897.389 [DAT](INFO): DAT read: 20:58:17.1688 LVL= 13872, 29521, 11634, 19955, AGC= 42, IDX= 507,-0.25,-2.143,-2.604,-1.255,-1.221, PHS=-0.834,-1.336,-0.037, RAW= 187.5,  34.5, CAL= 189.5,  42.2, ROT= 320.5, -42.2

2025-06-17T20:58:17.390Z,1750193897.390 [DAT](INFO): got valid direction response:
 20:58:17.1688 LVL= 13872, 29521, 11634, 19955, AGC= 42, IDX= 507,-0.25,-2.143,-2.604,-1.255,-1.221, PHS=-0.834,-1.336,-0.037, RAW= 187.5,  34.5, CAL= 189.5,  42.2, ROT= 320.5, -42.2

2025-06-17T20:58:17.390Z,1750193897.390 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-06-17T20:58:17.391Z,1750193897.391 [DAT](INFO): direction in FSK: [0.571623,-0.471210,0.671721]
2025-06-17T20:58:17.391Z,1750193897.391 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:17.407Z,1750193897.407 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=37.146503
2025-06-17T20:58:17.569Z,1750193897.569 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=37.308659
2025-06-17T20:58:17.822Z,1750193897.822 [DAT](INFO): DAT read: Rx Time:20:58:17.6688 

2025-06-17T20:58:17.822Z,1750193897.822 [DAT](INFO): Rx dataTimestamp_ set to:1750193897.821859
2025-06-17T20:58:17.823Z,1750193897.823 [DAT](INFO): DAT read: Bearing 316.0, -31.9 (Local)

2025-06-17T20:58:17.824Z,1750193897.824 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.0, -31.9 (Local)

2025-06-17T20:58:17.826Z,1750193897.826 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:17.832Z,1750193897.832 [DAT](INFO): DAT read: 20:58:17.6688 LVL= 11696, 28721,  9938, 15523, AGC= 40, IDX= 507,-0.10,-3.040, 2.893,-1.930,-2.171, PHS=-0.781,-1.173, 0.237, RAW= 194.4,  25.7, CAL= 194.0,  31.9, ROT= 316.0, -31.9

2025-06-17T20:58:17.834Z,1750193897.834 [DAT](INFO): got valid direction response:
 20:58:17.6688 LVL= 11696, 28721,  9938, 15523, AGC= 40, IDX= 507,-0.10,-3.040, 2.893,-1.930,-2.171, PHS=-0.781,-1.173, 0.237, RAW= 194.4,  25.7, CAL= 194.0,  31.9, ROT= 316.0, -31.9

2025-06-17T20:58:17.834Z,1750193897.834 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-06-17T20:58:17.842Z,1750193897.842 [DAT](INFO): direction in FSK: [0.610699,-0.589745,0.528438]
2025-06-17T20:58:17.843Z,1750193897.843 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:17.849Z,1750193897.849 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=37.588779
2025-06-17T20:58:18.073Z,1750193898.073 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=37.812809
2025-06-17T20:58:18.326Z,1750193898.326 [DAT](INFO): DAT read: Rx Time:20:58:18.1688 

2025-06-17T20:58:18.327Z,1750193898.327 [DAT](INFO): Rx dataTimestamp_ set to:1750193898.326225
2025-06-17T20:58:18.328Z,1750193898.328 [DAT](INFO): DAT read: Bearing 317.8, -32.4 (Local)

2025-06-17T20:58:18.328Z,1750193898.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.8, -32.4 (Local)

2025-06-17T20:58:18.330Z,1750193898.330 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:18.335Z,1750193898.335 [DAT](INFO): DAT read: 20:58:18.1688 LVL= 12256, 29361,  9586, 15667, AGC= 40, IDX= 506, 0.02, 1.978, 1.565, 3.062, 2.841, PHS=-0.776,-1.230, 0.217, RAW= 192.1,  26.3, CAL= 192.2,  32.4, ROT= 317.8, -32.4

2025-06-17T20:58:18.336Z,1750193898.336 [DAT](INFO): got valid direction response:
 20:58:18.1688 LVL= 12256, 29361,  9586, 15667, AGC= 40, IDX= 506, 0.02, 1.978, 1.565, 3.062, 2.841, PHS=-0.776,-1.230, 0.217, RAW= 192.1,  26.3, CAL= 192.2,  32.4, ROT= 317.8, -32.4

2025-06-17T20:58:18.336Z,1750193898.336 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-06-17T20:58:18.339Z,1750193898.339 [DAT](INFO): direction in FSK: [0.625482,-0.567153,0.535827]
2025-06-17T20:58:18.341Z,1750193898.341 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:18.377Z,1750193898.377 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=38.116394
2025-06-17T20:58:18.578Z,1750193898.578 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=38.317291
2025-06-17T20:58:18.829Z,1750193898.829 [DAT](INFO): DAT read: Rx Time:20:58:18.6689 

2025-06-17T20:58:18.830Z,1750193898.830 [DAT](INFO): Rx dataTimestamp_ set to:1750193898.829604
2025-06-17T20:58:18.831Z,1750193898.831 [DAT](INFO): DAT read: Bearing 318.1, -32.9 (Local)

2025-06-17T20:58:18.831Z,1750193898.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.1, -32.9 (Local)

2025-06-17T20:58:18.834Z,1750193898.834 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:18.838Z,1750193898.838 [DAT](INFO): DAT read: 20:58:18.6689 LVL= 12016, 27633,  9618, 15475, AGC= 40, IDX= 507, 0.10, 3.130, 2.708,-2.071,-2.281, PHS=-0.784,-1.247, 0.207, RAW= 191.8,  26.6, CAL= 191.9,  32.9, ROT= 318.1, -32.9

2025-06-17T20:58:18.839Z,1750193898.839 [DAT](INFO): got valid direction response:
 20:58:18.6689 LVL= 12016, 27633,  9618, 15475, AGC= 40, IDX= 507, 0.10, 3.130, 2.708,-2.071,-2.281, PHS=-0.784,-1.247, 0.207, RAW= 191.8,  26.6, CAL= 191.9,  32.9, ROT= 318.1, -32.9

2025-06-17T20:58:18.847Z,1750193898.847 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-06-17T20:58:18.848Z,1750193898.848 [DAT](INFO): direction in FSK: [0.624939,-0.560726,0.543174]
2025-06-17T20:58:18.849Z,1750193898.849 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:18.852Z,1750193898.852 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=38.592022
2025-06-17T20:58:19.081Z,1750193899.081 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=38.820652
2025-06-17T20:58:19.333Z,1750193899.333 [DAT](INFO): DAT read: Rx Time:20:58:19.1688 

2025-06-17T20:58:19.334Z,1750193899.334 [DAT](INFO): Rx dataTimestamp_ set to:1750193899.333663
2025-06-17T20:58:19.335Z,1750193899.335 [DAT](INFO): DAT read: Bearing 316.9, -34.1 (Local)

2025-06-17T20:58:19.336Z,1750193899.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.9, -34.1 (Local)

2025-06-17T20:58:19.341Z,1750193899.341 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:19.397Z,1750193899.397 [DAT](INFO): DAT read: 20:58:19.1688 LVL= 12224, 28081, 10802, 16371, AGC= 41, IDX= 506, 0.13, 1.774, 1.363, 2.923, 2.719, PHS=-0.857,-1.308, 0.201, RAW= 193.1,  27.4, CAL= 193.1,  34.1, ROT= 316.9, -34.1

2025-06-17T20:58:19.406Z,1750193899.406 [DAT](INFO): got valid direction response:
 20:58:19.1688 LVL= 12224, 28081, 10802, 16371, AGC= 41, IDX= 506, 0.13, 1.774, 1.363, 2.923, 2.719, PHS=-0.857,-1.308, 0.201, RAW= 193.1,  27.4, CAL= 193.1,  34.1, ROT= 316.9, -34.1

2025-06-17T20:58:19.407Z,1750193899.407 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-17T20:58:19.413Z,1750193899.413 [DAT](INFO): direction in FSK: [0.604618,-0.565792,0.560639]
2025-06-17T20:58:19.413Z,1750193899.413 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:19.421Z,1750193899.421 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=39.160709
2025-06-17T20:58:19.585Z,1750193899.585 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=39.324802
2025-06-17T20:58:19.838Z,1750193899.838 [DAT](INFO): DAT read: Rx Time:20:58:19.6689 

2025-06-17T20:58:19.839Z,1750193899.839 [DAT](INFO): Rx dataTimestamp_ set to:1750193899.838351
2025-06-17T20:58:19.841Z,1750193899.841 [DAT](INFO): DAT read: Bearing 316.4, -35.7 (Local)

2025-06-17T20:58:19.841Z,1750193899.841 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.4, -35.7 (Local)

2025-06-17T20:58:19.852Z,1750193899.852 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:19.858Z,1750193899.858 [DAT](INFO): DAT read: 20:58:19.6689 LVL= 11696, 28625, 10994, 16227, AGC= 41, IDX= 507, 0.21, 2.904, 2.521,-2.268,-2.433, PHS=-0.858,-1.282, 0.162, RAW= 193.4,  28.5, CAL= 193.6,  35.7, ROT= 316.4, -35.7

2025-06-17T20:58:19.859Z,1750193899.859 [DAT](INFO): got valid direction response:
 20:58:19.6689 LVL= 11696, 28625, 10994, 16227, AGC= 41, IDX= 507, 0.21, 2.904, 2.521,-2.268,-2.433, PHS=-0.858,-1.282, 0.162, RAW= 193.4,  28.5, CAL= 193.6,  35.7, ROT= 316.4, -35.7

2025-06-17T20:58:19.859Z,1750193899.859 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-17T20:58:19.860Z,1750193899.860 [DAT](INFO): direction in FSK: [0.588088,-0.560029,0.583541]
2025-06-17T20:58:19.860Z,1750193899.860 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:19.870Z,1750193899.870 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=39.610058
2025-06-17T20:58:20.089Z,1750193900.089 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=39.828564
2025-06-17T20:58:20.341Z,1750193900.341 [DAT](INFO): DAT read: Rx Time:20:58:20.1688 

2025-06-17T20:58:20.342Z,1750193900.342 [DAT](INFO): Rx dataTimestamp_ set to:1750193900.341558
2025-06-17T20:58:20.343Z,1750193900.343 [DAT](INFO): DAT read: Bearing 313.3, -27.8 (Local)

2025-06-17T20:58:20.343Z,1750193900.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.3, -27.8 (Local)

2025-06-17T20:58:20.347Z,1750193900.347 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:20.358Z,1750193900.358 [DAT](INFO): DAT read: 20:58:20.1688 LVL= 11584, 28737,  9714, 14787, AGC= 40, IDX= 506, 0.36, 0.917, 0.628, 2.171, 1.809, PHS=-0.804,-1.134, 0.358, RAW= 197.9,  22.4, CAL= 196.7,  27.8, ROT= 313.3, -27.8

2025-06-17T20:58:20.359Z,1750193900.359 [DAT](INFO): got valid direction response:
 20:58:20.1688 LVL= 11584, 28737,  9714, 14787, AGC= 40, IDX= 506, 0.36, 0.917, 0.628, 2.171, 1.809, PHS=-0.804,-1.134, 0.358, RAW= 197.9,  22.4, CAL= 196.7,  27.8, ROT= 313.3, -27.8

2025-06-17T20:58:20.359Z,1750193900.359 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-17T20:58:20.360Z,1750193900.360 [DAT](INFO): direction in FSK: [0.606662,-0.643774,0.466387]
2025-06-17T20:58:20.361Z,1750193900.361 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:20.393Z,1750193900.393 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=40.127071
2025-06-17T20:58:20.593Z,1750193900.593 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=40.332672
2025-06-17T20:58:20.845Z,1750193900.845 [DAT](INFO): DAT read: Rx Time:20:58:20.6688 

2025-06-17T20:58:20.846Z,1750193900.846 [DAT](INFO): Rx dataTimestamp_ set to:1750193900.845554
2025-06-17T20:58:20.847Z,1750193900.847 [DAT](INFO): DAT read: Bearing 309.7, -24.1 (Local)

2025-06-17T20:58:20.847Z,1750193900.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.7, -24.1 (Local)

2025-06-17T20:58:20.854Z,1750193900.854 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:20.859Z,1750193900.859 [DAT](INFO): DAT read: 20:58:20.6688 LVL= 11440, 28881,  9618, 14835, AGC= 40, IDX= 506, 0.46, 0.256, 0.059, 1.624, 1.152, PHS=-0.809,-1.047, 0.468, RAW= 201.6,  19.2, CAL= 200.3,  24.1, ROT= 309.7, -24.1

2025-06-17T20:58:20.866Z,1750193900.866 [DAT](INFO): got valid direction response:
 20:58:20.6688 LVL= 11440, 28881,  9618, 14835, AGC= 40, IDX= 506, 0.46, 0.256, 0.059, 1.624, 1.152, PHS=-0.809,-1.047, 0.468, RAW= 201.6,  19.2, CAL= 200.3,  24.1, ROT= 309.7, -24.1

2025-06-17T20:58:20.866Z,1750193900.866 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-17T20:58:20.867Z,1750193900.867 [DAT](INFO): direction in FSK: [0.583089,-0.702334,0.408330]
2025-06-17T20:58:20.867Z,1750193900.867 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:20.880Z,1750193900.880 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=40.619358
2025-06-17T20:58:21.097Z,1750193901.097 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=40.836807
2025-06-17T20:58:21.352Z,1750193901.352 [DAT](INFO): DAT read: Rx Time:20:58:21.1687 

2025-06-17T20:58:21.354Z,1750193901.354 [DAT](INFO): Rx dataTimestamp_ set to:1750193901.352898
2025-06-17T20:58:21.355Z,1750193901.355 [DAT](INFO): DAT read: Bearing 298.8, -10.0 (Local)

2025-06-17T20:58:21.360Z,1750193901.360 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.8, -10.0 (Local)

2025-06-17T20:58:21.362Z,1750193901.362 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:21.384Z,1750193901.384 [DAT](INFO): DAT read: 20:58:21.1687 LVL= 11392, 28977,  8802, 13411, AGC= 39, IDX= 506,-0.40,-2.516,-2.515,-0.924,-1.651, PHS=-0.776,-0.817, 0.724, RAW= 208.7,  11.4, CAL= 211.2,  10.0, ROT= 298.8, -10.0

2025-06-17T20:58:21.387Z,1750193901.387 [DAT](INFO): got valid direction response:
 20:58:21.1687 LVL= 11392, 28977,  8802, 13411, AGC= 39, IDX= 506,-0.40,-2.516,-2.515,-0.924,-1.651, PHS=-0.776,-0.817, 0.724, RAW= 208.7,  11.4, CAL= 211.2,  10.0, ROT= 298.8, -10.0

2025-06-17T20:58:21.397Z,1750193901.397 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-06-17T20:58:21.408Z,1750193901.408 [DAT](INFO): direction in FSK: [0.474435,-0.862994,0.173648]
2025-06-17T20:58:21.409Z,1750193901.409 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:21.441Z,1750193901.441 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=41.181160
2025-06-17T20:58:21.601Z,1750193901.601 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=41.340614
2025-06-17T20:58:21.861Z,1750193901.861 [DAT](INFO): DAT read: Rx Time:20:58:21.6688 

2025-06-17T20:58:21.861Z,1750193901.861 [DAT](INFO): Rx dataTimestamp_ set to:1750193901.860814
2025-06-17T20:58:21.863Z,1750193901.863 [DAT](INFO): DAT read: Bearing 299.7, -14.7 (Local)

2025-06-17T20:58:21.864Z,1750193901.864 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.7, -14.7 (Local)

2025-06-17T20:58:21.866Z,1750193901.866 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:21.873Z,1750193901.873 [DAT](INFO): DAT read: 20:58:21.6688 LVL= 11296, 29009,  9810, 14883, AGC= 40, IDX= 507,-0.41,-0.853,-0.873, 0.724, 0.056, PHS=-0.822,-0.882, 0.664, RAW= 208.0,  13.6, CAL= 210.3,  14.7, ROT= 299.7, -14.7

2025-06-17T20:58:21.874Z,1750193901.874 [DAT](INFO): got valid direction response:
 20:58:21.6688 LVL= 11296, 29009,  9810, 14883, AGC= 40, IDX= 507,-0.41,-0.853,-0.873, 0.724, 0.056, PHS=-0.822,-0.882, 0.664, RAW= 208.0,  13.6, CAL= 210.3,  14.7, ROT= 299.7, -14.7

