2025-06-18T18:12:25.705Z,1750270345.705 [CommandExec](IMPORTANT): got command restart logs
2025-06-18T18:12:26.101Z,1750270346.101 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-18T18:12:26.102Z,1750270346.102 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-18T18:12:46.312Z,1750270366.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:12:46.341Z,1750270366.341 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:12:46.342Z,1750270366.342 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:12:46.593Z,1750270366.593 [DAT](INFO): DAT read: user:1059>
2025-06-18T18:12:46.594Z,1750270366.594 [DAT](INFO): DAT read: Tx time:18:12:47.5826
2025-06-18T18:12:46.594Z,1750270366.594 [DAT](INFO): Ping request sent.
2025-06-18T18:12:46.594Z,1750270366.594 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:12:46.594Z,1750270366.594 [DAT](INFO): publishing transmit ping time
2025-06-18T18:12:46.595Z,1750270366.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-06-18T18:12:46.845Z,1750270366.845 [DAT](INFO): DAT read: TxSync time:18:12:47.5818
2025-06-18T18:12:46.846Z,1750270366.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251697
2025-06-18T18:12:47.097Z,1750270367.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502727
2025-06-18T18:12:47.349Z,1750270367.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754838
2025-06-18T18:12:47.420Z,1750270367.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:12:47.601Z,1750270367.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006822
2025-06-18T18:12:47.853Z,1750270367.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259044
2025-06-18T18:12:48.105Z,1750270368.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510730
2025-06-18T18:12:48.357Z,1750270368.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762788
2025-06-18T18:12:48.609Z,1750270368.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014745
2025-06-18T18:12:48.861Z,1750270368.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267039
2025-06-18T18:12:49.113Z,1750270369.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518755
2025-06-18T18:12:49.365Z,1750270369.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770833
2025-06-18T18:12:49.618Z,1750270369.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023533
2025-06-18T18:12:49.869Z,1750270369.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274830
2025-06-18T18:12:50.121Z,1750270370.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526813
2025-06-18T18:12:50.373Z,1750270370.373 [DAT](INFO): DAT read: Rx Time:18:12:50.8941
2025-06-18T18:12:50.374Z,1750270370.374 [DAT](INFO): Rx dataTimestamp_ set to:1750270370.373314
2025-06-18T18:12:50.374Z,1750270370.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780067
2025-06-18T18:12:50.625Z,1750270370.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030706
2025-06-18T18:12:50.885Z,1750270370.885 [DAT](INFO): DAT read: 18:12:50.8941 LVL= 30176, 32753, 31650, 32755, AGC= 77, IDX= 472,-0.03, 2.675, 0.943, 1.770, 1.868, PHS= 0.895,-0.878,-0.102, RAW= 115.9, 1.1, CAL= 124.8, -4.9, ROT= 25.2, 4.9
2025-06-18T18:12:50.887Z,1750270370.887 [DAT](INFO): got valid direction response:
18:12:50.8941 LVL= 30176, 32753, 31650, 32755, AGC= 77, IDX= 472,-0.03, 2.675, 0.943, 1.770, 1.868, PHS= 0.895,-0.878,-0.102, RAW= 115.9, 1.1, CAL= 124.8, -4.9, ROT= 25.2, 4.9
2025-06-18T18:12:50.888Z,1750270370.888 [DAT](INFO): DAT read: $Error in header
2025-06-18T18:12:50.888Z,1750270370.888 [DAT](INFO): Received a bad header
2025-06-18T18:12:50.901Z,1750270370.901 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:12:50.902Z,1750270370.902 [DAT](INFO): direction in FSK: [0.901520,0.424223,-0.085417]
2025-06-18T18:12:56.393Z,1750270376.393 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-18T18:12:56.680Z,1750270376.680 [DAT](INFO): Reached modem response timeout
2025-06-18T18:12:57.437Z,1750270377.437 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:12:57.437Z,1750270377.437 [DAT](INFO): response not received
2025-06-18T18:12:57.437Z,1750270377.437 [DAT](ERROR): No response from remote modem.
2025-06-18T18:13:17.609Z,1750270397.609 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-06-18T18:13:18.612Z,1750270398.612 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:13:46.509Z,1750270426.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:13:46.629Z,1750270426.629 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:13:46.629Z,1750270426.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:13:46.729Z,1750270426.729 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.311329
2025-06-18T18:13:46.881Z,1750270426.881 [DAT](INFO): DAT read:
2025-06-18T18:13:46.882Z,1750270426.882 [DAT](INFO): DAT read: Tx time:18:13:47.8331
2025-06-18T18:13:46.883Z,1750270426.883 [DAT](INFO): Ping request sent.