2025-06-17T20:58:21.875Z,1750193901.875 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-06-17T20:58:21.876Z,1750193901.876 [DAT](INFO): direction in FSK: [0.479241,-0.840199,0.253758]
2025-06-17T20:58:21.876Z,1750193901.876 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:21.892Z,1750193901.892 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=41.619347
2025-06-17T20:58:22.133Z,1750193902.133 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=41.872940
2025-06-17T20:58:22.386Z,1750193902.386 [DAT](INFO): DAT read: Rx Time:20:58:22.1687 

2025-06-17T20:58:22.387Z,1750193902.387 [DAT](INFO): Rx dataTimestamp_ set to:1750193902.386488
2025-06-17T20:58:22.388Z,1750193902.388 [DAT](INFO): DAT read: Bearing 295.9, -15.2 (Local)

2025-06-17T20:58:22.389Z,1750193902.389 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.9, -15.2 (Local)

2025-06-17T20:58:22.391Z,1750193902.391 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:22.396Z,1750193902.396 [DAT](INFO): DAT read: 20:58:22.1687 LVL= 10416, 25969,  9746, 15267, AGC= 40, IDX= 506,-0.36,-2.184,-2.137,-0.591,-1.243, PHS=-0.853,-0.847, 0.649, RAW= 210.2,  13.9, CAL= 214.1,  15.2, ROT= 295.9, -15.2

2025-06-17T20:58:22.397Z,1750193902.397 [DAT](INFO): got valid direction response:
 20:58:22.1687 LVL= 10416, 25969,  9746, 15267, AGC= 40, IDX= 506,-0.36,-2.184,-2.137,-0.591,-1.243, PHS=-0.853,-0.847, 0.649, RAW= 210.2,  13.9, CAL= 214.1,  15.2, ROT= 295.9, -15.2

2025-06-17T20:58:22.398Z,1750193902.398 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-06-17T20:58:22.401Z,1750193902.401 [DAT](INFO): direction in FSK: [0.421521,-0.868088,0.262189]
2025-06-17T20:58:22.402Z,1750193902.402 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:22.417Z,1750193902.417 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=42.156380
2025-06-17T20:58:22.637Z,1750193902.637 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=42.376682
2025-06-17T20:58:22.889Z,1750193902.889 [DAT](INFO): DAT read: Rx Time:20:58:22.6688 

2025-06-17T20:58:22.890Z,1750193902.890 [DAT](INFO): Rx dataTimestamp_ set to:1750193902.889635
2025-06-17T20:58:22.891Z,1750193902.891 [DAT](INFO): DAT read: Bearing 297.5, -16.6 (Local)

2025-06-17T20:58:22.892Z,1750193902.892 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.5, -16.6 (Local)

2025-06-17T20:58:22.894Z,1750193902.894 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:22.898Z,1750193902.898 [DAT](INFO): DAT read: 20:58:22.6688 LVL= 11632, 28657, 11154, 16451, AGC= 41, IDX= 507,-0.33,-0.574,-0.559, 1.038, 0.388, PHS=-0.874,-0.900, 0.647, RAW= 209.2,  14.6, CAL= 212.5,  16.6, ROT= 297.5, -16.6

2025-06-17T20:58:22.900Z,1750193902.900 [DAT](INFO): got valid direction response:
 20:58:22.6688 LVL= 11632, 28657, 11154, 16451, AGC= 41, IDX= 507,-0.33,-0.574,-0.559, 1.038, 0.388, PHS=-0.874,-0.900, 0.647, RAW= 209.2,  14.6, CAL= 212.5,  16.6, ROT= 297.5, -16.6

2025-06-17T20:58:22.900Z,1750193902.900 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-06-17T20:58:22.901Z,1750193902.901 [DAT](INFO): direction in FSK: [0.442504,-0.850042,0.285688]
2025-06-17T20:58:22.901Z,1750193902.901 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:22.905Z,1750193902.905 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=42.644718
2025-06-17T20:58:23.141Z,1750193903.141 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=42.880577
2025-06-17T20:58:23.412Z,1750193903.412 [DAT](INFO): DAT read: Rx Time:20:58:23.1687 

2025-06-17T20:58:23.414Z,1750193903.414 [DAT](INFO): Rx dataTimestamp_ set to:1750193903.412438
2025-06-17T20:58:23.418Z,1750193903.418 [DAT](INFO): DAT read: Bearing 295.4, -16.2 (Local)

2025-06-17T20:58:23.419Z,1750193903.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.4, -16.2 (Local)

2025-06-17T20:58:23.446Z,1750193903.446 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:23.475Z,1750193903.475 [DAT](INFO): DAT read: 20:58:23.1687 LVL= 12224, 28801, 10738, 16595, AGC= 41, IDX= 506,-0.27,-1.939,-1.888,-0.336,-0.978, PHS=-0.873,-0.863, 0.639, RAW= 210.3,  14.4, CAL= 214.6,  16.2, ROT= 295.4, -16.2

2025-06-17T20:58:23.480Z,1750193903.480 [DAT](INFO): got valid direction response:
 20:58:23.1687 LVL= 12224, 28801, 10738, 16595, AGC= 41, IDX= 506,-0.27,-1.939,-1.888,-0.336,-0.978, PHS=-0.873,-0.863, 0.639, RAW= 210.3,  14.4, CAL= 214.6,  16.2, ROT= 295.4, -16.2

2025-06-17T20:58:23.480Z,1750193903.480 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-06-17T20:58:23.481Z,1750193903.481 [DAT](INFO): direction in FSK: [0.411904,-0.867467,0.278991]
2025-06-17T20:58:23.482Z,1750193903.482 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:23.487Z,1750193903.487 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=43.226517
2025-06-17T20:58:23.657Z,1750193903.657 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=43.396660
2025-06-17T20:58:23.909Z,1750193903.909 [DAT](INFO): DAT read: Rx Time:20:58:23.6688 

2025-06-17T20:58:23.910Z,1750193903.910 [DAT](INFO): Rx dataTimestamp_ set to:1750193903.909563
2025-06-17T20:58:23.911Z,1750193903.911 [DAT](INFO): DAT read: Bearing 294.0, -17.1 (Local)

2025-06-17T20:58:23.911Z,1750193903.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.0, -17.1 (Local)

2025-06-17T20:58:23.916Z,1750193903.916 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:23.923Z,1750193903.923 [DAT](INFO): DAT read: 20:58:23.6688 LVL= 11744, 28881, 10898, 16851, AGC= 41, IDX= 507,-0.22,-0.790,-0.718, 0.809, 0.187, PHS=-0.888,-0.858, 0.619, RAW= 211.0,  14.9, CAL= 216.0,  17.1, ROT= 294.0, -17.1

2025-06-17T20:58:23.940Z,1750193903.940 [DAT](INFO): got valid direction response:
 20:58:23.6688 LVL= 11744, 28881, 10898, 16851, AGC= 41, IDX= 507,-0.22,-0.790,-0.718, 0.809, 0.187, PHS=-0.888,-0.858, 0.619, RAW= 211.0,  14.9, CAL= 216.0,  17.1, ROT= 294.0, -17.1

2025-06-17T20:58:23.941Z,1750193903.941 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-06-17T20:58:23.942Z,1750193903.942 [DAT](INFO): direction in FSK: [0.388756,-0.873160,0.294040]
2025-06-17T20:58:23.942Z,1750193903.942 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:23.945Z,1750193903.945 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=43.685249
2025-06-17T20:58:24.161Z,1750193904.161 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=43.900429
2025-06-17T20:58:24.415Z,1750193904.415 [DAT](INFO): DAT read: Rx Time:20:58:24.1687 

2025-06-17T20:58:24.416Z,1750193904.416 [DAT](INFO): Rx dataTimestamp_ set to:1750193904.415478
2025-06-17T20:58:24.417Z,1750193904.417 [DAT](INFO): DAT read: Bearing 292.6, -16.8 (Local)

2025-06-17T20:58:24.417Z,1750193904.417 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.6, -16.8 (Local)

2025-06-17T20:58:24.420Z,1750193904.420 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:24.424Z,1750193904.424 [DAT](INFO): DAT read: 20:58:24.1687 LVL= 11856, 28865, 10722, 16611, AGC= 41, IDX= 506,-0.17,-2.056,-1.962,-0.458,-1.078, PHS=-0.890,-0.838, 0.617, RAW= 211.8,  14.8, CAL= 217.4,  16.8, ROT= 292.6, -16.8

2025-06-17T20:58:24.425Z,1750193904.425 [DAT](INFO): got valid direction response:
 20:58:24.1687 LVL= 11856, 28865, 10722, 16611, AGC= 41, IDX= 506,-0.17,-2.056,-1.962,-0.458,-1.078, PHS=-0.890,-0.838, 0.617, RAW= 211.8,  14.8, CAL= 217.4,  16.8, ROT= 292.6, -16.8

2025-06-17T20:58:24.426Z,1750193904.426 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-06-17T20:58:24.427Z,1750193904.427 [DAT](INFO): direction in FSK: [0.367893,-0.883807,0.289032]
2025-06-17T20:58:24.430Z,1750193904.430 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:24.502Z,1750193904.502 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=44.241699
2025-06-17T20:58:24.666Z,1750193904.666 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=44.405277
2025-06-17T20:58:24.917Z,1750193904.917 [DAT](INFO): DAT read: Rx Time:20:58:24.6688 

2025-06-17T20:58:24.918Z,1750193904.918 [DAT](INFO): Rx dataTimestamp_ set to:1750193904.917576
2025-06-17T20:58:24.919Z,1750193904.919 [DAT](INFO): DAT read: Bearing 292.4, -17.0 (Local)

2025-06-17T20:58:24.919Z,1750193904.919 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.4, -17.0 (Local)

2025-06-17T20:58:24.922Z,1750193904.922 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:24.926Z,1750193904.926 [DAT](INFO): DAT read: 20:58:24.6688 LVL= 11616, 28913, 10834, 16371, AGC= 41, IDX= 506,-0.10,-2.127,-2.031,-0.539,-1.150, PHS=-0.890,-0.834, 0.608, RAW= 211.9,  15.0, CAL= 217.6,  17.0, ROT= 292.4, -17.0

2025-06-17T20:58:24.927Z,1750193904.927 [DAT](INFO): got valid direction response:
 20:58:24.6688 LVL= 11616, 28913, 10834, 16371, AGC= 41, IDX= 506,-0.10,-2.127,-2.031,-0.539,-1.150, PHS=-0.890,-0.834, 0.608, RAW= 211.9,  15.0, CAL= 217.6,  17.0, ROT= 292.4, -17.0

2025-06-17T20:58:24.928Z,1750193904.928 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-06-17T20:58:24.929Z,1750193904.929 [DAT](INFO): direction in FSK: [0.364419,-0.884148,0.292372]
2025-06-17T20:58:24.929Z,1750193904.929 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:24.933Z,1750193904.933 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=44.672718
2025-06-17T20:58:25.169Z,1750193905.169 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=44.908665
2025-06-17T20:58:25.422Z,1750193905.422 [DAT](INFO): DAT read: Rx Time:20:58:25.1687 

2025-06-17T20:58:25.423Z,1750193905.423 [DAT](INFO): Rx dataTimestamp_ set to:1750193905.422450
2025-06-17T20:58:25.425Z,1750193905.425 [DAT](INFO): DAT read: Bearing 293.2, -17.7 (Local)

2025-06-17T20:58:25.425Z,1750193905.425 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.2, -17.7 (Local)

2025-06-17T20:58:25.429Z,1750193905.429 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:25.457Z,1750193905.457 [DAT](INFO): DAT read: 20:58:25.1687 LVL= 12080, 29153, 10802, 16307, AGC= 41, IDX= 505,-0.05, 2.918, 2.998,-1.797,-2.396, PHS=-0.882,-0.842, 0.596, RAW= 211.3,  15.3, CAL= 216.8,  17.7, ROT= 293.2, -17.7

2025-06-17T20:58:25.481Z,1750193905.481 [DAT](INFO): got valid direction response:
 20:58:25.1687 LVL= 12080, 29153, 10802, 16307, AGC= 41, IDX= 505,-0.05, 2.918, 2.998,-1.797,-2.396, PHS=-0.882,-0.842, 0.596, RAW= 211.3,  15.3, CAL= 216.8,  17.7, ROT= 293.2, -17.7

2025-06-17T20:58:25.482Z,1750193905.482 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-06-17T20:58:25.495Z,1750193905.495 [DAT](INFO): direction in FSK: [0.375294,-0.875625,0.304033]
2025-06-17T20:58:25.500Z,1750193905.500 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:25.503Z,1750193905.503 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=45.243217
2025-06-17T20:58:25.673Z,1750193905.673 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=45.412514
2025-06-17T20:58:25.925Z,1750193905.925 [DAT](INFO): DAT read: Rx Time:20:58:25.6689 

2025-06-17T20:58:25.926Z,1750193905.926 [DAT](INFO): Rx dataTimestamp_ set to:1750193905.925659
2025-06-17T20:58:25.927Z,1750193905.927 [DAT](INFO): DAT read: Bearing 303.4, -23.6 (Local)

2025-06-17T20:58:25.928Z,1750193905.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.4, -23.6 (Local)

2025-06-17T20:58:25.930Z,1750193905.930 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:25.935Z,1750193905.935 [DAT](INFO): DAT read: 20:58:25.6689 LVL= 12528, 30913,  9746, 14227, AGC= 40, IDX= 506, 0.01,-1.440,-1.505,-0.040,-0.518, PHS=-0.834,-0.940, 0.475, RAW= 206.1,  18.6, CAL= 206.6,  23.6, ROT= 303.4, -23.6

2025-06-17T20:58:25.936Z,1750193905.936 [DAT](INFO): got valid direction response:
 20:58:25.6689 LVL= 12528, 30913,  9746, 14227, AGC= 40, IDX= 506, 0.01,-1.440,-1.505,-0.040,-0.518, PHS=-0.834,-0.940, 0.475, RAW= 206.1,  18.6, CAL= 206.6,  23.6, ROT= 303.4, -23.6

2025-06-17T20:58:25.936Z,1750193905.936 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-06-17T20:58:25.937Z,1750193905.937 [DAT](INFO): direction in FSK: [0.504440,-0.765024,0.400349]
2025-06-17T20:58:25.937Z,1750193905.937 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:26.429Z,1750193906.429 [DAT](INFO): DAT read: Rx Time:20:58:26.1688 

2025-06-17T20:58:26.430Z,1750193906.430 [DAT](INFO): Rx dataTimestamp_ set to:1750193906.429563
2025-06-17T20:58:26.431Z,1750193906.431 [DAT](INFO): DAT read: Bearing 308.4, -28.2 (Local)

2025-06-17T20:58:26.431Z,1750193906.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.4, -28.2 (Local)

2025-06-17T20:58:26.434Z,1750193906.434 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:26.439Z,1750193906.439 [DAT](INFO): DAT read: 20:58:26.1688 LVL= 11760, 28657, 10914, 15603, AGC= 41, IDX= 505,-0.01,-1.904,-2.059,-0.570,-0.949, PHS=-0.867,-1.063, 0.375, RAW= 202.8,  22.1, CAL= 201.6,  28.2, ROT= 308.4, -28.2

2025-06-17T20:58:26.442Z,1750193906.442 [DAT](INFO): got valid direction response:
 20:58:26.1688 LVL= 11760, 28657, 10914, 15603, AGC= 41, IDX= 505,-0.01,-1.904,-2.059,-0.570,-0.949, PHS=-0.867,-1.063, 0.375, RAW= 202.8,  22.1, CAL= 201.6,  28.2, ROT= 308.4, -28.2

2025-06-17T20:58:26.445Z,1750193906.445 [DAT](INFO): #Rx 121: Read range and direction messages.
2025-06-17T20:58:26.446Z,1750193906.446 [DAT](INFO): direction in FSK: [0.547420,-0.690672,0.472551]
2025-06-17T20:58:26.446Z,1750193906.446 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:26.933Z,1750193906.933 [DAT](INFO): DAT read: Rx Time:20:58:26.6689 

2025-06-17T20:58:26.934Z,1750193906.934 [DAT](INFO): Rx dataTimestamp_ set to:1750193906.933516
2025-06-17T20:58:26.935Z,1750193906.935 [DAT](INFO): DAT read: Bearing 312.4, -28.6 (Local)

2025-06-17T20:58:26.935Z,1750193906.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.4, -28.6 (Local)

2025-06-17T20:58:26.938Z,1750193906.938 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:26.942Z,1750193906.942 [DAT](INFO): DAT read: 20:58:26.6689 LVL= 12784, 29105, 10098, 13859, AGC= 40, IDX= 506, 0.01,-0.066,-0.334, 1.214, 0.860, PHS=-0.838,-1.147, 0.351, RAW= 198.7,  22.9, CAL= 197.6,  28.6, ROT= 312.4, -28.6