2025-06-18T18:13:46.883Z,1750270426.883 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:13:46.884Z,1750270426.884 [DAT](INFO): DAT read: TxSync time:18:13:47.8323
2025-06-18T18:13:46.885Z,1750270426.885 [DAT](INFO): publishing transmit ping time
2025-06-18T18:13:46.885Z,1750270426.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002598
2025-06-18T18:13:47.133Z,1750270427.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250321
2025-06-18T18:13:47.385Z,1750270427.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501986
2025-06-18T18:13:47.637Z,1750270427.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753982
2025-06-18T18:13:47.733Z,1750270427.733 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:13:47.889Z,1750270427.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006255
2025-06-18T18:13:48.141Z,1750270428.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258277
2025-06-18T18:13:48.393Z,1750270428.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509958
2025-06-18T18:13:48.645Z,1750270428.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761845
2025-06-18T18:13:48.897Z,1750270428.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014167
2025-06-18T18:13:49.149Z,1750270429.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265944
2025-06-18T18:13:49.401Z,1750270429.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517994
2025-06-18T18:13:49.653Z,1750270429.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769898
2025-06-18T18:13:49.905Z,1750270429.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022485
2025-06-18T18:13:50.159Z,1750270430.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276295
2025-06-18T18:13:50.409Z,1750270430.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525927
2025-06-18T18:13:50.661Z,1750270430.661 [DAT](INFO): DAT read: Rx Time:18:13:51.1176
2025-06-18T18:13:50.661Z,1750270430.661 [DAT](INFO): Rx dataTimestamp_ set to:1750270430.661103
2025-06-18T18:13:50.662Z,1750270430.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779074
2025-06-18T18:13:50.913Z,1750270430.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029853
2025-06-18T18:13:51.170Z,1750270431.170 [DAT](INFO): DAT read: 18:13:51.1176 LVL= 21136, 26225, 20018, 28259, AGC= 78, IDX= 169,-0.42, 1.607, 0.109, 1.643, 0.936, PHS= 0.759,-0.780, 0.704, RAW= 148.2, -9.1, CAL= 154.4, -17.4, ROT= 355.6, 17.4
2025-06-18T18:13:51.171Z,1750270431.171 [DAT](INFO): got valid direction response:
18:13:51.1176 LVL= 21136, 26225, 20018, 28259, AGC= 78, IDX= 169,-0.42, 1.607, 0.109, 1.643, 0.936, PHS= 0.759,-0.780, 0.704, RAW= 148.2, -9.1, CAL= 154.4, -17.4, ROT= 355.6, 17.4
2025-06-18T18:13:51.172Z,1750270431.172 [DAT](INFO): DAT read: Bearing 355.6, 17.4 (Local)
2025-06-18T18:13:51.173Z,1750270431.173 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.6, 17.4 (Local)
2025-06-18T18:13:51.174Z,1750270431.174 [DAT](INFO): DAT read: Range 10 to 50 : 660.3 m (Round-trip 880.4 ms) speed 0.2 m/s
2025-06-18T18:13:51.175Z,1750270431.175 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:13:51.176Z,1750270431.176 [DAT](INFO): direction in FSK: [0.951428,-0.073208,-0.299041]
2025-06-18T18:13:51.176Z,1750270431.176 [DAT](INFO): publishing direction and range info
2025-06-18T18:14:04.108Z,1750270444.108 [Radio_Surface](INFO): Powering down
2025-06-18T18:14:17.852Z,1750270457.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:14:18.856Z,1750270458.856 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-18T18:14:18.856Z,1750270458.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:14:46.720Z,1750270486.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:14:46.949Z,1750270486.949 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:14:46.949Z,1750270486.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:14:47.201Z,1750270487.201 [DAT](INFO): DAT read: user:1061>
2025-06-18T18:14:47.202Z,1750270487.202 [DAT](INFO): DAT read: Tx time:18:14:48.1834
2025-06-18T18:14:47.203Z,1750270487.203 [DAT](INFO): Ping request sent.
2025-06-18T18:14:47.203Z,1750270487.203 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:14:47.203Z,1750270487.203 [DAT](INFO): publishing transmit ping time
2025-06-18T18:14:47.204Z,1750270487.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001152
2025-06-18T18:14:47.453Z,1750270487.453 [DAT](INFO): DAT read: TxSync time:18:14:48.1827
2025-06-18T18:14:47.454Z,1750270487.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250914
2025-06-18T18:14:47.705Z,1750270487.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501859
2025-06-18T18:14:47.957Z,1750270487.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753938
2025-06-18T18:14:48.209Z,1750270488.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005982
2025-06-18T18:14:48.461Z,1750270488.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257917
2025-06-18T18:14:48.713Z,1750270488.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509879
2025-06-18T18:14:48.965Z,1750270488.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761954
2025-06-18T18:14:48.980Z,1750270488.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:14:49.217Z,1750270489.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014004
2025-06-18T18:14:49.469Z,1750270489.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265930
2025-06-18T18:14:49.721Z,1750270489.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517893
2025-06-18T18:14:49.973Z,1750270489.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770144
2025-06-18T18:14:49.984Z,1750270489.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:14:50.225Z,1750270490.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021922
2025-06-18T18:14:50.477Z,1750270490.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273977
2025-06-18T18:14:50.729Z,1750270490.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526033
2025-06-18T18:14:50.981Z,1750270490.981 [DAT](INFO): DAT read: Rx Time:18:14:51.4214
2025-06-18T18:14:50.981Z,1750270490.981 [DAT](INFO): Rx dataTimestamp_ set to:1750270490.981039
2025-06-18T18:14:50.982Z,1750270490.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779073
2025-06-18T18:14:51.233Z,1750270491.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030100
2025-06-18T18:14:51.490Z,1750270491.490 [DAT](INFO): DAT read: 18:14:51.4214 LVL= 23152, 31057, 13506, 32755, AGC= 69, IDX= 471,-0.06,-1.852,-2.694,-1.232,-2.137, PHS= 0.373,-0.510, 0.902, RAW= 171.8, -12.3, CAL= 175.0, -17.9, ROT= 335.0, 17.9
2025-06-18T18:14:51.491Z,1750270491.491 [DAT](INFO): got valid direction response:
18:14:51.4214 LVL= 23152, 31057, 13506, 32755, AGC= 69, IDX= 471,-0.06,-1.852,-2.694,-1.232,-2.137, PHS= 0.373,-0.510, 0.902, RAW= 171.8, -12.3, CAL= 175.0, -17.9, ROT= 335.0, 17.9
2025-06-18T18:14:51.492Z,1750270491.492 [DAT](INFO): DAT read: Bearing 335.0, 17.9 (Local)
2025-06-18T18:14:51.493Z,1750270491.493 [DAT](INFO): Local bearing/azimuth received:
Bearing 335.0, 17.9 (Local)
2025-06-18T18:14:51.494Z,1750270491.494 [DAT](INFO): DAT read: Range 10 to 50 : 625.3 m (Round-trip 833.8 ms) speed 0.5 m/s
2025-06-18T18:14:51.495Z,1750270491.495 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:14:51.496Z,1750270491.496 [DAT](INFO): direction in FSK: [0.862437,-0.402161,-0.307357]
2025-06-18T18:14:51.496Z,1750270491.496 [DAT](INFO): publishing direction and range info
2025-06-18T18:15:20.120Z,1750270520.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:15:21.124Z,1750270521.124 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:15:29.119Z,1750270529.119 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-32768-32768,V
2025-06-18T18:15:46.914Z,1750270546.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:15:47.017Z,1750270547.017 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:15:47.018Z,1750270547.018 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:15:47.273Z,1750270547.273 [DAT](INFO): DAT read: user:1062>
2025-06-18T18:15:47.273Z,1750270547.273 [DAT](INFO): DAT read: Tx time:18:15:48.2354
2025-06-18T18:15:47.274Z,1750270547.274 [DAT](INFO): Ping request sent.