2025-06-17T20:58:26.943Z,1750193906.943 [DAT](INFO): got valid direction response:
 20:58:26.6689 LVL= 12784, 29105, 10098, 13859, AGC= 40, IDX= 506, 0.01,-0.066,-0.334, 1.214, 0.860, PHS=-0.838,-1.147, 0.351, RAW= 198.7,  22.9, CAL= 197.6,  28.6, ROT= 312.4, -28.6

2025-06-17T20:58:26.944Z,1750193906.944 [DAT](INFO): #Rx 122: Read range and direction messages.
2025-06-17T20:58:26.945Z,1750193906.945 [DAT](INFO): direction in FSK: [0.592026,-0.648351,0.478692]
2025-06-17T20:58:26.945Z,1750193906.945 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:27.445Z,1750193907.445 [DAT](INFO): DAT read: Rx Time:20:58:27.1688 

2025-06-17T20:58:27.446Z,1750193907.446 [DAT](INFO): Rx dataTimestamp_ set to:1750193907.445055
2025-06-17T20:58:27.447Z,1750193907.447 [DAT](INFO): DAT read: Bearing 317.7, -35.0 (Local)

2025-06-17T20:58:27.448Z,1750193907.448 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.7, -35.0 (Local)

2025-06-17T20:58:27.451Z,1750193907.451 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:27.496Z,1750193907.496 [DAT](INFO): DAT read: 20:58:27.1688 LVL= 12144, 26001, 11138, 16195, AGC= 41, IDX= 505,-0.07, 0.039,-0.424, 1.217, 1.032, PHS=-0.905,-1.409, 0.182, RAW= 191.9,  28.2, CAL= 192.3,  35.0, ROT= 317.7, -35.0

2025-06-17T20:58:27.499Z,1750193907.499 [DAT](INFO): got valid direction response:
 20:58:27.1688 LVL= 12144, 26001, 11138, 16195, AGC= 41, IDX= 505,-0.07, 0.039,-0.424, 1.217, 1.032, PHS=-0.905,-1.409, 0.182, RAW= 191.9,  28.2, CAL= 192.3,  35.0, ROT= 317.7, -35.0

2025-06-17T20:58:27.505Z,1750193907.505 [DAT](INFO): #Rx 123: Read range and direction messages.
2025-06-17T20:58:27.516Z,1750193907.516 [DAT](INFO): direction in FSK: [0.605871,-0.551299,0.573576]
2025-06-17T20:58:27.517Z,1750193907.517 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:27.945Z,1750193907.945 [DAT](INFO): DAT read: Rx Time:20:58:27.6688 

2025-06-17T20:58:27.946Z,1750193907.946 [DAT](INFO): Rx dataTimestamp_ set to:1750193907.945609
2025-06-17T20:58:27.947Z,1750193907.947 [DAT](INFO): DAT read: Bearing 319.3, -34.7 (Local)

2025-06-17T20:58:27.948Z,1750193907.948 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.3, -34.7 (Local)

2025-06-17T20:58:27.950Z,1750193907.950 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:27.955Z,1750193907.955 [DAT](INFO): DAT read: 20:58:27.6688 LVL= 12944, 29361, 10962, 16371, AGC= 41, IDX= 506,-0.09, 1.757, 1.234, 2.905, 2.726, PHS=-0.881,-1.445, 0.175, RAW= 190.0,  28.1, CAL= 190.7,  34.7, ROT= 319.3, -34.7

2025-06-17T20:58:27.956Z,1750193907.956 [DAT](INFO): got valid direction response:
 20:58:27.6688 LVL= 12944, 29361, 10962, 16371, AGC= 41, IDX= 506,-0.09, 1.757, 1.234, 2.905, 2.726, PHS=-0.881,-1.445, 0.175, RAW= 190.0,  28.1, CAL= 190.7,  34.7, ROT= 319.3, -34.7

2025-06-17T20:58:27.956Z,1750193907.956 [DAT](INFO): #Rx 124: Read range and direction messages.
2025-06-17T20:58:27.957Z,1750193907.957 [DAT](INFO): direction in FSK: [0.623295,-0.536119,0.569280]
2025-06-17T20:58:27.957Z,1750193907.957 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:28.449Z,1750193908.449 [DAT](INFO): DAT read: Rx Time:20:58:28.1687 

2025-06-17T20:58:28.450Z,1750193908.450 [DAT](INFO): Rx dataTimestamp_ set to:1750193908.449552
2025-06-17T20:58:28.451Z,1750193908.451 [DAT](INFO): DAT read: Bearing 333.7, -48.1 (Local)

2025-06-17T20:58:28.451Z,1750193908.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.7, -48.1 (Local)

2025-06-17T20:58:28.454Z,1750193908.454 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:28.458Z,1750193908.458 [DAT](INFO): DAT read: 20:58:28.1687 LVL= 13200, 25377, 11858, 18387, AGC= 42, IDX= 505,-0.22, 2.563, 1.686,-3.054,-2.664, PHS=-0.969,-1.886,-0.393, RAW= 172.5,  41.4, CAL= 176.3,  48.1, ROT= 333.7, -48.1

2025-06-17T20:58:28.459Z,1750193908.459 [DAT](INFO): got valid direction response:
 20:58:28.1687 LVL= 13200, 25377, 11858, 18387, AGC= 42, IDX= 505,-0.22, 2.563, 1.686,-3.054,-2.664, PHS=-0.969,-1.886,-0.393, RAW= 172.5,  41.4, CAL= 176.3,  48.1, ROT= 333.7, -48.1

2025-06-17T20:58:28.460Z,1750193908.460 [DAT](INFO): #Rx 125: Read range and direction messages.
2025-06-17T20:58:28.461Z,1750193908.461 [DAT](INFO): direction in FSK: [0.598703,-0.295897,0.744312]
2025-06-17T20:58:28.461Z,1750193908.461 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:28.703Z,1750193908.703 [DAT](INFO): DAT read: Rx Time:20:58:28.6687 

2025-06-17T20:58:28.705Z,1750193908.705 [DAT](INFO): Rx dataTimestamp_ set to:1750193908.704134
2025-06-17T20:58:28.955Z,1750193908.955 [DAT](INFO): DAT read: Bearing 345.8, -54.1 (Local)

2025-06-17T20:58:28.955Z,1750193908.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.8, -54.1 (Local)

2025-06-17T20:58:28.958Z,1750193908.958 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:28.965Z,1750193908.965 [DAT](INFO): DAT read: 20:58:28.6687 LVL= 14784, 26865, 12594, 21235, AGC= 43, IDX= 505,-0.30,-2.239, 2.958,-1.944,-1.165, PHS=-0.986,-2.114,-0.782, RAW= 158.2,  47.8, CAL= 164.2,  54.1, ROT= 345.8, -54.1

2025-06-17T20:58:28.966Z,1750193908.966 [DAT](INFO): got valid direction response:
 20:58:28.6687 LVL= 14784, 26865, 12594, 21235, AGC= 43, IDX= 505,-0.30,-2.239, 2.958,-1.944,-1.165, PHS=-0.986,-2.114,-0.782, RAW= 158.2,  47.8, CAL= 164.2,  54.1, ROT= 345.8, -54.1

2025-06-17T20:58:28.967Z,1750193908.967 [DAT](INFO): #Rx 126: Read range and direction messages.
2025-06-17T20:58:28.969Z,1750193908.969 [DAT](INFO): direction in FSK: [0.568456,-0.143842,0.810042]
2025-06-17T20:58:28.970Z,1750193908.970 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:29.207Z,1750193909.207 [DAT](INFO): DAT read: Rx Time:20:58:29.1686 

2025-06-17T20:58:29.209Z,1750193909.209 [DAT](INFO): Rx dataTimestamp_ set to:1750193909.208097
2025-06-17T20:58:29.211Z,1750193909.211 [DAT](INFO): DAT read: Bearing 350.7, -55.3 (Local)

2025-06-17T20:58:29.212Z,1750193909.212 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.7, -55.3 (Local)

2025-06-17T20:58:29.458Z,1750193909.458 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-17T20:58:29.463Z,1750193909.463 [DAT](INFO): DAT read: 20:58:29.1686 LVL= 12016, 23217, 12098, 20579, AGC= 42, IDX= 504,-0.30,-2.744, 2.390,-2.608,-1.728, PHS=-0.928,-2.118,-0.883, RAW= 151.8,  48.9, CAL= 159.3,  55.3, ROT= 350.7, -55.3

2025-06-17T20:58:29.464Z,1750193909.464 [DAT](INFO): got valid direction response:
 20:58:29.1686 LVL= 12016, 23217, 12098, 20579, AGC= 42, IDX= 504,-0.30,-2.744, 2.390,-2.608,-1.728, PHS=-0.928,-2.118,-0.883, RAW= 151.8,  48.9, CAL= 159.3,  55.3, ROT= 350.7, -55.3

2025-06-17T20:58:29.465Z,1750193909.465 [DAT](INFO): #Rx 127: Read range and direction messages.
2025-06-17T20:58:29.466Z,1750193909.466 [DAT](INFO): direction in FSK: [0.561797,-0.091998,0.822144]
2025-06-17T20:58:29.466Z,1750193909.466 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:29.711Z,1750193909.711 [DAT](INFO): DAT read: Rx Time:20:58:29.6688 

2025-06-17T20:58:29.715Z,1750193909.715 [DAT](INFO): Rx dataTimestamp_ set to:1750193909.713675
2025-06-17T20:58:29.717Z,1750193909.717 [DAT](INFO): DAT read: Bearing 359.6, -57.3 (Local)

2025-06-17T20:58:29.718Z,1750193909.718 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6, -57.3 (Local)

2025-06-17T20:58:29.727Z,1750193909.727 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:29.729Z,1750193909.729 [DAT](ERROR): #Rx 128: Read range message, but no direction.
2025-06-17T20:58:29.965Z,1750193909.965 [DAT](INFO): DAT read: 20:58:29.6688 LVL= 14128, 25249, 14290, 24115, AGC= 43, IDX= 505,-0.33,-0.336,-1.630,-0.473, 0.672, PHS=-0.920,-2.255,-1.148, RAW= 140.8,  51.0, CAL= 150.4,  57.3, ROT= 359.6, -57.3

2025-06-17T20:58:29.966Z,1750193909.966 [DAT](INFO): got valid direction response:
 20:58:29.6688 LVL= 14128, 25249, 14290, 24115, AGC= 43, IDX= 505,-0.33,-0.336,-1.630,-0.473, 0.672, PHS=-0.920,-2.255,-1.148, RAW= 140.8,  51.0, CAL= 150.4,  57.3, ROT= 359.6, -57.3

2025-06-17T20:58:29.966Z,1750193909.966 [DAT](INFO): #Rx 129: Read direction message, but no range.
2025-06-17T20:58:29.967Z,1750193909.967 [DAT](INFO): direction in FSK: [0.540227,-0.003771,0.841511]
2025-06-17T20:58:30.215Z,1750193910.215 [DAT](INFO): DAT read: Rx Time:20:58:30.1687 

2025-06-17T20:58:30.217Z,1750193910.217 [DAT](INFO): Rx dataTimestamp_ set to:1750193910.216201
2025-06-17T20:58:30.219Z,1750193910.219 [DAT](INFO): DAT read: Bearing   2.2, -57.6 (Local)

2025-06-17T20:58:30.227Z,1750193910.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2, -57.6 (Local)

2025-06-17T20:58:30.245Z,1750193910.245 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:30.247Z,1750193910.247 [DAT](ERROR): #Rx 130: Read range message, but no direction.
2025-06-17T20:58:30.469Z,1750193910.469 [DAT](INFO): DAT read: 20:58:30.1687 LVL= 14560, 24657, 14626, 24659, AGC= 43, IDX= 504,-0.32,-0.905,-2.235,-1.110, 0.094, PHS=-0.911,-2.282,-1.207, RAW= 138.2,  51.2, CAL= 147.8,  57.6, ROT=   2.2, -57.6

2025-06-17T20:58:30.470Z,1750193910.470 [DAT](INFO): got valid direction response:
 20:58:30.1687 LVL= 14560, 24657, 14626, 24659, AGC= 43, IDX= 504,-0.32,-0.905,-2.235,-1.110, 0.094, PHS=-0.911,-2.282,-1.207, RAW= 138.2,  51.2, CAL= 147.8,  57.6, ROT=   2.2, -57.6

2025-06-17T20:58:30.470Z,1750193910.470 [DAT](INFO): #Rx 131: Read direction message, but no range.
2025-06-17T20:58:30.471Z,1750193910.471 [DAT](INFO): direction in FSK: [0.535432,0.020569,0.844328]
2025-06-17T20:58:30.720Z,1750193910.720 [DAT](INFO): DAT read: Rx Time:20:58:30.6688 

2025-06-17T20:58:30.722Z,1750193910.722 [DAT](INFO): Rx dataTimestamp_ set to:1750193910.720926
2025-06-17T20:58:30.725Z,1750193910.725 [DAT](INFO): DAT read: Bearing   1.0, -57.5 (Local)

2025-06-17T20:58:30.726Z,1750193910.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0, -57.5 (Local)

2025-06-17T20:58:30.731Z,1750193910.731 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:30.738Z,1750193910.738 [DAT](ERROR): #Rx 132: Read range message, but no direction.
2025-06-17T20:58:30.973Z,1750193910.973 [DAT](INFO): DAT read: 20:58:30.6688 LVL= 15088, 25409, 14882, 24099, AGC= 43, IDX= 505,-0.26,-0.079,-1.385,-0.250, 0.920, PHS=-0.911,-2.258,-1.173, RAW= 139.4,  51.2, CAL= 149.0,  57.5, ROT=   1.0, -57.5

2025-06-17T20:58:30.974Z,1750193910.974 [DAT](INFO): got valid direction response:
 20:58:30.6688 LVL= 15088, 25409, 14882, 24099, AGC= 43, IDX= 505,-0.26,-0.079,-1.385,-0.250, 0.920, PHS=-0.911,-2.258,-1.173, RAW= 139.4,  51.2, CAL= 149.0,  57.5, ROT=   1.0, -57.5

2025-06-17T20:58:30.974Z,1750193910.974 [DAT](INFO): #Rx 133: Read direction message, but no range.
2025-06-17T20:58:30.975Z,1750193910.975 [DAT](INFO): direction in FSK: [0.537218,0.009377,0.843391]
2025-06-17T20:58:31.225Z,1750193911.225 [DAT](INFO): DAT read: Rx Time:20:58:31.1687 

2025-06-17T20:58:31.227Z,1750193911.227 [DAT](INFO): Rx dataTimestamp_ set to:1750193911.225394
2025-06-17T20:58:31.230Z,1750193911.230 [DAT](INFO): DAT read: Bearing 357.9, -57.2 (Local)

2025-06-17T20:58:31.231Z,1750193911.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9, -57.2 (Local)

2025-06-17T20:58:31.252Z,1750193911.252 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:31.254Z,1750193911.254 [DAT](ERROR): #Rx 134: Read range message, but no direction.
2025-06-17T20:58:31.477Z,1750193911.477 [DAT](INFO): DAT read: 20:58:31.1687 LVL= 14656, 26401, 14498, 23443, AGC= 43, IDX= 504,-0.14,-1.971, 3.091,-2.049,-0.980, PHS=-0.903,-2.165,-1.073, RAW= 142.9,  51.0, CAL= 152.1,  57.2, ROT= 357.9, -57.2

2025-06-17T20:58:31.478Z,1750193911.478 [DAT](INFO): got valid direction response:
 20:58:31.1687 LVL= 14656, 26401, 14498, 23443, AGC= 43, IDX= 504,-0.14,-1.971, 3.091,-2.049,-0.980, PHS=-0.903,-2.165,-1.073, RAW= 142.9,  51.0, CAL= 152.1,  57.2, ROT= 357.9, -57.2

2025-06-17T20:58:31.478Z,1750193911.478 [DAT](INFO): #Rx 135: Read direction message, but no range.
2025-06-17T20:58:31.479Z,1750193911.479 [DAT](INFO): direction in FSK: [0.541344,-0.019850,0.840567]
2025-06-17T20:58:31.729Z,1750193911.729 [DAT](INFO): DAT read: Rx Time:20:58:31.6688 

2025-06-17T20:58:31.731Z,1750193911.731 [DAT](INFO): Rx dataTimestamp_ set to:1750193911.729773
2025-06-17T20:58:31.735Z,1750193911.735 [DAT](INFO): DAT read: Bearing 351.6, -56.3 (Local)

2025-06-17T20:58:31.736Z,1750193911.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.6, -56.3 (Local)