2025-06-18T18:15:47.274Z,1750270547.274 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:15:47.274Z,1750270547.274 [DAT](INFO): publishing transmit ping time
2025-06-18T18:15:47.275Z,1750270547.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-06-18T18:15:47.525Z,1750270547.525 [DAT](INFO): DAT read: TxSync time:18:15:48.2346
2025-06-18T18:15:47.526Z,1750270547.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251956
2025-06-18T18:15:47.779Z,1750270547.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504673
2025-06-18T18:15:48.029Z,1750270548.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755228
2025-06-18T18:15:48.284Z,1750270548.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009271
2025-06-18T18:15:48.533Z,1750270548.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259034
2025-06-18T18:15:48.785Z,1750270548.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510973
2025-06-18T18:15:49.037Z,1750270549.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763066
2025-06-18T18:15:49.289Z,1750270549.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015602
2025-06-18T18:15:49.541Z,1750270549.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267216
2025-06-18T18:15:49.793Z,1750270549.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519144
2025-06-18T18:15:50.045Z,1750270550.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770946
2025-06-18T18:15:50.299Z,1750270550.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025061
2025-06-18T18:15:50.549Z,1750270550.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275127
2025-06-18T18:15:50.801Z,1750270550.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526957
2025-06-18T18:15:51.053Z,1750270551.053 [DAT](INFO): DAT read: Rx Time:18:15:51.4320
2025-06-18T18:15:51.054Z,1750270551.054 [DAT](INFO): Rx dataTimestamp_ set to:1750270551.053300
2025-06-18T18:15:51.054Z,1750270551.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780316
2025-06-18T18:15:51.250Z,1750270551.250 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:15:51.308Z,1750270551.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033318
2025-06-18T18:15:51.563Z,1750270551.563 [DAT](INFO): DAT read: 18:15:51.4320 LVL= 13488, 13617, 7010, 13219, AGC= 71, IDX= 15, 0.16,-1.002,-0.928, 0.794,-0.429, PHS=-0.485,-0.451, 1.220, RAW= 211.0, -3.4, CAL= 209.1, -10.3, ROT= 300.9, 10.3
2025-06-18T18:15:51.564Z,1750270551.564 [DAT](INFO): got valid direction response:
18:15:51.4320 LVL= 13488, 13617, 7010, 13219, AGC= 71, IDX= 15, 0.16,-1.002,-0.928, 0.794,-0.429, PHS=-0.485,-0.451, 1.220, RAW= 211.0, -3.4, CAL= 209.1, -10.3, ROT= 300.9, 10.3
2025-06-18T18:15:51.565Z,1750270551.565 [DAT](INFO): DAT read: Bearing 300.9, 10.3 (Local)
2025-06-18T18:15:51.565Z,1750270551.565 [DAT](INFO): Local bearing/azimuth received:
Bearing 300.9, 10.3 (Local)
2025-06-18T18:15:51.567Z,1750270551.567 [DAT](INFO): DAT read: Range 10 to 50 : 594.3 m (Round-trip 792.4 ms) speed 0.4 m/s
2025-06-18T18:15:51.567Z,1750270551.567 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:15:51.568Z,1750270551.568 [DAT](INFO): direction in FSK: [0.505265,-0.844237,-0.178802]
2025-06-18T18:15:51.569Z,1750270551.569 [DAT](INFO): publishing direction and range info
2025-06-18T18:15:52.252Z,1750270552.252 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:16:17.748Z,1750270577.748 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-06-18T18:16:17.749Z,1750270577.749 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-06-18T18:16:17.749Z,1750270577.749 [lineCaptureHoming:InitialDive] Stopped
2025-06-18T18:16:17.749Z,1750270577.749 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-06-18T18:16:17.749Z,1750270577.749 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-06-18T18:16:17.749Z,1750270577.749 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-06-18T18:16:17.749Z,1750270577.749 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-06-18T18:16:17.749Z,1750270577.749 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-06-18T18:16:17.749Z,1750270577.749 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-06-18T18:16:17.750Z,1750270577.750 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-06-18T18:16:17.750Z,1750270577.750 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-06-18T18:16:18.106Z,1750270578.106 [lineCaptureHoming:RepeatHack] Stopped
2025-06-18T18:16:18.106Z,1750270578.106 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-06-18T18:16:18.106Z,1750270578.106 [lineCaptureHoming:RepeatHack:A] Stopped
2025-06-18T18:16:18.107Z,1750270578.107 [lineCaptureHoming:Lap] Running Loop=1
2025-06-18T18:16:18.107Z,1750270578.107 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-06-18T18:16:18.107Z,1750270578.107 [lineCaptureHoming:Lap:A] Running Loop=1
2025-06-18T18:16:18.497Z,1750270578.497 [lineCaptureHoming:Lap:A] Stopped
2025-06-18T18:16:18.497Z,1750270578.497 [lineCaptureHoming:Lap:B] Running Loop=1
2025-06-18T18:16:18.497Z,1750270578.497 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-06-18T18:16:18.977Z,1750270578.977 [lineCaptureHoming:LineCapture] Running Loop=1
2025-06-18T18:16:18.978Z,1750270578.978 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-06-18T18:16:18.978Z,1750270578.978 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-18T18:16:18.978Z,1750270578.978 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-18T18:16:18.978Z,1750270578.978 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-18T18:16:18.978Z,1750270578.978 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-18T18:16:18.978Z,1750270578.978 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-18T18:16:18.978Z,1750270578.978 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-18T18:16:18.978Z,1750270578.978 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-18T18:16:18.978Z,1750270578.978 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-18T18:16:18.978Z,1750270578.978 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-18T18:16:18.978Z,1750270578.978 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-18T18:16:18.979Z,1750270578.979 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-18T18:16:18.979Z,1750270578.979 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-06-18T18:16:18.979Z,1750270578.979 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-18T18:16:18.979Z,1750270578.979 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-18T18:16:18.979Z,1750270578.979 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-06-18T18:16:18.979Z,1750270578.979 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-18T18:16:18.979Z,1750270578.979 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-18T18:16:18.979Z,1750270578.979 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-18T18:16:18.979Z,1750270578.979 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-18T18:16:18.979Z,1750270578.979 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-06-18T18:16:18.984Z,1750270578.984 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-18T18:16:18.984Z,1750270578.984 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-18T18:16:18.984Z,1750270578.984 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-18T18:16:18.984Z,1750270578.984 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-18T18:16:18.985Z,1750270578.985 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-18T18:16:18.985Z,1750270578.985 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-18T18:16:18.985Z,1750270578.985 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-18T18:16:18.985Z,1750270578.985 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-18T18:16:18.986Z,1750270578.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-18T18:16:18.986Z,1750270578.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-18T18:16:18.986Z,1750270578.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-18T18:16:18.987Z,1750270578.987 [lineCaptureHoming:LineCapture:A] Stopped
2025-06-18T18:16:18.987Z,1750270578.987 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-06-18T18:16:19.365Z,1750270579.365 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-18T18:16:19.366Z,1750270579.366 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-18T18:16:19.366Z,1750270579.366 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-18T18:16:19.367Z,1750270579.367 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 594.299988 m (mode 0.000000 count ).
2025-06-18T18:16:19.367Z,1750270579.367 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-18T18:16:19.367Z,1750270579.367 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-18T18:16:19.370Z,1750270579.370 [lineCaptureHoming:LineCapture:B] Stopped
2025-06-18T18:16:19.370Z,1750270579.370 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-06-18T18:16:19.810Z,1750270579.810 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-18T18:16:19.810Z,1750270579.810 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-18T18:16:19.811Z,1750270579.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:19.813Z,1750270579.813 [lineCaptureHoming:LineCapture:D] Stopped
2025-06-18T18:16:19.813Z,1750270579.813 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-06-18T18:16:20.061Z,1750270580.061 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:16:20.061Z,1750270580.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:16:20.137Z,1750270580.137 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-18T18:16:20.137Z,1750270580.137 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-18T18:16:20.139Z,1750270580.139 [lineCaptureHoming:LineCapture:E] Stopped
2025-06-18T18:16:20.139Z,1750270580.139 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-06-18T18:16:20.313Z,1750270580.313 [DAT](INFO): DAT read: user:1063>
2025-06-18T18:16:20.314Z,1750270580.314 [DAT](INFO): DAT read: Tx time:18:16:21.2840
2025-06-18T18:16:20.314Z,1750270580.314 [DAT](INFO): Ping request sent.
2025-06-18T18:16:20.314Z,1750270580.314 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:16:20.314Z,1750270580.314 [DAT](INFO): publishing transmit ping time
2025-06-18T18:16:20.315Z,1750270580.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-06-18T18:16:20.533Z,1750270580.533 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-18T18:16:20.533Z,1750270580.533 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-18T18:16:20.533Z,1750270580.533 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-18T18:16:20.534Z,1750270580.534 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-18T18:16:20.537Z,1750270580.537 [lineCaptureHoming:LineCapture:F] Stopped
2025-06-18T18:16:20.537Z,1750270580.537 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-06-18T18:16:20.537Z,1750270580.537 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-18T18:16:20.537Z,1750270580.537 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-18T18:16:20.537Z,1750270580.537 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-18T18:16:20.537Z,1750270580.537 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-06-18T18:16:20.537Z,1750270580.537 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-18T18:16:20.538Z,1750270580.538 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-06-18T18:16:20.538Z,1750270580.538 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-18T18:16:20.538Z,1750270580.538 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-18T18:16:20.538Z,1750270580.538 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-18T18:16:20.538Z,1750270580.538 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-18T18:16:20.538Z,1750270580.538 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-18T18:16:20.539Z,1750270580.539 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-18T18:16:20.539Z,1750270580.539 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-18T18:16:20.539Z,1750270580.539 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-18T18:16:20.539Z,1750270580.539 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-18T18:16:20.539Z,1750270580.539 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-18T18:16:20.539Z,1750270580.539 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-18T18:16:20.539Z,1750270580.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-18T18:16:20.539Z,1750270580.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-18T18:16:20.540Z,1750270580.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-18T18:16:20.540Z,1750270580.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-18T18:16:20.540Z,1750270580.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-18T18:16:20.540Z,1750270580.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-18T18:16:20.540Z,1750270580.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-18T18:16:20.540Z,1750270580.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-18T18:16:20.541Z,1750270580.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-18T18:16:20.541Z,1750270580.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-18T18:16:20.541Z,1750270580.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-18T18:16:20.541Z,1750270580.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-18T18:16:20.541Z,1750270580.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-18T18:16:20.541Z,1750270580.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-18T18:16:20.541Z,1750270580.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-18T18:16:20.565Z,1750270580.565 [DAT](INFO): DAT read: TxSync time:18:16:21.2833
2025-06-18T18:16:20.566Z,1750270580.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251873
2025-06-18T18:16:20.817Z,1750270580.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502850
2025-06-18T18:16:20.949Z,1750270580.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-18T18:16:20.949Z,1750270580.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-18T18:16:20.949Z,1750270580.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-18T18:16:20.950Z,1750270580.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-18T18:16:20.950Z,1750270580.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-18T18:16:20.950Z,1750270580.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-18T18:16:20.950Z,1750270580.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-18T18:16:20.950Z,1750270580.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-18T18:16:20.950Z,1750270580.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-18T18:16:20.950Z,1750270580.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-18T18:16:20.950Z,1750270580.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-18T18:16:20.950Z,1750270580.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-18T18:16:20.950Z,1750270580.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-18T18:16:20.950Z,1750270580.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-18T18:16:20.950Z,1750270580.950 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-18T18:16:20.950Z,1750270580.950 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-18T18:16:20.951Z,1750270580.951 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-18T18:16:20.951Z,1750270580.951 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-18T18:16:20.951Z,1750270580.951 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-18T18:16:20.951Z,1750270580.951 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-18T18:16:20.951Z,1750270580.951 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-18T18:16:20.951Z,1750270580.951 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-18T18:16:20.951Z,1750270580.951 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-18T18:16:20.951Z,1750270580.951 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-18T18:16:20.951Z,1750270580.951 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-18T18:16:20.953Z,1750270580.953 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.484131 m.