2025-06-17T20:58:31.769Z,1750193911.769 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:31.774Z,1750193911.774 [DAT](INFO): DAT read: 20:58:31.6688 LVL= 12384, 27921, 12450, 20323, AGC= 42, IDX= 505, 0.05,-1.768,-2.810,-1.659,-0.806, PHS=-0.874,-1.957,-0.856, RAW= 150.8,  50.0, CAL= 158.4,  56.3, ROT= 351.6, -56.3

2025-06-17T20:58:31.775Z,1750193911.775 [DAT](INFO): got valid direction response:
 20:58:31.6688 LVL= 12384, 27921, 12450, 20323, AGC= 42, IDX= 505, 0.05,-1.768,-2.810,-1.659,-0.806, PHS=-0.874,-1.957,-0.856, RAW= 150.8,  50.0, CAL= 158.4,  56.3, ROT= 351.6, -56.3

2025-06-17T20:58:31.775Z,1750193911.775 [DAT](INFO): #Rx 136: Read range and direction messages.
2025-06-17T20:58:31.777Z,1750193911.777 [DAT](INFO): direction in FSK: [0.548892,-0.081053,0.831954]
2025-06-17T20:58:31.777Z,1750193911.777 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:32.232Z,1750193912.232 [DAT](INFO): DAT read: Rx Time:20:58:32.1687 

2025-06-17T20:58:32.234Z,1750193912.234 [DAT](INFO): Rx dataTimestamp_ set to:1750193912.232755
2025-06-17T20:58:32.237Z,1750193912.237 [DAT](INFO): DAT read: Bearing 352.4, -57.7 (Local)

2025-06-17T20:58:32.238Z,1750193912.238 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.4, -57.7 (Local)

2025-06-17T20:58:32.243Z,1750193912.243 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:32.250Z,1750193912.250 [DAT](ERROR): #Rx 137: Read range message, but no direction.
2025-06-17T20:58:32.485Z,1750193912.485 [DAT](INFO): DAT read: 20:58:32.1687 LVL= 13792, 26817, 11810, 19603, AGC= 42, IDX= 504, 0.11,-3.007, 2.237,-2.914,-1.989, PHS=-0.930,-2.010,-0.928, RAW= 150.1,  51.7, CAL= 157.6,  57.7, ROT= 352.4, -57.7

2025-06-17T20:58:32.486Z,1750193912.486 [DAT](INFO): got valid direction response:
 20:58:32.1687 LVL= 13792, 26817, 11810, 19603, AGC= 42, IDX= 504, 0.11,-3.007, 2.237,-2.914,-1.989, PHS=-0.930,-2.010,-0.928, RAW= 150.1,  51.7, CAL= 157.6,  57.7, ROT= 352.4, -57.7

2025-06-17T20:58:32.486Z,1750193912.486 [DAT](INFO): #Rx 138: Read direction message, but no range.
2025-06-17T20:58:32.487Z,1750193912.487 [DAT](INFO): direction in FSK: [0.529658,-0.070671,0.845262]
2025-06-17T20:58:32.737Z,1750193912.737 [DAT](INFO): DAT read: Rx Time:20:58:32.6688 

2025-06-17T20:58:32.739Z,1750193912.739 [DAT](INFO): Rx dataTimestamp_ set to:1750193912.737908
2025-06-17T20:58:32.743Z,1750193912.743 [DAT](INFO): DAT read: Bearing 332.0, -48.8 (Local)

2025-06-17T20:58:32.756Z,1750193912.756 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.0, -48.8 (Local)

2025-06-17T20:58:32.759Z,1750193912.759 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:32.771Z,1750193912.771 [DAT](INFO): DAT read: 20:58:32.6688 LVL= 13232, 30449, 10498, 17107, AGC= 41, IDX= 504, 0.44, 0.340,-0.339, 0.941, 1.269, PHS=-0.841,-1.561,-0.332, RAW= 174.3,  42.1, CAL= 178.0,  48.8, ROT= 332.0, -48.8

2025-06-17T20:58:32.777Z,1750193912.777 [DAT](INFO): got valid direction response:
 20:58:32.6688 LVL= 13232, 30449, 10498, 17107, AGC= 41, IDX= 504, 0.44, 0.340,-0.339, 0.941, 1.269, PHS=-0.841,-1.561,-0.332, RAW= 174.3,  42.1, CAL= 178.0,  48.8, ROT= 332.0, -48.8

2025-06-17T20:58:32.777Z,1750193912.777 [DAT](INFO): #Rx 139: Read range and direction messages.
2025-06-17T20:58:32.778Z,1750193912.778 [DAT](INFO): direction in FSK: [0.581588,-0.309236,0.752415]
2025-06-17T20:58:32.778Z,1750193912.778 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:33.241Z,1750193913.241 [DAT](INFO): DAT read: Rx Time:20:58:33.1687 

2025-06-17T20:58:33.243Z,1750193913.243 [DAT](INFO): Rx dataTimestamp_ set to:1750193913.241922
2025-06-17T20:58:33.246Z,1750193913.246 [DAT](INFO): DAT read: Bearing 304.4, -14.3 (Local)

2025-06-17T20:58:33.247Z,1750193913.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.4, -14.3 (Local)

2025-06-17T20:58:33.265Z,1750193913.265 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:33.289Z,1750193913.289 [DAT](INFO): DAT read: 20:58:33.1687 LVL= 12416, 29025,  9650, 15187, AGC= 40, IDX= 504,-0.31, 1.842, 1.723,-2.938, 2.690, PHS=-0.760,-0.921, 0.652, RAW= 204.7,  13.6, CAL= 205.6,  14.3, ROT= 304.4, -14.3

2025-06-17T20:58:33.291Z,1750193913.291 [DAT](INFO): got valid direction response:
 20:58:33.1687 LVL= 12416, 29025,  9650, 15187, AGC= 40, IDX= 504,-0.31, 1.842, 1.723,-2.938, 2.690, PHS=-0.760,-0.921, 0.652, RAW= 204.7,  13.6, CAL= 205.6,  14.3, ROT= 304.4, -14.3

2025-06-17T20:58:33.291Z,1750193913.291 [DAT](INFO): #Rx 140: Read range and direction messages.
2025-06-17T20:58:33.304Z,1750193913.304 [DAT](INFO): direction in FSK: [0.547462,-0.799548,0.246999]
2025-06-17T20:58:33.305Z,1750193913.305 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:33.745Z,1750193913.745 [DAT](INFO): DAT read: Rx Time:20:58:33.6688 

2025-06-17T20:58:33.746Z,1750193913.746 [DAT](INFO): Rx dataTimestamp_ set to:1750193913.745263
2025-06-17T20:58:33.750Z,1750193913.750 [DAT](INFO): DAT read: Bearing 311.1, -24.7 (Local)

2025-06-17T20:58:33.751Z,1750193913.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.1, -24.7 (Local)

2025-06-17T20:58:33.757Z,1750193913.757 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:33.763Z,1750193913.763 [DAT](INFO): DAT read: 20:58:33.6688 LVL= 12272, 27121, 10770, 16291, AGC= 41, IDX= 505,-0.30,-2.543,-2.792,-1.138,-1.611, PHS=-0.844,-1.134, 0.471, RAW= 200.2,  19.8, CAL= 198.9,  24.7, ROT= 311.1, -24.7

2025-06-17T20:58:33.764Z,1750193913.764 [DAT](INFO): got valid direction response:
 20:58:33.6688 LVL= 12272, 27121, 10770, 16291, AGC= 41, IDX= 505,-0.30,-2.543,-2.792,-1.138,-1.611, PHS=-0.844,-1.134, 0.471, RAW= 200.2,  19.8, CAL= 198.9,  24.7, ROT= 311.1, -24.7

2025-06-17T20:58:33.764Z,1750193913.764 [DAT](INFO): #Rx 141: Read range and direction messages.
2025-06-17T20:58:33.765Z,1750193913.765 [DAT](INFO): direction in FSK: [0.597231,-0.684618,0.417867]
2025-06-17T20:58:33.766Z,1750193913.766 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:34.249Z,1750193914.249 [DAT](INFO): DAT read: Rx Time:20:58:34.1687 

2025-06-17T20:58:34.250Z,1750193914.250 [DAT](INFO): Rx dataTimestamp_ set to:1750193914.249439
2025-06-17T20:58:34.254Z,1750193914.254 [DAT](INFO): DAT read: Bearing 305.2, -15.4 (Local)

2025-06-17T20:58:34.255Z,1750193914.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.2, -15.4 (Local)

2025-06-17T20:58:34.258Z,1750193914.258 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:34.267Z,1750193914.267 [DAT](INFO): DAT read: 20:58:34.1687 LVL= 12864, 29041, 10002, 14499, AGC= 40, IDX= 504,-0.18, 1.641, 1.500,-3.091, 2.526, PHS=-0.797,-0.979, 0.663, RAW= 204.2,  14.2, CAL= 204.8,  15.4, ROT= 305.2, -15.4

2025-06-17T20:58:34.289Z,1750193914.289 [DAT](INFO): got valid direction response:
 20:58:34.1687 LVL= 12864, 29041, 10002, 14499, AGC= 40, IDX= 504,-0.18, 1.641, 1.500,-3.091, 2.526, PHS=-0.797,-0.979, 0.663, RAW= 204.2,  14.2, CAL= 204.8,  15.4, ROT= 305.2, -15.4

2025-06-17T20:58:34.289Z,1750193914.289 [DAT](INFO): #Rx 142: Read range and direction messages.
2025-06-17T20:58:34.290Z,1750193914.290 [DAT](INFO): direction in FSK: [0.555736,-0.787806,0.265556]
2025-06-17T20:58:34.290Z,1750193914.290 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:34.753Z,1750193914.753 [DAT](INFO): DAT read: Rx Time:20:58:34.6688 

2025-06-17T20:58:34.755Z,1750193914.755 [DAT](INFO): Rx dataTimestamp_ set to:1750193914.753686
2025-06-17T20:58:34.757Z,1750193914.757 [DAT](INFO): DAT read: Bearing 310.1, -23.0 (Local)

2025-06-17T20:58:34.758Z,1750193914.758 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.1, -23.0 (Local)

2025-06-17T20:58:34.760Z,1750193914.760 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:34.769Z,1750193914.769 [DAT](INFO): DAT read: 20:58:34.6688 LVL= 12256, 27617, 10834, 16115, AGC= 41, IDX= 505,-0.15,-2.809,-3.038,-1.329,-1.865, PHS=-0.855,-1.125, 0.534, RAW= 201.3,  18.4, CAL= 199.9,  23.0, ROT= 310.1, -23.0

2025-06-17T20:58:34.770Z,1750193914.770 [DAT](INFO): got valid direction response:
 20:58:34.6688 LVL= 12256, 27617, 10834, 16115, AGC= 41, IDX= 505,-0.15,-2.809,-3.038,-1.329,-1.865, PHS=-0.855,-1.125, 0.534, RAW= 201.3,  18.4, CAL= 199.9,  23.0, ROT= 310.1, -23.0

2025-06-17T20:58:34.771Z,1750193914.771 [DAT](INFO): #Rx 143: Read range and direction messages.
2025-06-17T20:58:34.776Z,1750193914.776 [DAT](INFO): direction in FSK: [0.592919,-0.704114,0.390731]
2025-06-17T20:58:34.776Z,1750193914.776 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:35.256Z,1750193915.256 [DAT](INFO): DAT read: Rx Time:20:58:35.1688 

2025-06-17T20:58:35.257Z,1750193915.257 [DAT](INFO): Rx dataTimestamp_ set to:1750193915.256517
2025-06-17T20:58:35.258Z,1750193915.258 [DAT](INFO): DAT read: Bearing 305.0, -15.3 (Local)

2025-06-17T20:58:35.258Z,1750193915.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.0, -15.3 (Local)

2025-06-17T20:58:35.261Z,1750193915.261 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:35.265Z,1750193915.265 [DAT](INFO): DAT read: 20:58:35.1688 LVL= 12944, 29553, 10098, 14307, AGC= 40, IDX= 504,-0.05, 1.553, 1.416, 3.119, 2.445, PHS=-0.804,-0.982, 0.671, RAW= 204.4,  14.1, CAL= 205.0,  15.3, ROT= 305.0, -15.3

2025-06-17T20:58:35.266Z,1750193915.266 [DAT](INFO): got valid direction response:
 20:58:35.1688 LVL= 12944, 29553, 10098, 14307, AGC= 40, IDX= 504,-0.05, 1.553, 1.416, 3.119, 2.445, PHS=-0.804,-0.982, 0.671, RAW= 204.4,  14.1, CAL= 205.0,  15.3, ROT= 305.0, -15.3

2025-06-17T20:58:35.267Z,1750193915.267 [DAT](INFO): #Rx 144: Read range and direction messages.
2025-06-17T20:58:35.285Z,1750193915.285 [DAT](INFO): direction in FSK: [0.553247,-0.790119,0.263873]
2025-06-17T20:58:35.285Z,1750193915.285 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:35.761Z,1750193915.761 [DAT](INFO): DAT read: Rx Time:20:58:35.6689 

2025-06-17T20:58:35.761Z,1750193915.761 [DAT](INFO): Rx dataTimestamp_ set to:1750193915.760729
2025-06-17T20:58:35.762Z,1750193915.762 [DAT](INFO): DAT read: Bearing 311.0, -24.8 (Local)

2025-06-17T20:58:35.763Z,1750193915.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.0, -24.8 (Local)

2025-06-17T20:58:35.765Z,1750193915.765 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-17T20:58:35.770Z,1750193915.770 [DAT](INFO): DAT read: 20:58:35.6689 LVL= 12272, 27969, 10978, 16083, AGC= 41, IDX= 505,-0.03,-2.862,-3.106,-1.451,-1.925, PHS=-0.849,-1.133, 0.471, RAW= 200.4,  19.8, CAL= 199.0,  24.8, ROT= 311.0, -24.8

2025-06-17T20:58:35.771Z,1750193915.771 [DAT](INFO): got valid direction response:
 20:58:35.6689 LVL= 12272, 27969, 10978, 16083, AGC= 41, IDX= 505,-0.03,-2.862,-3.106,-1.451,-1.925, PHS=-0.849,-1.133, 0.471, RAW= 200.4,  19.8, CAL= 199.0,  24.8, ROT= 311.0, -24.8

2025-06-17T20:58:35.771Z,1750193915.771 [DAT](INFO): #Rx 145: Read range and direction messages.
2025-06-17T20:58:35.772Z,1750193915.772 [DAT](INFO): direction in FSK: [0.595555,-0.685109,0.419452]
2025-06-17T20:58:35.773Z,1750193915.773 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:36.261Z,1750193916.261 [DAT](INFO): DAT read: Rx Time:20:58:36.1688 

2025-06-17T20:58:36.262Z,1750193916.262 [DAT](INFO): Rx dataTimestamp_ set to:1750193916.261485
2025-06-17T20:58:36.263Z,1750193916.263 [DAT](INFO): DAT read: Bearing 314.3, -29.0 (Local)

2025-06-17T20:58:36.263Z,1750193916.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.3, -29.0 (Local)

2025-06-17T20:58:36.266Z,1750193916.266 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:36.279Z,1750193916.279 [DAT](INFO): DAT read: 20:58:36.1688 LVL= 12848, 29873,  9810, 14643, AGC= 40, IDX= 504, 0.03, 2.754, 2.431,-2.301,-2.632, PHS=-0.810,-1.174, 0.328, RAW= 196.6,  23.3, CAL= 195.7,  29.0, ROT= 314.3, -29.0

2025-06-17T20:58:36.280Z,1750193916.280 [DAT](INFO): got valid direction response:
 20:58:36.1688 LVL= 12848, 29873,  9810, 14643, AGC= 40, IDX= 504, 0.03, 2.754, 2.431,-2.301,-2.632, PHS=-0.810,-1.174, 0.328, RAW= 196.6,  23.3, CAL= 195.7,  29.0, ROT= 314.3, -29.0

2025-06-17T20:58:36.281Z,1750193916.281 [DAT](INFO): #Rx 146: Read range and direction messages.
2025-06-17T20:58:36.282Z,1750193916.282 [DAT](INFO): direction in FSK: [0.610848,-0.625959,0.484810]
2025-06-17T20:58:36.282Z,1750193916.282 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:36.765Z,1750193916.765 [DAT](INFO): DAT read: Rx Time:20:58:36.6688 

2025-06-17T20:58:36.766Z,1750193916.766 [DAT](INFO): Rx dataTimestamp_ set to:1750193916.765648
2025-06-17T20:58:36.767Z,1750193916.767 [DAT](INFO): DAT read: Bearing 315.8, -31.7 (Local)

2025-06-17T20:58:36.768Z,1750193916.768 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.8, -31.7 (Local)