2025-06-18T18:16:21.009Z,1750270581.009 [DockingStepper](INFO): Resume
2025-06-18T18:16:21.069Z,1750270581.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754875
2025-06-18T18:16:21.321Z,1750270581.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007208
2025-06-18T18:16:21.330Z,1750270581.330 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-18T18:16:21.394Z,1750270581.394 [DockingStepper](INFO): Resuming
2025-06-18T18:16:21.573Z,1750270581.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258884
2025-06-18T18:16:21.825Z,1750270581.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510927
2025-06-18T18:16:21.829Z,1750270581.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:21.890Z,1750270581.890 [DockingStepper](INFO): Start
2025-06-18T18:16:21.891Z,1750270581.891 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-18T18:16:22.009Z,1750270582.009 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-18T18:16:22.077Z,1750270582.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763105
2025-06-18T18:16:22.329Z,1750270582.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014945
2025-06-18T18:16:22.330Z,1750270582.330 [DockingStepper](INFO): Starting
2025-06-18T18:16:22.372Z,1750270582.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:16:22.581Z,1750270582.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267456
2025-06-18T18:16:22.633Z,1750270582.633 [DockingStepper](INFO): Starting
2025-06-18T18:16:22.833Z,1750270582.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518861
2025-06-18T18:16:23.049Z,1750270583.049 [DockingStepper](INFO): Starting
2025-06-18T18:16:23.086Z,1750270583.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771255
2025-06-18T18:16:23.101Z,1750270583.101 [DockingStepper](INFO): Init string: /1z7553aE13561N3m50
2025-06-18T18:16:23.337Z,1750270583.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022916
2025-06-18T18:16:23.376Z,1750270583.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:16:23.417Z,1750270583.417 [DockingStepper](INFO): Starting
2025-06-18T18:16:23.589Z,1750270583.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275096
2025-06-18T18:16:23.841Z,1750270583.841 [DAT](INFO): DAT read: Rx Time:18:16:24.4754
2025-06-18T18:16:23.842Z,1750270583.842 [DAT](INFO): Rx dataTimestamp_ set to:1750270583.841371
2025-06-18T18:16:23.842Z,1750270583.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528278
2025-06-18T18:16:24.009Z,1750270584.009 [DockingStepper](INFO): Starting
2025-06-18T18:16:24.093Z,1750270584.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778811
2025-06-18T18:16:24.171Z,1750270584.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:24.346Z,1750270584.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032043
2025-06-18T18:16:24.346Z,1750270584.346 [DockingStepper](INFO): Starting
2025-06-18T18:16:24.605Z,1750270584.605 [DAT](INFO): DAT read: 18:16:24.4754 LVL= 22496, 23649, 16882, 27123, AGC= 77, IDX= 394,-0.48, 0.029, 0.875, 2.433, 1.144, PHS=-1.028,-0.222, 1.286, RAW= 230.0, -0.4, CAL= 230.7, -3.4, ROT= 279.3, 3.4
2025-06-18T18:16:24.606Z,1750270584.606 [DAT](INFO): got valid direction response:
18:16:24.4754 LVL= 22496, 23649, 16882, 27123, AGC= 77, IDX= 394,-0.48, 0.029, 0.875, 2.433, 1.144, PHS=-1.028,-0.222, 1.286, RAW= 230.0, -0.4, CAL= 230.7, -3.4, ROT= 279.3, 3.4
2025-06-18T18:16:24.607Z,1750270584.607 [DAT](INFO): DAT read: Bearing 279.3, 3.4 (Local)
2025-06-18T18:16:24.607Z,1750270584.607 [DAT](INFO): Local bearing/azimuth received:
Bearing 279.3, 3.4 (Local)
2025-06-18T18:16:24.609Z,1750270584.609 [DAT](INFO): DAT read: Range 10 to 50 : 590.4 m (Round-trip 787.3 ms) speed 0.4 m/s
2025-06-18T18:16:24.609Z,1750270584.609 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:16:24.610Z,1750270584.610 [DAT](INFO): direction in FSK: [0.161319,-0.985119,-0.059306]
2025-06-18T18:16:24.611Z,1750270584.611 [DAT](INFO): publishing direction and range info
2025-06-18T18:16:24.614Z,1750270584.614 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:24.614Z,1750270584.614 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:24.614Z,1750270584.614 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:16:24.617Z,1750270584.617 [DockingStepper](INFO): Starting
2025-06-18T18:16:24.644Z,1750270584.644 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-18T18:16:24.849Z,1750270584.849 [DAT](INFO): DAT read: user:1064>
2025-06-18T18:16:24.850Z,1750270584.850 [DAT](INFO): DAT read: Tx time:18:16:25.8340
2025-06-18T18:16:24.850Z,1750270584.850 [DAT](INFO): Ping request sent.
2025-06-18T18:16:24.850Z,1750270584.850 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:16:24.850Z,1750270584.850 [DAT](INFO): publishing transmit ping time
2025-06-18T18:16:24.851Z,1750270584.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-06-18T18:16:25.029Z,1750270585.029 [DockingStepper](INFO): Starting
2025-06-18T18:16:25.101Z,1750270585.101 [DAT](INFO): DAT read: TxSync time:18:16:25.8333
2025-06-18T18:16:25.102Z,1750270585.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251622
2025-06-18T18:16:25.353Z,1750270585.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502713
2025-06-18T18:16:25.449Z,1750270585.449 [DockingStepper](INFO): Changing to mode: 3
2025-06-18T18:16:25.449Z,1750270585.449 [DockingStepper](INFO): Detach mode.
2025-06-18T18:16:25.605Z,1750270585.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754645
2025-06-18T18:16:25.857Z,1750270585.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007064
2025-06-18T18:16:26.109Z,1750270586.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258682
2025-06-18T18:16:26.198Z,1750270586.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:26.361Z,1750270586.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510800
2025-06-18T18:16:26.613Z,1750270586.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763227
2025-06-18T18:16:26.865Z,1750270586.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014893
2025-06-18T18:16:27.118Z,1750270587.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267734
2025-06-18T18:16:27.369Z,1750270587.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519055
2025-06-18T18:16:27.621Z,1750270587.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770985
2025-06-18T18:16:27.873Z,1750270587.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023233
2025-06-18T18:16:28.125Z,1750270588.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274935
2025-06-18T18:16:28.377Z,1750270588.377 [DAT](INFO): DAT read: Rx Time:18:16:29.0234
2025-06-18T18:16:28.377Z,1750270588.377 [DAT](INFO): Rx dataTimestamp_ set to:1750270588.377156
2025-06-18T18:16:28.378Z,1750270588.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527895
2025-06-18T18:16:28.609Z,1750270588.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:28.629Z,1750270588.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778647
2025-06-18T18:16:28.884Z,1750270588.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033369
2025-06-18T18:16:29.135Z,1750270589.135 [DAT](INFO): DAT read: Range 10 to 50 : 588.9 m (Round-trip 785.2 ms) speed 0.0 m/s
2025-06-18T18:16:29.136Z,1750270589.136 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:16:29.137Z,1750270589.137 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:29.137Z,1750270589.137 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:29.137Z,1750270589.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:16:29.385Z,1750270589.385 [DAT](INFO): DAT read: user:1065>
2025-06-18T18:16:29.386Z,1750270589.386 [DAT](INFO): DAT read: Tx time:18:16:30.3840
2025-06-18T18:16:29.386Z,1750270589.386 [DAT](INFO): Ping request sent.
2025-06-18T18:16:29.386Z,1750270589.386 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:16:29.386Z,1750270589.386 [DAT](INFO): publishing transmit ping time
2025-06-18T18:16:29.387Z,1750270589.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-06-18T18:16:29.637Z,1750270589.637 [DAT](INFO): DAT read: TxSync time:18:16:30.3833
2025-06-18T18:16:29.638Z,1750270589.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251756
2025-06-18T18:16:29.890Z,1750270589.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503827
2025-06-18T18:16:30.141Z,1750270590.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754716
2025-06-18T18:16:30.393Z,1750270590.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006797
2025-06-18T18:16:30.625Z,1750270590.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:30.645Z,1750270590.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258885
2025-06-18T18:16:30.900Z,1750270590.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513485
2025-06-18T18:16:31.149Z,1750270591.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762910
2025-06-18T18:16:31.401Z,1750270591.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014778
2025-06-18T18:16:31.653Z,1750270591.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266794
2025-06-18T18:16:31.908Z,1750270591.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521649
2025-06-18T18:16:32.157Z,1750270592.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770914
2025-06-18T18:16:32.409Z,1750270592.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022769
2025-06-18T18:16:32.661Z,1750270592.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274830
2025-06-18T18:16:32.713Z,1750270592.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:32.915Z,1750270592.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528764
2025-06-18T18:16:33.165Z,1750270593.165 [DAT](INFO): DAT read: Rx Time:18:16:33.5659
2025-06-18T18:16:33.166Z,1750270593.166 [DAT](INFO): Rx dataTimestamp_ set to:1750270593.165693
2025-06-18T18:16:33.167Z,1750270593.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780709
2025-06-18T18:16:33.417Z,1750270593.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030797
2025-06-18T18:16:33.674Z,1750270593.674 [DAT](INFO): DAT read: 18:16:33.5660 LVL= 18064, 18865, 15698, 18019, AGC= 68, IDX= 437,-0.07, 0.531, 1.777, 2.414, 1.673, PHS=-1.055, 0.151, 0.738, RAW= 251.3, 2.1, CAL= 255.7, 3.2, ROT= 254.3, -3.2
2025-06-18T18:16:33.675Z,1750270593.675 [DAT](INFO): got valid direction response:
18:16:33.5660 LVL= 18064, 18865, 15698, 18019, AGC= 68, IDX= 437,-0.07, 0.531, 1.777, 2.414, 1.673, PHS=-1.055, 0.151, 0.738, RAW= 251.3, 2.1, CAL= 255.7, 3.2, ROT= 254.3, -3.2
2025-06-18T18:16:33.677Z,1750270593.677 [DAT](INFO): DAT read: Bearing 254.3, -3.2 (Local)
2025-06-18T18:16:33.677Z,1750270593.677 [DAT](INFO): Local bearing/azimuth received:
Bearing 254.3, -3.2 (Local)
2025-06-18T18:16:33.678Z,1750270593.678 [DAT](INFO): DAT read: Range 10 to 50 : 583.2 m (Round-trip 777.7 ms) speed 0.1 m/s
2025-06-18T18:16:33.679Z,1750270593.679 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:16:33.693Z,1750270593.693 [DAT](INFO): direction in FSK: [-0.270179,-0.961191,0.055822]
2025-06-18T18:16:33.693Z,1750270593.693 [DAT](INFO): publishing direction and range info
2025-06-18T18:16:33.696Z,1750270593.696 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:33.697Z,1750270593.697 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:33.697Z,1750270593.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:16:33.923Z,1750270593.923 [DAT](INFO): DAT read: user:1066>
2025-06-18T18:16:33.925Z,1750270593.925 [DAT](INFO): DAT read: Tx time:18:16:34.9341
2025-06-18T18:16:33.926Z,1750270593.926 [DAT](INFO): Ping request sent.