2025-06-17T20:58:36.770Z,1750193916.770 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:36.775Z,1750193916.775 [DAT](INFO): DAT read: 20:58:36.6688 LVL= 12832, 30321, 10002, 14563, AGC= 40, IDX= 504, 0.04,-2.926, 2.996,-1.775,-2.031, PHS=-0.808,-1.210, 0.252, RAW= 194.6,  25.5, CAL= 194.2,  31.7, ROT= 315.8, -31.7

2025-06-17T20:58:36.776Z,1750193916.776 [DAT](INFO): got valid direction response:
 20:58:36.6688 LVL= 12832, 30321, 10002, 14563, AGC= 40, IDX= 504, 0.04,-2.926, 2.996,-1.775,-2.031, PHS=-0.808,-1.210, 0.252, RAW= 194.6,  25.5, CAL= 194.2,  31.7, ROT= 315.8, -31.7

2025-06-17T20:58:36.776Z,1750193916.776 [DAT](INFO): #Rx 147: Read range and direction messages.
2025-06-17T20:58:36.777Z,1750193916.777 [DAT](INFO): direction in FSK: [0.609955,-0.593156,0.525472]
2025-06-17T20:58:36.777Z,1750193916.777 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:37.269Z,1750193917.269 [DAT](INFO): DAT read: Rx Time:20:58:37.1687 

2025-06-17T20:58:37.270Z,1750193917.270 [DAT](INFO): Rx dataTimestamp_ set to:1750193917.269645
2025-06-17T20:58:37.271Z,1750193917.271 [DAT](INFO): DAT read: Bearing 315.3, -29.8 (Local)

2025-06-17T20:58:37.272Z,1750193917.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.3, -29.8 (Local)

2025-06-17T20:58:37.274Z,1750193917.274 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:37.279Z,1750193917.279 [DAT](INFO): DAT read: 20:58:37.1687 LVL= 12688, 29969,  9826, 14659, AGC= 40, IDX= 503, 0.10, 2.157, 1.810,-2.943, 3.040, PHS=-0.795,-1.183, 0.297, RAW= 195.4,  24.1, CAL= 194.7,  29.8, ROT= 315.3, -29.8

2025-06-17T20:58:37.280Z,1750193917.280 [DAT](INFO): got valid direction response:
 20:58:37.1687 LVL= 12688, 29969,  9826, 14659, AGC= 40, IDX= 503, 0.10, 2.157, 1.810,-2.943, 3.040, PHS=-0.795,-1.183, 0.297, RAW= 195.4,  24.1, CAL= 194.7,  29.8, ROT= 315.3, -29.8

2025-06-17T20:58:37.280Z,1750193917.280 [DAT](INFO): #Rx 148: Read range and direction messages.
2025-06-17T20:58:37.281Z,1750193917.281 [DAT](INFO): direction in FSK: [0.616807,-0.610382,0.496974]
2025-06-17T20:58:37.281Z,1750193917.281 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:37.774Z,1750193917.774 [DAT](INFO): DAT read: Rx Time:20:58:37.6688 

2025-06-17T20:58:37.774Z,1750193917.774 [DAT](INFO): Rx dataTimestamp_ set to:1750193917.773757
2025-06-17T20:58:37.775Z,1750193917.775 [DAT](INFO): DAT read: Bearing 315.1, -29.6 (Local)

2025-06-17T20:58:37.776Z,1750193917.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.1, -29.6 (Local)

2025-06-17T20:58:37.778Z,1750193917.778 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:37.783Z,1750193917.783 [DAT](INFO): DAT read: 20:58:37.6688 LVL= 12448, 29665,  9698, 14803, AGC= 40, IDX= 504, 0.14,-2.946, 3.001,-1.769,-2.072, PHS=-0.787,-1.163, 0.300, RAW= 195.6,  23.9, CAL= 194.9,  29.6, ROT= 315.1, -29.6

2025-06-17T20:58:37.784Z,1750193917.784 [DAT](INFO): got valid direction response:
 20:58:37.6688 LVL= 12448, 29665,  9698, 14803, AGC= 40, IDX= 504, 0.14,-2.946, 3.001,-1.769,-2.072, PHS=-0.787,-1.163, 0.300, RAW= 195.6,  23.9, CAL= 194.9,  29.6, ROT= 315.1, -29.6

2025-06-17T20:58:37.784Z,1750193917.784 [DAT](INFO): #Rx 149: Read range and direction messages.
2025-06-17T20:58:37.785Z,1750193917.785 [DAT](INFO): direction in FSK: [0.615898,-0.613752,0.493942]
2025-06-17T20:58:37.785Z,1750193917.785 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:38.277Z,1750193918.277 [DAT](INFO): DAT read: Rx Time:20:58:38.1687 

2025-06-17T20:58:38.278Z,1750193918.278 [DAT](INFO): Rx dataTimestamp_ set to:1750193918.277561
2025-06-17T20:58:38.279Z,1750193918.279 [DAT](INFO): DAT read: Bearing 318.9, -39.1 (Local)

2025-06-17T20:58:38.279Z,1750193918.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.9, -39.1 (Local)

2025-06-17T20:58:38.282Z,1750193918.282 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:38.286Z,1750193918.286 [DAT](INFO): DAT read: 20:58:38.1687 LVL= 12320, 29777,  9490, 15075, AGC= 40, IDX= 503, 0.18, 2.825, 2.403,-2.518,-2.584, PHS=-0.786,-1.249, 0.063, RAW= 189.7,  31.2, CAL= 191.1,  39.1, ROT= 318.9, -39.1

2025-06-17T20:58:38.287Z,1750193918.287 [DAT](INFO): got valid direction response:
 20:58:38.1687 LVL= 12320, 29777,  9490, 15075, AGC= 40, IDX= 503, 0.18, 2.825, 2.403,-2.518,-2.584, PHS=-0.786,-1.249, 0.063, RAW= 189.7,  31.2, CAL= 191.1,  39.1, ROT= 318.9, -39.1

2025-06-17T20:58:38.288Z,1750193918.288 [DAT](INFO): #Rx 150: Read range and direction messages.
2025-06-17T20:58:38.289Z,1750193918.289 [DAT](INFO): direction in FSK: [0.584800,-0.510154,0.630676]
2025-06-17T20:58:38.289Z,1750193918.289 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:38.782Z,1750193918.782 [DAT](INFO): DAT read: Rx Time:20:58:38.6688 

2025-06-17T20:58:38.782Z,1750193918.782 [DAT](INFO): Rx dataTimestamp_ set to:1750193918.781730
2025-06-17T20:58:38.783Z,1750193918.783 [DAT](INFO): DAT read: Bearing 317.6, -38.9 (Local)

2025-06-17T20:58:38.784Z,1750193918.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.6, -38.9 (Local)

2025-06-17T20:58:38.786Z,1750193918.786 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:38.791Z,1750193918.791 [DAT](INFO): DAT read: 20:58:38.6688 LVL= 12144, 30097,  9458, 15331, AGC= 40, IDX= 504, 0.20,-2.428,-2.800,-1.478,-1.556, PHS=-0.784,-1.198, 0.075, RAW= 191.4,  31.0, CAL= 192.4,  38.9, ROT= 317.6, -38.9

2025-06-17T20:58:38.792Z,1750193918.792 [DAT](INFO): got valid direction response:
 20:58:38.6688 LVL= 12144, 30097,  9458, 15331, AGC= 40, IDX= 504, 0.20,-2.428,-2.800,-1.478,-1.556, PHS=-0.784,-1.198, 0.075, RAW= 191.4,  31.0, CAL= 192.4,  38.9, ROT= 317.6, -38.9

2025-06-17T20:58:38.792Z,1750193918.792 [DAT](INFO): #Rx 151: Read range and direction messages.
2025-06-17T20:58:38.793Z,1750193918.793 [DAT](INFO): direction in FSK: [0.574698,-0.524771,0.627963]
2025-06-17T20:58:38.794Z,1750193918.794 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:39.286Z,1750193919.286 [DAT](INFO): DAT read: Rx Time:20:58:39.1687 

2025-06-17T20:58:39.287Z,1750193919.287 [DAT](INFO): Rx dataTimestamp_ set to:1750193919.286398
2025-06-17T20:58:39.288Z,1750193919.288 [DAT](INFO): DAT read: Bearing 316.3, -38.7 (Local)

2025-06-17T20:58:39.288Z,1750193919.288 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.3, -38.7 (Local)

2025-06-17T20:58:39.291Z,1750193919.291 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:39.295Z,1750193919.295 [DAT](INFO): DAT read: 20:58:39.1687 LVL= 11856, 30129,  9714, 15603, AGC= 40, IDX= 503, 0.26, 2.488, 2.164,-2.840,-2.928, PHS=-0.779,-1.145, 0.085, RAW= 193.2,  30.7, CAL= 193.7,  38.7, ROT= 316.3, -38.7

2025-06-17T20:58:39.296Z,1750193919.296 [DAT](INFO): got valid direction response:
 20:58:39.1687 LVL= 11856, 30129,  9714, 15603, AGC= 40, IDX= 503, 0.26, 2.488, 2.164,-2.840,-2.928, PHS=-0.779,-1.145, 0.085, RAW= 193.2,  30.7, CAL= 193.7,  38.7, ROT= 316.3, -38.7

2025-06-17T20:58:39.297Z,1750193919.297 [DAT](INFO): #Rx 152: Read range and direction messages.
2025-06-17T20:58:39.298Z,1750193919.298 [DAT](INFO): direction in FSK: [0.564225,-0.539186,0.625243]
2025-06-17T20:58:39.298Z,1750193919.298 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:39.790Z,1750193919.790 [DAT](INFO): DAT read: Rx Time:20:58:39.6688 

2025-06-17T20:58:39.790Z,1750193919.790 [DAT](INFO): Rx dataTimestamp_ set to:1750193919.789944
2025-06-17T20:58:39.792Z,1750193919.792 [DAT](INFO): DAT read: Bearing 314.4, -37.7 (Local)

2025-06-17T20:58:39.792Z,1750193919.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.4, -37.7 (Local)

2025-06-17T20:58:39.794Z,1750193919.794 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:39.799Z,1750193919.799 [DAT](INFO): DAT read: 20:58:39.6688 LVL= 11584, 30481,  9698, 15859, AGC= 40, IDX= 503, 0.33, 2.292, 2.023,-3.006,-3.123, PHS=-0.780,-1.090, 0.114, RAW= 195.6,  29.8, CAL= 195.6,  37.7, ROT= 314.4, -37.7

2025-06-17T20:58:39.800Z,1750193919.800 [DAT](INFO): got valid direction response:
 20:58:39.6688 LVL= 11584, 30481,  9698, 15859, AGC= 40, IDX= 503, 0.33, 2.292, 2.023,-3.006,-3.123, PHS=-0.780,-1.090, 0.114, RAW= 195.6,  29.8, CAL= 195.6,  37.7, ROT= 314.4, -37.7

2025-06-17T20:58:39.800Z,1750193919.800 [DAT](INFO): #Rx 153: Read range and direction messages.
2025-06-17T20:58:39.801Z,1750193919.801 [DAT](INFO): direction in FSK: [0.553590,-0.565308,0.611527]
2025-06-17T20:58:39.802Z,1750193919.802 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:40.293Z,1750193920.293 [DAT](INFO): DAT read: Rx Time:20:58:40.1687 

2025-06-17T20:58:40.294Z,1750193920.294 [DAT](INFO): Rx dataTimestamp_ set to:1750193920.293586
2025-06-17T20:58:40.295Z,1750193920.295 [DAT](INFO): DAT read: Bearing 314.0, -38.2 (Local)

2025-06-17T20:58:40.295Z,1750193920.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0, -38.2 (Local)

2025-06-17T20:58:40.298Z,1750193920.298 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:40.302Z,1750193920.302 [DAT](INFO): DAT read: 20:58:40.1687 LVL= 11488, 30449,  9762, 15827, AGC= 40, IDX= 502, 0.41, 0.983, 0.727, 1.970, 1.860, PHS=-0.788,-1.086, 0.108, RAW= 196.2,  30.1, CAL= 196.0,  38.2, ROT= 314.0, -38.2

2025-06-17T20:58:40.303Z,1750193920.303 [DAT](INFO): got valid direction response:
 20:58:40.1687 LVL= 11488, 30449,  9762, 15827, AGC= 40, IDX= 502, 0.41, 0.983, 0.727, 1.970, 1.860, PHS=-0.788,-1.086, 0.108, RAW= 196.2,  30.1, CAL= 196.0,  38.2, ROT= 314.0, -38.2

2025-06-17T20:58:40.304Z,1750193920.304 [DAT](INFO): #Rx 154: Read range and direction messages.
2025-06-17T20:58:40.305Z,1750193920.305 [DAT](INFO): direction in FSK: [0.545902,-0.565298,0.618408]
2025-06-17T20:58:40.305Z,1750193920.305 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:40.797Z,1750193920.797 [DAT](INFO): DAT read: Rx Time:20:58:40.6688 

2025-06-17T20:58:40.798Z,1750193920.798 [DAT](INFO): Rx dataTimestamp_ set to:1750193920.797494
2025-06-17T20:58:40.799Z,1750193920.799 [DAT](INFO): DAT read: Bearing 303.5, -24.6 (Local)

2025-06-17T20:58:40.799Z,1750193920.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.5, -24.6 (Local)

2025-06-17T20:58:40.802Z,1750193920.802 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:40.806Z,1750193920.806 [DAT](INFO): DAT read: 20:58:40.6688 LVL= 11344, 30481,  9906, 16179, AGC= 40, IDX= 504,-0.49, 0.600, 0.546, 1.910, 1.482, PHS=-0.794,-0.889, 0.425, RAW= 206.3,  19.3, CAL= 206.5,  24.6, ROT= 303.5, -24.6

2025-06-17T20:58:40.807Z,1750193920.807 [DAT](INFO): got valid direction response:
 20:58:40.6688 LVL= 11344, 30481,  9906, 16179, AGC= 40, IDX= 504,-0.49, 0.600, 0.546, 1.910, 1.482, PHS=-0.794,-0.889, 0.425, RAW= 206.3,  19.3, CAL= 206.5,  24.6, ROT= 303.5, -24.6

2025-06-17T20:58:40.812Z,1750193920.812 [DAT](INFO): #Rx 155: Read range and direction messages.
2025-06-17T20:58:40.813Z,1750193920.813 [DAT](INFO): direction in FSK: [0.501841,-0.758199,0.416281]
2025-06-17T20:58:40.813Z,1750193920.813 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:41.301Z,1750193921.301 [DAT](INFO): DAT read: Rx Time:20:58:41.1687 

2025-06-17T20:58:41.302Z,1750193921.302 [DAT](INFO): Rx dataTimestamp_ set to:1750193921.301560
2025-06-17T20:58:41.303Z,1750193921.303 [DAT](INFO): DAT read: Bearing 297.1, -20.2 (Local)

2025-06-17T20:58:41.303Z,1750193921.303 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.1, -20.2 (Local)

2025-06-17T20:58:41.306Z,1750193921.306 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:41.310Z,1750193921.310 [DAT](INFO): DAT read: 20:58:41.1687 LVL= 11552, 30785,  9778, 15843, AGC= 40, IDX= 503,-0.37,-1.332,-1.310, 0.056,-0.457, PHS=-0.787,-0.807, 0.509, RAW= 209.3,  16.4, CAL= 212.9,  20.2, ROT= 297.1, -20.2

2025-06-17T20:58:41.311Z,1750193921.311 [DAT](INFO): got valid direction response:
 20:58:41.1687 LVL= 11552, 30785,  9778, 15843, AGC= 40, IDX= 503,-0.37,-1.332,-1.310, 0.056,-0.457, PHS=-0.787,-0.807, 0.509, RAW= 209.3,  16.4, CAL= 212.9,  20.2, ROT= 297.1, -20.2

2025-06-17T20:58:41.312Z,1750193921.312 [DAT](INFO): #Rx 156: Read range and direction messages.
2025-06-17T20:58:41.313Z,1750193921.313 [DAT](INFO): direction in FSK: [0.427526,-0.835458,0.345298]
2025-06-17T20:58:41.313Z,1750193921.313 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:41.805Z,1750193921.805 [DAT](INFO): DAT read: Rx Time:20:58:41.6688 

2025-06-17T20:58:41.806Z,1750193921.806 [DAT](INFO): Rx dataTimestamp_ set to:1750193921.805596
2025-06-17T20:58:41.807Z,1750193921.807 [DAT](INFO): DAT read: Bearing 296.7, -17.5 (Local)

2025-06-17T20:58:41.808Z,1750193921.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.7, -17.5 (Local)

2025-06-17T20:58:41.810Z,1750193921.810 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-17T20:58:41.814Z,1750193921.814 [DAT](INFO): DAT read: 20:58:41.6688 LVL= 11680, 30865,  9682, 15859, AGC= 40, IDX= 504,-0.30,-0.314,-0.286, 1.118, 0.558, PHS=-0.785,-0.797, 0.557, RAW= 209.5,  15.0, CAL= 213.3,  17.5, ROT= 296.7, -17.5

2025-06-17T20:58:41.815Z,1750193921.815 [DAT](INFO): got valid direction response:
 20:58:41.6688 LVL= 11680, 30865,  9682, 15859, AGC= 40, IDX= 504,-0.30,-0.314,-0.286, 1.118, 0.558, PHS=-0.785,-0.797, 0.557, RAW= 209.5,  15.0, CAL= 213.3,  17.5, ROT= 296.7, -17.5

2025-06-17T20:58:41.816Z,1750193921.816 [DAT](INFO): #Rx 157: Read range and direction messages.
2025-06-17T20:58:41.817Z,1750193921.817 [DAT](INFO): direction in FSK: [0.428523,-0.852023,0.300706]
2025-06-17T20:58:41.817Z,1750193921.817 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:42.310Z,1750193922.310 [DAT](INFO): DAT read: Rx Time:20:58:42.1687 

2025-06-17T20:58:42.310Z,1750193922.310 [DAT](INFO): Rx dataTimestamp_ set to:1750193922.309747
2025-06-17T20:58:42.311Z,1750193922.311 [DAT](INFO): DAT read: Bearing 302.3, -22.4 (Local)

2025-06-17T20:58:42.312Z,1750193922.312 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.3, -22.4 (Local)

2025-06-17T20:58:42.314Z,1750193922.314 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-17T20:58:42.319Z,1750193922.319 [DAT](INFO): DAT read: 20:58:42.1687 LVL= 12144, 30897,  9314, 15523, AGC= 40, IDX= 503,-0.27,-0.918,-0.962, 0.424,-0.051, PHS=-0.778,-0.863, 0.472, RAW= 206.7,  17.7, CAL= 207.7,  22.4, ROT= 302.3, -22.4

2025-06-17T20:58:42.325Z,1750193922.325 [DAT](INFO): got valid direction response:
 20:58:42.1687 LVL= 12144, 30897,  9314, 15523, AGC= 40, IDX= 503,-0.27,-0.918,-0.962, 0.424,-0.051, PHS=-0.778,-0.863, 0.472, RAW= 206.7,  17.7, CAL= 207.7,  22.4, ROT= 302.3, -22.4

2025-06-17T20:58:42.326Z,1750193922.326 [DAT](INFO): #Rx 158: Read range and direction messages.
2025-06-17T20:58:42.327Z,1750193922.327 [DAT](INFO): direction in FSK: [0.494033,-0.781484,0.381070]
2025-06-17T20:58:42.327Z,1750193922.327 [DAT](INFO): publishing direction and range info
2025-06-17T20:58:44.825Z,1750193924.825 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-06-17T20:59:10.651Z,1750193950.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T20:59:10.817Z,1750193950.817 [DAT](DEBUG): Acoustic response timeout
2025-06-17T20:59:10.817Z,1750193950.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T20:59:11.069Z,1750193951.069 [DAT](INFO): DAT read: user:821>

2025-06-17T20:59:11.070Z,1750193951.070 [DAT](INFO): DAT read: Tx time:20:59:11.1888

2025-06-17T20:59:11.070Z,1750193951.070 [DAT](INFO): Ping request sent.
2025-06-17T20:59:11.070Z,1750193951.070 [DAT](INFO): transmitted an acoustic signal
2025-06-17T20:59:11.071Z,1750193951.071 [DAT](INFO): DAT read: TxSync time:20:59:11.1880

2025-06-17T20:59:11.071Z,1750193951.071 [DAT](INFO): publishing transmit ping time
2025-06-17T20:59:11.072Z,1750193951.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001587
2025-06-17T20:59:11.321Z,1750193951.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250692
2025-06-17T20:59:11.573Z,1750193951.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502790
2025-06-17T20:59:11.838Z,1750193951.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.767627
2025-06-17T20:59:12.089Z,1750193952.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018841
2025-06-17T20:59:12.341Z,1750193952.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270728
2025-06-17T20:59:12.593Z,1750193952.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522707
2025-06-17T20:59:12.845Z,1750193952.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774730
2025-06-17T20:59:13.110Z,1750193953.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.039849
2025-06-17T20:59:13.361Z,1750193953.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.290736
2025-06-17T20:59:13.613Z,1750193953.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.542696
2025-06-17T20:59:13.865Z,1750193953.865 [DAT](INFO): DAT read: Rx Time:20:59:13.5951

2025-06-17T20:59:13.865Z,1750193953.865 [DAT](INFO): Rx dataTimestamp_ set to:1750193953.865030
2025-06-17T20:59:13.866Z,1750193953.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.795844
2025-06-17T20:59:14.117Z,1750193954.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.046730
2025-06-17T20:59:14.377Z,1750193954.377 [DAT](INFO): DAT read: 20:59:13.5951 LVL= 13856, 16497, 11570, 18803, AGC= 44, IDX= 225,-0.46, 2.834, 2.172,-2.710,-2.448, PHS=-0.913,-1.617,-0.265, RAW= 178.6,  40.2, CAL= 181.9,  47.1, ROT= 328.1, -47.1

2025-06-17T20:59:14.378Z,1750193954.378 [DAT](INFO): got valid direction response:
 20:59:13.5951 LVL= 13856, 16497, 11570, 18803, AGC= 44, IDX= 225,-0.46, 2.834, 2.172,-2.710,-2.448, PHS=-0.913,-1.617,-0.265, RAW= 178.6,  40.2, CAL= 181.9,  47.1, ROT= 328.1, -47.1

2025-06-17T20:59:14.379Z,1750193954.379 [DAT](INFO): DAT read: Bearing 328.1, -47.1 (Local)

2025-06-17T20:59:14.379Z,1750193954.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.1, -47.1 (Local)

2025-06-17T20:59:14.381Z,1750193954.381 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-17T20:59:14.381Z,1750193954.381 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T20:59:14.382Z,1750193954.382 [DAT](INFO): direction in FSK: [0.577913,-0.359719,0.732543]
2025-06-17T20:59:14.383Z,1750193954.383 [DAT](INFO): publishing direction and range info
2025-06-17T20:59:35.710Z,1750193975.710 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,    +1,    +3, 
2025-06-17T21:00:49.666Z,1750194049.666 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250617135.0,  +9.9,   0.0,1489.8,  0
2025-06-17T21:01:10.659Z,1750194070.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-17T21:01:10.661Z,1750194070.661 [DAT](DEBUG): Acoustic response timeout
2025-06-17T21:01:10.661Z,1750194070.661 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-17T21:01:10.915Z,1750194070.915 [DAT](INFO): DAT read: user:822>

2025-06-17T21:01:10.918Z,1750194070.918 [DAT](INFO): DAT read: Tx time:21:01:11.0403

2025-06-17T21:01:10.919Z,1750194070.919 [DAT](INFO): Ping request sent.
2025-06-17T21:01:10.919Z,1750194070.919 [DAT](INFO): transmitted an acoustic signal
2025-06-17T21:01:10.922Z,1750194070.922 [DAT](INFO): DAT read: TxSync time:21:01:11.0395

2025-06-17T21:01:10.923Z,1750194070.923 [DAT](INFO): publishing transmit ping time
2025-06-17T21:01:10.930Z,1750194070.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.008350
2025-06-17T21:01:11.165Z,1750194071.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245661
2025-06-17T21:01:11.417Z,1750194071.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497788
2025-06-17T21:01:11.669Z,1750194071.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749700
2025-06-17T21:01:11.925Z,1750194071.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005171
2025-06-17T21:01:12.173Z,1750194072.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253700
2025-06-17T21:01:12.425Z,1750194072.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505667
2025-06-17T21:01:12.678Z,1750194072.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758531
2025-06-17T21:01:12.932Z,1750194072.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012966
2025-06-17T21:01:13.181Z,1750194073.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261631
2025-06-17T21:01:13.437Z,1750194073.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517925
2025-06-17T21:01:13.689Z,1750194073.689 [DAT](INFO): DAT read: Rx Time:21:01:13.4466

2025-06-17T21:01:13.689Z,1750194073.689 [DAT](INFO): Rx dataTimestamp_ set to:1750194073.689087
2025-06-17T21:01:13.690Z,1750194073.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770816
2025-06-17T21:01:13.944Z,1750194073.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023966
2025-06-17T21:01:14.198Z,1750194074.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278271
2025-06-17T21:01:14.450Z,1750194074.450 [DAT](INFO): DAT read: 21:01:13.4466 LVL= 13648, 30433, 10738, 16755, AGC= 41, IDX= 433,-0.05, 3.107, 2.581,-2.208,-2.296, PHS=-0.793,-1.359, 0.085, RAW= 187.1,  30.1, CAL= 188.8,  37.4, ROT= 321.2, -37.4

2025-06-17T21:01:14.451Z,1750194074.451 [DAT](INFO): got valid direction response:
 21:01:13.4466 LVL= 13648, 30433, 10738, 16755, AGC= 41, IDX= 433,-0.05, 3.107, 2.581,-2.208,-2.296, PHS=-0.793,-1.359, 0.085, RAW= 187.1,  30.1, CAL= 188.8,  37.4, ROT= 321.2, -37.4

2025-06-17T21:01:14.455Z,1750194074.455 [DAT](INFO): DAT read: Bearing 321.2, -37.4 (Local)

2025-06-17T21:01:14.455Z,1750194074.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.2, -37.4 (Local)

2025-06-17T21:01:14.457Z,1750194074.457 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-17T21:01:14.457Z,1750194074.457 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-17T21:01:14.458Z,1750194074.458 [DAT](INFO): direction in FSK: [0.619117,-0.497783,0.607376]
2025-06-17T21:01:14.459Z,1750194074.459 [DAT](INFO): publishing direction and range info
2025-06-17T21:01:59.927Z,1750194119.927 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,    0   +0.00,        +0.00,  20.00,1419.93
2025-06-17T21:02:12.455Z,1750194132.455 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Timed out from 2025-06-17T20:57:12.3Z
2025-06-17T21:02:12.460Z,1750194132.460 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-06-17T21:02:12.462Z,1750194132.462 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-06-17T21:02:12.463Z,1750194132.463 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-06-17T21:02:12.470Z,1750194132.470 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-06-17T21:02:12.907Z,1750194132.907 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-06-17T21:02:12.907Z,1750194132.907 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-06-17T21:02:12.907Z,1750194132.907 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-06-17T21:02:12.907Z,1750194132.907 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-06-17T21:02:12.908Z,1750194132.908 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-06-17T21:02:12.908Z,1750194132.908 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-06-17T21:02:12.937Z,1750194132.937 [DockingStepper](INFO): Pause
2025-06-17T21:02:13.268Z,1750194133.268 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-06-17T21:02:13.268Z,1750194133.268 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-06-17T21:02:13.268Z,1750194133.268 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-06-17T21:02:13.268Z,1750194133.268 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-06-17T21:02:13.268Z,1750194133.268 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-06-17T21:02:13.268Z,1750194133.268 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-06-17T21:02:13.268Z,1750194133.268 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-06-17T21:02:13.269Z,1750194133.269 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-06-17T21:02:13.269Z,1750194133.269 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-06-17T21:02:13.269Z,1750194133.269 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-06-17T21:02:13.669Z,1750194133.669 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-06-17T21:02:13.669Z,1750194133.669 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-06-17T21:02:13.669Z,1750194133.669 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-06-17T21:02:13.669Z,1750194133.669 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-06-17T21:02:13.669Z,1750194133.669 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-06-17T21:02:13.670Z,1750194133.670 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-06-17T21:02:13.670Z,1750194133.670 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-06-17T21:02:13.670Z,1750194133.670 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-06-17T21:02:13.670Z,1750194133.670 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-06-17T21:02:13.670Z,1750194133.670 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-17T21:02:13.670Z,1750194133.670 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-06-17T21:02:13.670Z,1750194133.670 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-06-17T21:02:13.670Z,1750194133.670 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-06-17T21:02:13.670Z,1750194133.670 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-06-17T21:02:13.670Z,1750194133.670 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-06-17T21:02:13.671Z,1750194133.671 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-06-17T21:02:13.671Z,1750194133.671 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-06-17T21:02:14.098Z,1750194134.098 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-06-17T21:02:14.098Z,1750194134.098 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-06-17T21:02:14.098Z,1750194134.098 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-06-17T21:02:14.098Z,1750194134.098 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-06-17T21:02:14.098Z,1750194134.098 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-17T21:02:14.098Z,1750194134.098 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-06-17T21:02:14.098Z,1750194134.098 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-06-17T21:02:14.098Z,1750194134.098 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-06-17T21:02:14.099Z,1750194134.099 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-06-17T21:02:14.099Z,1750194134.099 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-06-17T21:02:14.099Z,1750194134.099 [lineCaptureHoming:Lap:Docked] Stopped
2025-06-17T21:02:14.099Z,1750194134.099 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-06-17T21:02:14.099Z,1750194134.099 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-06-17T21:02:14.099Z,1750194134.099 [lineCaptureHoming:Lap] Stopped
2025-06-17T21:02:14.099Z,1750194134.099 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-06-17T21:02:14.104Z,1750194134.104 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-06-17T21:02:14.104Z,1750194134.104 [MissionManager](INFO): lineCaptureHoming is completed.
2025-06-17T21:02:14.104Z,1750194134.104 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-06-17T21:02:14.105Z,1750194134.105 [lineCaptureHoming] Stopped
2025-06-17T21:02:14.105Z,1750194134.105 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-06-17T21:02:14.105Z,1750194134.105 [lineCaptureHoming:Science] Stopped
2025-06-17T21:02:14.105Z,1750194134.105 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-06-17T21:02:14.105Z,1750194134.105 [lineCaptureHoming:Science:B] Stopped
2025-06-17T21:02:14.105Z,1750194134.105 [lineCaptureHoming:Science:C] Stopped
2025-06-17T21:02:14.105Z,1750194134.105 [lineCaptureHoming:Science:E] Stopped
2025-06-17T21:02:14.105Z,1750194134.105 [lineCaptureHoming:Science:F] Stopped
2025-06-17T21:02:14.105Z,1750194134.105 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-06-17T21:02:14.105Z,1750194134.105 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-06-17T21:02:14.105Z,1750194134.105 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-06-17T21:02:14.105Z,1750194134.105 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-06-17T21:02:14.106Z,1750194134.106 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-06-17T21:02:14.106Z,1750194134.106 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-17T21:02:14.106Z,1750194134.106 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-17T21:02:14.106Z,1750194134.106 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-17T21:02:14.106Z,1750194134.106 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-17T21:02:14.106Z,1750194134.106 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-17T21:02:14.106Z,1750194134.106 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-17T21:02:14.106Z,1750194134.106 [lineCaptureHoming:MicromodemComms] Stopped
2025-06-17T21:02:14.106Z,1750194134.106 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-06-17T21:02:14.106Z,1750194134.106 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-17T21:02:14.106Z,1750194134.106 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-17T21:02:14.106Z,1750194134.106 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-17T21:02:14.106Z,1750194134.106 [lineCaptureHoming:TrackAC.] Stopped
2025-06-17T21:02:14.107Z,1750194134.107 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-17T21:02:14.201Z,1750194134.201 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-06-17T21:02:14.228Z,1750194134.228 [WetLabsBB2FL](INFO): Powering down
2025-06-17T21:02:14.427Z,1750194134.427 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-06-17T21:02:14.427Z,1750194134.427 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-06-17T21:02:14.432Z,1750194134.432 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-06-17T21:02:14.489Z,1750194134.489 [DAT](INFO): DAT read: user:823>

2025-06-17T21:02:14.489Z,1750194134.489 [DAT](INFO): DAT read: Tx time:21:02:14.6400

2025-06-17T21:02:14.490Z,1750194134.490 [DAT](INFO): Ping request sent.
2025-06-17T21:02:14.490Z,1750194134.490 [DAT](INFO): transmitted an acoustic signal
2025-06-17T21:02:14.490Z,1750194134.490 [DAT](INFO): publishing transmit ping time
2025-06-17T21:02:16.757Z,1750194136.757 [DAT](INFO): DAT read: Rx Time:21:02:16.5199

2025-06-17T21:02:16.757Z,1750194136.757 [DAT](INFO): Rx dataTimestamp_ set to:1750194136.757105
2025-06-17T21:02:17.518Z,1750194137.518 [DAT](INFO): DAT read: 21:02:16.5199 LVL= 12736, 15169, 10322, 17267, AGC= 43, IDX= 168,-0.24,-1.673,-2.125,-0.554,-0.755, PHS=-0.830,-1.322, 0.198, RAW= 191.5,  27.2, CAL= 191.8,  33.7, ROT= 318.2, -33.7