2025-06-18T18:16:33.927Z,1750270593.927 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:16:33.927Z,1750270593.927 [DAT](INFO): publishing transmit ping time
2025-06-18T18:16:33.930Z,1750270593.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002774
2025-06-18T18:16:34.173Z,1750270594.173 [DAT](INFO): DAT read: TxSync time:18:16:34.9333
2025-06-18T18:16:34.174Z,1750270594.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247410
2025-06-18T18:16:34.425Z,1750270594.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498488
2025-06-18T18:16:34.677Z,1750270594.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750568
2025-06-18T18:16:34.932Z,1750270594.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004957
2025-06-18T18:16:35.084Z,1750270595.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:35.181Z,1750270595.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254493
2025-06-18T18:16:35.433Z,1750270595.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506506
2025-06-18T18:16:35.685Z,1750270595.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758626
2025-06-18T18:16:35.940Z,1750270595.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012996
2025-06-18T18:16:36.189Z,1750270596.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262419
2025-06-18T18:16:36.441Z,1750270596.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514421
2025-06-18T18:16:36.693Z,1750270596.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766635
2025-06-18T18:16:36.948Z,1750270596.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020727
2025-06-18T18:16:37.113Z,1750270597.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:37.197Z,1750270597.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271038
2025-06-18T18:16:37.449Z,1750270597.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522531
2025-06-18T18:16:37.701Z,1750270597.701 [DAT](INFO): DAT read: Rx Time:18:16:38.1158
2025-06-18T18:16:37.701Z,1750270597.701 [DAT](INFO): Rx dataTimestamp_ set to:1750270597.701032
2025-06-18T18:16:37.702Z,1750270597.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775558
2025-06-18T18:16:37.956Z,1750270597.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028763
2025-06-18T18:16:38.209Z,1750270598.209 [DAT](INFO): DAT read: Range 10 to 50 : 583.1 m (Round-trip 777.5 ms) speed 0.0 m/s
2025-06-18T18:16:38.210Z,1750270598.210 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:16:38.211Z,1750270598.211 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:38.211Z,1750270598.211 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:38.211Z,1750270598.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:16:38.457Z,1750270598.457 [DAT](INFO): DAT read: user:1067>
2025-06-18T18:16:38.458Z,1750270598.458 [DAT](INFO): DAT read: Tx time:18:16:39.4341
2025-06-18T18:16:38.458Z,1750270598.458 [DAT](INFO): Ping request sent.
2025-06-18T18:16:38.458Z,1750270598.458 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:16:38.458Z,1750270598.458 [DAT](INFO): publishing transmit ping time
2025-06-18T18:16:38.459Z,1750270598.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-06-18T18:16:38.711Z,1750270598.711 [DAT](INFO): DAT read: TxSync time:18:16:39.4333
2025-06-18T18:16:38.711Z,1750270598.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253521
2025-06-18T18:16:38.961Z,1750270598.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502977
2025-06-18T18:16:39.123Z,1750270599.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:39.220Z,1750270599.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761585
2025-06-18T18:16:39.477Z,1750270599.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018738
2025-06-18T18:16:39.729Z,1750270599.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270816
2025-06-18T18:16:39.983Z,1750270599.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.524786
2025-06-18T18:16:40.233Z,1750270600.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775059
2025-06-18T18:16:40.485Z,1750270600.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026943
2025-06-18T18:16:40.738Z,1750270600.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280558
2025-06-18T18:16:40.989Z,1750270600.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530927
2025-06-18T18:16:41.143Z,1750270601.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:41.241Z,1750270601.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783021
2025-06-18T18:16:41.497Z,1750270601.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038729
2025-06-18T18:16:41.590Z,1750270601.590 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 583.10 m. Transitioning docking module to standby.
2025-06-18T18:16:41.753Z,1750270601.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.295434
2025-06-18T18:16:41.986Z,1750270601.986 [DockingStepper](INFO): Changing to mode: 1
2025-06-18T18:16:41.986Z,1750270601.986 [DockingStepper](INFO): Standby mode.
2025-06-18T18:16:42.008Z,1750270602.008 [DAT](INFO): DAT read: Rx Time:18:16:42.6158
2025-06-18T18:16:42.010Z,1750270602.010 [DAT](INFO): Rx dataTimestamp_ set to:1750270602.009159
2025-06-18T18:16:42.014Z,1750270602.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.553706
2025-06-18T18:16:42.049Z,1750270602.049 [DockingStepper](INFO): Commanding positive:54685
2025-06-18T18:16:42.257Z,1750270602.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.798827
2025-06-18T18:16:42.509Z,1750270602.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.050867
2025-06-18T18:16:42.768Z,1750270602.768 [DAT](INFO): DAT read: 18:16:42.6158 LVL= 16000, 14465, 14578, 15651, AGC= 70, IDX= 517, 0.17,-3.036, 3.086, 2.239,-2.280, PHS=-0.668,-0.870,-1.767, RAW= 40.0, 49.1, CAL= 36.8, 53.7, ROT= 113.2, -53.7
2025-06-18T18:16:42.769Z,1750270602.769 [DAT](INFO): got valid direction response:
18:16:42.6158 LVL= 16000, 14465, 14578, 15651, AGC= 70, IDX= 517, 0.17,-3.036, 3.086, 2.239,-2.280, PHS=-0.668,-0.870,-1.767, RAW= 40.0, 49.1, CAL= 36.8, 53.7, ROT= 113.2, -53.7
2025-06-18T18:16:42.769Z,1750270602.769 [DAT](INFO): DAT read: $Error in header
2025-06-18T18:16:42.770Z,1750270602.770 [DAT](INFO): Received a bad header
2025-06-18T18:16:42.785Z,1750270602.785 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:16:42.787Z,1750270602.787 [DAT](INFO): direction in FSK: [-0.233219,0.544140,0.805928]
2025-06-18T18:16:42.790Z,1750270602.790 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:42.790Z,1750270602.790 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:42.790Z,1750270602.790 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:43.013Z,1750270603.013 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:43.013Z,1750270603.013 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:43.013Z,1750270603.013 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:43.162Z,1750270603.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:43.265Z,1750270603.265 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:43.265Z,1750270603.265 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:43.265Z,1750270603.265 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:43.517Z,1750270603.517 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:43.517Z,1750270603.517 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:43.517Z,1750270603.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:43.768Z,1750270603.768 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:43.769Z,1750270603.769 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:43.769Z,1750270603.769 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:44.021Z,1750270604.021 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:44.021Z,1750270604.021 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:44.021Z,1750270604.021 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:44.273Z,1750270604.273 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:44.273Z,1750270604.273 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:44.273Z,1750270604.273 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:44.525Z,1750270604.525 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:44.525Z,1750270604.525 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:44.525Z,1750270604.525 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:44.778Z,1750270604.778 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:44.779Z,1750270604.779 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:44.779Z,1750270604.779 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:45.029Z,1750270605.029 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:45.029Z,1750270605.029 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:45.029Z,1750270605.029 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:45.195Z,1750270605.