2025-06-17T21:02:17.519Z,1750194137.519 [DAT](INFO): got valid direction response:
 21:02:16.5199 LVL= 12736, 15169, 10322, 17267, AGC= 43, IDX= 168,-0.24,-1.673,-2.125,-0.554,-0.755, PHS=-0.830,-1.322, 0.198, RAW= 191.5,  27.2, CAL= 191.8,  33.7, ROT= 318.2, -33.7

2025-06-17T21:02:17.520Z,1750194137.520 [DAT](INFO): DAT read: OK

2025-06-17T21:02:17.520Z,1750194137.520 [DAT](INFO): unknown deviceResponse_: OK

2025-06-17T21:02:17.521Z,1750194137.521 [DAT](INFO): DAT read: user:824>

2025-06-17T21:02:17.522Z,1750194137.522 [DAT](INFO): DAT read: Tx time:21:02:17.6401

2025-06-17T21:02:17.522Z,1750194137.522 [DAT](INFO): Ping request sent.
2025-06-17T21:02:17.522Z,1750194137.522 [DAT](INFO): transmitted an acoustic signal
2025-06-17T21:02:17.522Z,1750194137.522 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-06-17T21:02:17.523Z,1750194137.523 [DAT](INFO): direction in FSK: [0.620202,-0.554524,0.554844]
2025-06-17T21:02:17.524Z,1750194137.524 [DAT](INFO): publishing transmit ping time
2025-06-17T21:02:17.526Z,1750194137.526 [DAT](INFO): publishing transmit ping time
2025-06-17T21:02:19.584Z,1750194139.584 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-06-17T21:02:19.589Z,1750194139.589 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-06-17T21:02:19.592Z,1750194139.592 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-06-17T21:02:19.595Z,1750194139.595 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-06-17T21:02:19.597Z,1750194139.597 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-06-17T21:02:19.599Z,1750194139.599 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-06-17T21:02:19.602Z,1750194139.602 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-06-17T21:02:19.605Z,1750194139.605 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m
2025-06-17T21:02:19.607Z,1750194139.607 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-06-17T21:02:19.610Z,1750194139.610 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-06-17T21:02:19.612Z,1750194139.612 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-06-17T21:02:19.614Z,1750194139.614 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-06-17T21:02:19.616Z,1750194139.616 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-06-17T21:02:19.618Z,1750194139.618 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-06-17T21:02:19.619Z,1750194139.619 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-17T21:02:19.619Z,1750194139.619 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-17T21:02:19.620Z,1750194139.620 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-17T21:02:19.781Z,1750194139.781 [DAT](INFO): DAT read: Rx Time:21:02:19.5200

2025-06-17T21:02:19.781Z,1750194139.781 [DAT](INFO): Rx dataTimestamp_ set to:1750194139.781047
2025-06-17T21:02:19.883Z,1750194139.883 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-17T21:02:19.897Z,1750194139.897 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-17T21:02:19.899Z,1750194139.899 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-17T21:02:19.907Z,1750194139.907 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-17T21:02:19.969Z,1750194139.969 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-17T21:02:19.971Z,1750194139.971 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-17T21:02:20.003Z,1750194140.003 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-17T21:02:20.054Z,1750194140.054 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-17T21:02:20.065Z,1750194140.065 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-17T21:02:20.065Z,1750194140.065 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-17T21:02:20.066Z,1750194140.066 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-17T21:02:20.095Z,1750194140.095 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-06-17T21:02:20.098Z,1750194140.098 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-06-17T21:02:20.101Z,1750194140.101 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-17T21:02:20.103Z,1750194140.103 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-17T21:02:20.103Z,1750194140.103 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-17T21:02:20.104Z,1750194140.104 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-17T21:02:20.289Z,1750194140.289 [DAT](INFO): DAT read: 21:02:19.5200 LVL= 12336, 26801, 10866, 16675, AGC= 41, IDX= 440, 0.19, 1.430, 0.462, 1.760, 2.432, PHS=-0.914,-1.923,-0.674, RAW= 160.4,  47.2, CAL= 165.9,  53.5, ROT= 344.1, -53.5

2025-06-17T21:02:20.290Z,1750194140.290 [DAT](INFO): got valid direction response:
 21:02:19.5200 LVL= 12336, 26801, 10866, 16675, AGC= 41, IDX= 440, 0.19, 1.430, 0.462, 1.760, 2.432, PHS=-0.914,-1.923,-0.674, RAW= 160.4,  47.2, CAL= 165.9,  53.5, ROT= 344.1, -53.5

2025-06-17T21:02:20.290Z,1750194140.290 [DAT](INFO): DAT read: OK

2025-06-17T21:02:20.291Z,1750194140.291 [DAT](INFO): unknown deviceResponse_: OK

2025-06-17T21:02:20.291Z,1750194140.291 [DAT](INFO): DAT read: user:825>

2025-06-17T21:02:20.291Z,1750194140.291 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-06-17T21:02:20.293Z,1750194140.293 [DAT](INFO): direction in FSK: [0.572066,-0.162957,0.803857]
2025-06-17T21:02:20.451Z,1750194140.451 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-06-17T21:02:20.455Z,1750194140.455 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-06-17T21:02:20.457Z,1750194140.457 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-06-17T21:02:20.459Z,1750194140.459 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-06-17T21:02:20.461Z,1750194140.461 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-06-17T21:02:20.464Z,1750194140.464 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-06-17T21:02:20.470Z,1750194140.470 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-17T21:02:20.498Z,1750194140.498 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-06-17T21:02:20.504Z,1750194140.504 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-17T21:02:20.504Z,1750194140.504 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-17T21:02:20.533Z,1750194140.533 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-17T21:02:20.537Z,1750194140.537 [DAT](INFO): DAT read: Tx time:21:02:20.6401

2025-06-17T21:02:20.537Z,1750194140.537 [DAT](INFO): Ping request sent.
2025-06-17T21:02:20.537Z,1750194140.537 [DAT](INFO): transmitted an acoustic signal
2025-06-17T21:02:20.538Z,1750194140.538 [DAT](INFO): publishing transmit ping time
2025-06-17T21:02:22.805Z,1750194142.805 [DAT](INFO): DAT read: Rx Time:21:02:22.5200

2025-06-17T21:02:22.805Z,1750194142.805 [DAT](INFO): Rx dataTimestamp_ set to:1750194142.805094
2025-06-17T21:02:23.313Z,1750194143.313 [DAT](INFO): DAT read: 21:02:22.5200 LVL= 12416, 28817, 10626, 16867, AGC= 41, IDX= 441,-0.13,-0.282,-0.970, 0.447, 0.661, PHS=-0.855,-1.584,-0.218, RAW= 177.8,  38.4, CAL= 181.3,  45.6, ROT= 328.7, -45.6

2025-06-17T21:02:23.314Z,1750194143.314 [DAT](INFO): got valid direction response:
 21:02:22.5200 LVL= 12416, 28817, 10626, 16867, AGC= 41, IDX= 441,-0.13,-0.282,-0.970, 0.447, 0.661, PHS=-0.855,-1.584,-0.218, RAW= 177.8,  38.4, CAL= 181.3,  45.6, ROT= 328.7, -45.6

2025-06-17T21:02:23.314Z,1750194143.314 [DAT](INFO): DAT read: OK

2025-06-17T21:02:23.315Z,1750194143.315 [DAT](INFO): unknown deviceResponse_: OK

2025-06-17T21:02:23.315Z,1750194143.315 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-06-17T21:02:23.316Z,1750194143.316 [DAT](INFO): direction in FSK: [0.597834,-0.363488,0.714473]
2025-06-17T21:02:24.530Z,1750194144.530 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-06-17T21:02:24.588Z,1750194144.588 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-06-17T21:02:24.590Z,1750194144.590 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-06-17T21:02:24.596Z,1750194144.596 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-06-17T21:02:24.598Z,1750194144.598 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-06-17T21:02:24.624Z,1750194144.624 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-06-17T21:02:24.626Z,1750194144.626 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-06-17T21:02:24.635Z,1750194144.635 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-06-17T21:02:24.692Z,1750194144.692 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-06-17T21:02:24.695Z,1750194144.695 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-17T21:02:24.713Z,1750194144.713 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-17T21:02:24.715Z,1750194144.715 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-06-17T21:02:24.725Z,1750194144.725 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-06-17T21:02:24.727Z,1750194144.727 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-06-17T21:02:24.733Z,1750194144.733 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-06-17T21:02:24.735Z,1750194144.735 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-17T21:02:24.741Z,1750194144.741 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-17T21:02:24.743Z,1750194144.743 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-17T21:02:24.749Z,1750194144.749 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-17T21:02:24.751Z,1750194144.751 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-17T21:02:24.762Z,1750194144.762 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-17T21:02:24.768Z,1750194144.768 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-17T21:02:24.770Z,1750194144.770 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-17T21:02:24.776Z,1750194144.776 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-17T21:02:24.779Z,1750194144.779 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-06-17T21:02:24.782Z,1750194144.782 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-06-17T21:02:24.804Z,1750194144.804 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-06-17T21:02:24.807Z,1750194144.807 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-06-17T21:02:24.813Z,1750194144.813 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-17T21:02:24.825Z,1750194144.825 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-17T21:02:24.832Z,1750194144.832 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool
2025-06-17T21:02:24.834Z,1750194144.834 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-06-17T21:02:24.841Z,1750194144.841 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-06-17T21:02:24.843Z,1750194144.843 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-06-17T21:02:24.850Z,1750194144.850 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-06-17T21:02:24.855Z,1750194144.855 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-17T21:02:24.866Z,1750194144.866 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-06-17T21:02:24.872Z,1750194144.872 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-06-17T21:02:24.874Z,1750194144.874 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-17T21:02:24.889Z,1750194144.889 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-06-17T21:02:24.891Z,1750194144.891 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-06-17T21:02:24.897Z,1750194144.897 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-06-17T21:02:24.904Z,1750194144.904 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-06-17T21:02:24.906Z,1750194144.906 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-17T21:02:24.912Z,1750194144.912 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-17T21:02:24.915Z,1750194144.915 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-17T21:02:24.932Z,1750194144.932 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-17T21:02:24.934Z,1750194144.934 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-06-17T21:02:24.953Z,1750194144.953 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-06-17T21:02:24.958Z,1750194144.958 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-06-17T21:02:25.006Z,1750194145.006 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-06-17T21:02:25.027Z,1750194145.027 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-06-17T21:02:25.046Z,1750194145.046 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-06-17T21:02:25.060Z,1750194145.060 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-06-17T21:02:25.063Z,1750194145.063 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-06-17T21:02:25.100Z,1750194145.100 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-06-17T21:02:25.102Z,1750194145.102 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-06-17T21:02:25.133Z,1750194145.133 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-06-17T21:02:25.135Z,1750194145.135 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-06-17T21:02:25.146Z,1750194145.146 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-06-17T21:02:25.156Z,1750194145.156 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-06-17T21:02:25.159Z,1750194145.159 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-06-17T21:02:25.165Z,1750194145.165 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-06-17T21:02:25.167Z,1750194145.167 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-06-17T21:02:25.186Z,1750194145.186 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-06-17T21:02:25.189Z,1750194145.189 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-06-17T21:02:25.220Z,1750194145.220 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-06-17T21:02:25.222Z,1750194145.222 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-06-17T21:02:25.229Z,1750194145.229 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-06-17T21:02:25.231Z,1750194145.231 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-06-17T21:02:25.242Z,1750194145.242 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-06-17T21:02:25.248Z,1750194145.248 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-06-17T21:02:25.251Z,1750194145.251 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-06-17T21:02:25.253Z,1750194145.253 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-06-17T21:02:25.255Z,1750194145.255 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-06-17T21:02:25.266Z,1750194145.266 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-06-17T21:02:25.276Z,1750194145.276 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-17T21:02:25.279Z,1750194145.279 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-17T21:02:25.289Z,1750194145.289 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-17T21:02:25.296Z,1750194145.296 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-17T21:02:25.298Z,1750194145.298 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-17T21:02:25.309Z,1750194145.309 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-17T21:02:25.311Z,1750194145.311 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-17T21:02:25.318Z,1750194145.318 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-17T21:02:25.329Z,1750194145.329 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-17T21:02:25.331Z,1750194145.331 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-17T21:02:25.338Z,1750194145.338 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-17T21:02:25.345Z,1750194145.345 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-17T21:02:25.352Z,1750194145.352 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-17T21:02:25.354Z,1750194145.354 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-17T21:02:25.365Z,1750194145.365 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-17T21:02:25.367Z,1750194145.367 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-17T21:02:25.402Z,1750194145.402 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-17T21:02:25.412Z,1750194145.412 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-17T21:02:25.415Z,1750194145.415 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-17T21:02:25.425Z,1750194145.425 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-17T21:02:25.427Z,1750194145.427 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-17T21:02:25.442Z,1750194145.442 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-17T21:02:25.453Z,1750194145.453 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-17T21:02:25.470Z,1750194145.470 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-17T21:02:25.478Z,1750194145.478 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-17T21:02:25.488Z,1750194145.488 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-17T21:02:25.491Z,1750194145.491 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-17T21:02:25.497Z,1750194145.497 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-17T21:02:25.504Z,1750194145.504 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-17T21:02:25.507Z,1750194145.507 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-17T21:02:25.517Z,1750194145.517 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-17T21:02:25.524Z,1750194145.524 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-17T21:02:25.526Z,1750194145.526 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-17T21:02:25.530Z,1750194145.530 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-17T21:02:25.548Z,1750194145.548 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-17T21:02:25.551Z,1750194145.551 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-17T21:02:25.554Z,1750194145.554 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-17T21:02:25.572Z,1750194145.572 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-17T21:02:25.574Z,1750194145.574 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-17T21:02:25.588Z,1750194145.588 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-17T21:02:25.590Z,1750194145.590 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-06-17T21:02:25.597Z,1750194145.597 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-06-17T21:02:25.600Z,1750194145.600 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-06-17T21:02:25.602Z,1750194145.602 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-06-17T21:02:25.609Z,1750194145.609 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-06-17T21:02:25.611Z,1750194145.611 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-06-17T21:02:25.618Z,1750194145.618 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-06-17T21:02:25.622Z,1750194145.622 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-06-17T21:02:25.633Z,1750194145.633 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-06-17T21:02:25.635Z,1750194145.635 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-06-17T21:02:25.649Z,1750194145.649 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-06-17T21:02:25.651Z,1750194145.651 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-06-17T21:02:25.658Z,1750194145.658 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-06-17T21:02:25.661Z,1750194145.661 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-06-17T21:02:25.663Z,1750194145.663 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-06-17T21:02:25.674Z,1750194145.674 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-06-17T21:02:25.678Z,1750194145.678 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-06-17T21:02:25.729Z,1750194145.729 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-17T21:02:25.758Z,1750194145.758 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-17T21:02:25.854Z,1750194145.854 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-17T21:02:25.901Z,1750194145.901 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-17T21:02:25.925Z,1750194145.925 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-17T21:02:25.939Z,1750194145.939 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-17T21:02:25.989Z,1750194145.989 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-17T21:02:26.073Z,1750194146.073 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-17T21:02:26.093Z,1750194146.093 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-17T21:02:26.137Z,1750194146.137 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-17T21:02:26.171Z,1750194146.171 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-17T21:02:26.271Z,1750194146.271 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-17T21:02:26.312Z,1750194146.312 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-17T21:02:26.382Z,1750194146.382 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-17T21:02:26.411Z,1750194146.411 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-17T21:02:26.459Z,1750194146.459 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-17T21:02:26.483Z,1750194146.483 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-17T21:02:26.528Z,1750194146.528 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-17T21:02:26.559Z,1750194146.559 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-06-17T21:02:26.562Z,1750194146.562 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-06-17T21:02:26.563Z,1750194146.563 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-06-17T21:02:26.566Z,1750194146.566 [OnDock:N.Docked](DEBUG): Construct.
2025-06-17T21:02:26.566Z,1750194146.566 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-06-17T21:02:26.579Z,1750194146.579 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-06-17T21:02:26.579Z,1750194146.579 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-17T21:02:26.723Z,1750194146.723 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission {
  """
  Wait on dock, communicating when possible
  """

  arguments {
    DockedTime = 8 hour
      """
      Time to stay on dock. Mission timeout will be five minutes longer.
      """

    DetachedTimeout = Dock:Docked.detachTimeout
      """
      Time duration limit for determining if the vehicle is detached from the
      dock.
      """

    RangeTimeout = Dock:Docked.rangeTimeout
      """
      Maximum allowed time without acoustic range.
      """

    TrackingUpdatePeriod = 2 minute
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    MaxDepth = BIT:CBIT.stopDepth
      """
      Maximum depth while docked.
      """

    MinAltitude = 5 meter
      """
      Minimum altitude
      """

    MinOffshore = 2 km
      """
      Minimum offshore
      """

    StayOnDock = false
      """
      If true, don't detach from dock at end of mission
      """

    IfconfigInterval = 2 hour
      """
      How long to wait between ifconfig runs
      """

    RunScience = false
      """
      If true, run Science while on the dock.
      """

    # Mission variables (do not change)
    MissionTimeout = DockedTime
      """
      Mission timeout (local variable, do not change)
      """
  }

  timeout duration=MissionTimeout

  insert Insert/StandardEnvelopes.tl
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  # End docking 5 minutes before end of mission to allow clean undock
  assign in sequence MissionTimeout = DockedTime + 5 minute

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Send data when connection exists
  aggregate dataRead {
    run while ( true )

    readDatum {
      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }
  }

  aggregate science {
    run in parallel

    break if ( not RunScience )

    insert Insert/Science.tl
  }

  behavior Estimation:TrackAcousticContact {
    run in parallel

    set contactLabelSetting = TransponderCode
    set numberOfSamplesSetting = NumberOfPings
    set updatePeriodSetting = TrackingUpdatePeriod
  }

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate PeriodicCheck {
    run in parallel

    aggregate CheckIP {
      run in sequence

      behavior Guidance:Execute {
        run in sequence

        set command = "! ifconfig"
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = IfconfigInterval
      }
    }
  }

  behavior Dock:Docked {
    run in sequence

    timeout duration=DockedTime

    set detachTimeout = DetachedTimeout
    set rangeTimeout = RangeTimeout
  }

  # Undock cleanly, instead of relying on DefaultWithUndock to come next
  aggregate Detach {
    run in sequence

    break if ( StayOnDock == true )

    syslog important "Mission ending, breaking off. Range: "
         + Estimation:TrackAcousticContact.range_to_contact~meter + "."

    behavior Dock:Undock {
      run in sequence
    }
  }
}


2025-06-17T21:02:26.723Z,1750194146.723 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-06-17T21:02:27.093Z,1750194147.093 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-17T21:02:27.093Z,1750194147.093 [DefaultWithUndock] Running Loop=1
2025-06-17T21:02:27.093Z,1750194147.093 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-17T21:02:27.093Z,1750194147.093 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-17T21:02:27.093Z,1750194147.093 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-17T21:02:32.074Z,1750194152.074 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 10 hour
2025-06-17T21:02:32.075Z,1750194152.075 [CommandExec](IMPORTANT): got command run
2025-06-17T21:02:32.077Z,1750194152.077 [CommandExec](IMPORTANT): Running 
2025-06-17T21:02:32.306Z,1750194152.306 [DefaultWithUndock] Stopped
2025-06-17T21:02:32.306Z,1750194152.306 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-17T21:02:32.306Z,1750194152.306 [DefaultWithUndock:A.Wait] Stopped
2025-06-17T21:02:32.306Z,1750194152.306 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-17T21:02:32.306Z,1750194152.306 [MissionManager](IMPORTANT): Started mission OnDock
2025-06-17T21:02:32.307Z,1750194152.307 [OnDock] Running Loop=1
2025-06-17T21:02:32.307Z,1750194152.307 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-06-17T21:02:32.307Z,1750194152.307 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-17T21:02:32.307Z,1750194152.307 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-06-17T21:02:32.307Z,1750194152.307 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-17T21:02:32.307Z,1750194152.307 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-17T21:02:32.307Z,1750194152.307 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-17T21:02:32.307Z,1750194152.307 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-17T21:02:32.312Z,1750194152.312 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-17T21:02:32.312Z,1750194152.312 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-17T21:02:32.312Z,1750194152.312 [OnDock:BackseatDriver] Running Loop=1
2025-06-17T21:02:32.312Z,1750194152.312 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-06-17T21:02:32.312Z,1750194152.312 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-17T21:02:32.312Z,1750194152.312 [OnDock:PowerOnly] Running Loop=1
2025-06-17T21:02:32.312Z,1750194152.312 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-06-17T21:02:32.312Z,1750194152.312 [OnDock:PowerOnly:A] Running Loop=1
2025-06-17T21:02:32.312Z,1750194152.312 [OnDock:PowerOnly:B] Running Loop=1
2025-06-17T21:02:32.313Z,1750194152.313 [OnDock:PowerOnly:C] Running Loop=1
2025-06-17T21:02:32.313Z,1750194152.313 [OnDock:PowerOnly:D] Running Loop=1
2025-06-17T21:02:32.313Z,1750194152.313 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-06-17T21:02:32.313Z,1750194152.313 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-17T21:02:32.313Z,1750194152.313 [OnDock:dataRead] Running Loop=1
2025-06-17T21:02:32.313Z,1750194152.313 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-06-17T21:02:32.313Z,1750194152.313 [OnDock:dataRead:A] Running Loop=1
2025-06-17T21:02:32.313Z,1750194152.313 [OnDock:science] Running Loop=1
2025-06-17T21:02:32.313Z,1750194152.313 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-06-17T21:02:32.313Z,1750194152.313 [OnDock:science:Science] Running Loop=1
2025-06-17T21:02:32.313Z,1750194152.313 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-06-17T21:02:32.314Z,1750194152.314 [OnDock:science:Science:A] Running Loop=1
2025-06-17T21:02:32.314Z,1750194152.314 [OnDock:science:Science:B] Running Loop=1
2025-06-17T21:02:32.314Z,1750194152.314 [OnDock:science:Science:C] Running Loop=1
2025-06-17T21:02:32.314Z,1750194152.314 [OnDock:science:Science:D] Running Loop=1
2025-06-17T21:02:32.314Z,1750194152.314 [OnDock:science:Science:E] Running Loop=1
2025-06-17T21:02:32.314Z,1750194152.314 [OnDock:science:Science:F] Running Loop=1
2025-06-17T21:02:32.314Z,1750194152.314 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-06-17T21:02:32.314Z,1750194152.314 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-06-17T21:02:32.314Z,1750194152.314 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-06-17T21:02:32.314Z,1750194152.314 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-06-17T21:02:32.314Z,1750194152.314 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-06-17T21:02:32.314Z,1750194152.314 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-06-17T21:02:32.315Z,1750194152.315 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-06-17T21:02:32.315Z,1750194152.315 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-06-17T21:02:32.315Z,1750194152.315 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-06-17T21:02:32.315Z,1750194152.315 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-17T21:02:32.315Z,1750194152.315 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-17T21:02:32.315Z,1750194152.315 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-06-17T21:02:32.315Z,1750194152.315 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-06-17T21:02:32.320Z,1750194152.320 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-06-17T21:02:32.320Z,1750194152.320 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-06-17T21:02:32.320Z,1750194152.320 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-06-17T21:02:32.320Z,1750194152.320 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-06-17T21:02:32.320Z,1750194152.320 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-06-17T21:02:32.320Z,1750194152.320 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-06-17T21:02:32.320Z,1750194152.320 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-17T21:02:32.321Z,1750194152.321 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-17T21:02:32.321Z,1750194152.321 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-06-17T21:02:32.321Z,1750194152.321 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-06-17T21:02:32.321Z,1750194152.321 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-17T21:02:32.321Z,1750194152.321 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-06-17T21:02:32.321Z,1750194152.321 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-06-17T21:02:32.321Z,1750194152.321 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-17T21:02:32.322Z,1750194152.322 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-06-17T21:02:32.322Z,1750194152.322 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-06-17T21:02:32.322Z,1750194152.322 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-17T21:02:32.322Z,1750194152.322 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-17T21:02:32.322Z,1750194152.322 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-17T21:02:32.322Z,1750194152.322 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-17T21:02:32.322Z,1750194152.322 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-17T21:02:32.323Z,1750194152.323 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-17T21:02:32.323Z,1750194152.323 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-17T21:02:32.323Z,1750194152.323 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-17T21:02:32.323Z,1750194152.323 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-17T21:02:32.323Z,1750194152.323 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-17T21:02:32.323Z,1750194152.323 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-17T21:02:32.323Z,1750194152.323 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-17T21:02:32.323Z,1750194152.323 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-17T21:02:32.323Z,1750194152.323 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-17T21:02:32.323Z,1750194152.323 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-17T21:02:32.328Z,1750194152.328 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-17T21:02:32.328Z,1750194152.328 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-17T21:02:32.328Z,1750194152.328 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-17T21:02:32.328Z,1750194152.328 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-17T21:02:32.329Z,1750194152.329 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-17T21:02:32.329Z,1750194152.329 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-17T21:02:32.329Z,1750194152.329 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-17T21:02:32.329Z,1750194152.329 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-17T21:02:32.329Z,1750194152.329 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-17T21:02:32.329Z,1750194152.329 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-17T21:02:32.329Z,1750194152.329 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-17T21:02:32.329Z,1750194152.329 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-06-17T21:02:32.329Z,1750194152.329 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-06-17T21:02:32.330Z,1750194152.330 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-17T21:02:32.330Z,1750194152.330 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-17T21:02:32.330Z,1750194152.330 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-06-17T21:02:32.330Z,1750194152.330 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-06-17T21:02:32.330Z,1750194152.330 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-06-17T21:02:32.330Z,1750194152.330 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-17T21:02:32.330Z,1750194152.330 [OnDock:J.] Running Loop=1
2025-06-17T21:02:32.330Z,1750194152.330 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-06-17T21:02:32.331Z,1750194152.331 [OnDock:PeriodicCheck] Running Loop=1
2025-06-17T21:02:32.331Z,1750194152.331 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-06-17T21:02:32.331Z,1750194152.331 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-06-17T21:02:32.331Z,1750194152.331 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-06-17T21:02:32.331Z,1750194152.331 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-06-17T21:02:32.331Z,1750194152.331 [OnDock:B] Running Loop=1
2025-06-17T21:02:32.336Z,1750194152.336 [OnDock:PeriodicCheck] Running Loop=1
2025-06-17T21:02:32.336Z,1750194152.336 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-06-17T21:02:32.336Z,1750194152.336 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-06-17T21:02:32.336Z,1750194152.336 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-06-17T21:02:32.336Z,1750194152.336 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-06-17T21:02:32.337Z,1750194152.337 [OnDock:J.] Running Loop=1
2025-06-17T21:02:32.337Z,1750194152.337 [OnDock:J.](ERROR): Failed to read sound speed
2025-06-17T21:02:32.337Z,1750194152.337 [OnDock:science] Stopped
2025-06-17T21:02:32.337Z,1750194152.337 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-06-17T21:02:32.337Z,1750194152.337 [OnDock:science:Science] Stopped
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:A] Stopped
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:B] Stopped
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:C] Stopped
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:D] Stopped
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:E] Stopped
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:F] Stopped
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:Read_Oil] Stopped
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:OceanCurrent] Stopped
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:PeakDetectChl] Stopped
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-06-17T21:02:32.338Z,1750194152.338 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-06-17T21:02:32.339Z,1750194152.339 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-06-17T21:02:32.339Z,1750194152.339 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-06-17T21:02:32.339Z,1750194152.339 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-06-17T21:02:32.339Z,1750194152.339 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-17T21:02:32.339Z,1750194152.339 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-17T21:02:32.339Z,1750194152.339 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-06-17T21:02:32.339Z,1750194152.339 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-06-17T21:02:32.339Z,1750194152.339 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-06-17T21:02:32.339Z,1750194152.339 [OnDock:science:Science:PeakDetectOil] Stopped
2025-06-17T21:02:32.339Z,1750194152.339 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-06-17T21:02:32.339Z,1750194152.339 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-06-17T21:02:32.339Z,1750194152.339 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-06-17T21:02:32.339Z,1750194152.339 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-06-17T21:02:32.340Z,1750194152.340 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-17T21:02:32.348Z,1750194152.348 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-17T21:02:32.348Z,1750194152.348 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-06-17T21:02:32.348Z,1750194152.348 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-06-17T21:02:32.348Z,1750194152.348 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-06-17T21:02:32.348Z,1750194152.348 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-06-17T21:02:32.348Z,1750194152.348 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-06-17T21:02:32.348Z,1750194152.348 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-06-17T21:02:32.348Z,1750194152.348 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-06-17T21:02:32.349Z,1750194152.349 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-06-17T21:02:32.349Z,1750194152.349 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-17T21:02:32.349Z,1750194152.349 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-17T21:02:32.349Z,1750194152.349 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-17T21:02:32.349Z,1750194152.349 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-17T21:02:32.349Z,1750194152.349 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-17T21:02:32.349Z,1750194152.349 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-17T21:02:32.349Z,1750194152.349 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-17T21:02:32.349Z,1750194152.349 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-17T21:02:32.349Z,1750194152.349 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-17T21:02:32.349Z,1750194152.349 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-17T21:02:32.349Z,1750194152.349 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-17T21:02:32.349Z,1750194152.349 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-17T21:02:32.350Z,1750194152.350 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-17T21:02:32.350Z,1750194152.350 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-17T21:02:32.350Z,1750194152.350 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-17T21:02:32.350Z,1750194152.350 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-17T21:02:32.350Z,1750194152.350 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-17T21:02:32.350Z,1750194152.350 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-17T21:02:32.350Z,1750194152.350 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-17T21:02:32.350Z,1750194152.350 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-17T21:02:32.350Z,1750194152.350 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-17T21:02:32.350Z,1750194152.350 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-17T21:02:32.350Z,1750194152.350 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-17T21:02:32.350Z,1750194152.350 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-17T21:02:32.350Z,1750194152.350 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-17T21:02:32.351Z,1750194152.351 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-17T21:02:32.351Z,1750194152.351 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-06-17T21:02:32.351Z,1750194152.351 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-06-17T21:02:32.351Z,1750194152.351 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-17T21:02:32.351Z,1750194152.351 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-17T21:02:32.351Z,1750194152.351 [OnDock:dataRead] Running Loop=1
2025-06-17T21:02:32.351Z,1750194152.351 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-17T21:02:32.356Z,1750194152.356 [OnDock:PowerOnly] Running Loop=1
2025-06-17T21:02:32.356Z,1750194152.356 [OnDock:PowerOnly:D] Stopped
2025-06-17T21:02:32.356Z,1750194152.356 [OnDock:PowerOnly:C] Stopped
2025-06-17T21:02:32.356Z,1750194152.356 [OnDock:PowerOnly:B] Stopped
2025-06-17T21:02:32.356Z,1750194152.356 [OnDock:PowerOnly:A] Stopped
2025-06-17T21:02:32.356Z,1750194152.356 [OnDock:BackseatDriver] Running Loop=1
2025-06-17T21:02:32.357Z,1750194152.357 [OnDock:B] Stopped
2025-06-17T21:02:32.357Z,1750194152.357 [OnDock:C] Running Loop=1
2025-06-17T21:02:32.357Z,1750194152.357 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-17T21:02:32.357Z,1750194152.357 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-17T21:02:32.357Z,1750194152.357 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-17T21:02:32.358Z,1750194152.358 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-17T21:02:32.390Z,1750194152.390 [CommandExec](IMPORTANT): got command ! ifconfig
2025-06-17T21:02:32.621Z,1750194152.621 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:4B  
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:9413 errors:0 dropped:0 overruns:0 frame:0
            TX packets:21601 errors:0 dropped:0 overruns:0 carrier:0
            collisions:140 txqueuelen:1000 
            RX bytes:4028084 (3.8 Mb)  TX bytes:4128890 (3.9 Mb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:4990 errors:0 dropped:0 overruns:0 frame:0
            TX packets:4990 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:447432 (436.9 Kb)  TX bytes:447432 (436.9 Kb)
  
  
2025-06-17T21:02:32.976Z,1750194152.976 [OnDock:C] Stopped
2025-06-17T21:02:32.976Z,1750194152.976 [OnDock:D] Running Loop=1
2025-06-17T21:02:33.416Z,1750194153.416 [OnDock:D] Stopped
2025-06-17T21:02:33.416Z,1750194153.416 [OnDock:E] Running Loop=1
2025-06-17T21:02:33.738Z,1750194153.738 [OnDock:E] Stopped
2025-06-17T21:02:33.738Z,1750194153.738 [OnDock:K] Running Loop=1
2025-06-17T21:02:34.196Z,1750194154.196 [OnDock:K](IMPORTANT): Restarting logs
2025-06-17T21:02:34.197Z,1750194154.197 [OnDock:K] Stopped
2025-06-17T21:02:34.197Z,1750194154.197 [OnDock:L.Execute] Running Loop=1