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:45.281Z,1750270605.281 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:45.281Z,1750270605.281 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:45.281Z,1750270605.281 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:45.535Z,1750270605.535 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:45.535Z,1750270605.535 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:45.535Z,1750270605.535 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:45.789Z,1750270605.789 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:45.789Z,1750270605.789 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:45.789Z,1750270605.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:46.042Z,1750270606.042 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:46.042Z,1750270606.042 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:46.042Z,1750270606.042 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:46.293Z,1750270606.293 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:46.293Z,1750270606.293 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:46.293Z,1750270606.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:46.549Z,1750270606.549 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:46.549Z,1750270606.549 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:46.549Z,1750270606.549 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:46.801Z,1750270606.801 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:46.801Z,1750270606.801 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:46.801Z,1750270606.801 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:47.053Z,1750270607.053 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:47.053Z,1750270607.053 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:47.053Z,1750270607.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:47.213Z,1750270607.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:47.306Z,1750270607.306 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:47.306Z,1750270607.306 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:47.306Z,1750270607.306 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:47.557Z,1750270607.557 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:47.557Z,1750270607.557 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:47.557Z,1750270607.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:47.809Z,1750270607.809 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:47.809Z,1750270607.809 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:47.809Z,1750270607.809 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:47.992Z,1750270607.992 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-06-18T18:16:48.061Z,1750270608.061 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:48.061Z,1750270608.061 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:48.061Z,1750270608.061 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:48.313Z,1750270608.313 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:48.313Z,1750270608.313 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:48.313Z,1750270608.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:16:48.419Z,1750270608.419 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-06-18T18:16:48.419Z,1750270608.419 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-06-18T18:16:48.419Z,1750270608.419 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-06-18T18:16:48.565Z,1750270608.565 [DAT](INFO): Reached modem response timeout
2025-06-18T18:16:48.565Z,1750270608.565 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:16:48.565Z,1750270608.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:16:48.815Z,1750270608.815 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-06-18T18:16:48.815Z,1750270608.815 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-06-18T18:16:48.815Z,1750270608.815 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-06-18T18:16:48.817Z,1750270608.817 [DAT](INFO): DAT read:
2025-06-18T18:16:48.817Z,1750270608.817 [DAT](INFO): Reached modem response timeout
2025-06-18T18:16:48.817Z,1750270608.817 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:16:48.818Z,1750270608.818 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:16:48.866Z,1750270608.866 [DockingStepper](INFO): Pause
2025-06-18T18:16:49.069Z,1750270609.069 [DAT](INFO): Reached modem response timeout
2025-06-18T18:16:49.069Z,1750270609.069 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:16:49.070Z,1750270609.070 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:16:49.285Z,1750270609.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:49.286Z,1750270609.286 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-06-18T18:16:49.286Z,1750270609.286 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-18T18:16:49.286Z,1750270609.286 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-06-18T18:16:49.286Z,1750270609.286 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-18T18:16:49.286Z,1750270609.286 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-18T18:16:49.321Z,1750270609.321 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:16:49.321Z,1750270609.321 [DAT](INFO): response not received
2025-06-18T18:16:49.322Z,1750270609.322 [DAT](INFO): DAT read: user:1069>
2025-06-18T18:16:49.323Z,1750270609.323 [DAT](INFO): DAT read: Tx time:18:16:50.3842
2025-06-18T18:16:49.323Z,1750270609.323 [DAT](INFO): Ping request sent.
2025-06-18T18:16:49.323Z,1750270609.323 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:16:49.323Z,1750270609.323 [DAT](INFO): publishing transmit ping time
2025-06-18T18:16:49.324Z,1750270609.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000988
2025-06-18T18:16:49.573Z,1750270609.573 [DAT](INFO): DAT read: TxSync time:18:16:50.3834
2025-06-18T18:16:49.574Z,1750270609.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250714
2025-06-18T18:16:49.631Z,1750270609.631 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-18T18:16:49.631Z,1750270609.631 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-18T18:16:49.631Z,1750270609.631 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-18T18:16:49.631Z,1750270609.631 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-18T18:16:49.632Z,1750270609.632 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-18T18:16:49.636Z,1750270609.636 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-18T18:16:49.636Z,1750270609.636 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-18T18:16:49.636Z,1750270609.636 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-18T18:16:49.636Z,1750270609.636 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-18T18:16:49.636Z,1750270609.636 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-18T18:16:49.637Z,1750270609.637 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-18T18:16:49.637Z,1750270609.637 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-18T18:16:49.637Z,1750270609.637 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-06-18T18:16:49.637Z,1750270609.637 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-18T18:16:49.638Z,1750270609.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-06-18T18:16:49.638Z,1750270609.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 583.099976 m
2025-06-18T18:16:49.638Z,1750270609.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-06-18T18:16:49.638Z,1750270609.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-06-18T18:16:49.639Z,1750270609.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )
2025-06-18T18:16:49.639Z,1750270609.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-18T18:16:49.639Z,1750270609.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-06-18T18:16:49.644Z,1750270609.644 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-18T18:16:49.645Z,1750270609.645 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.905698,-122.116120
2025-06-18T18:16:49.825Z,1750270609.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501700
2025-06-18T18:16:50.007Z,1750270610.007 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.905698,-122.116120
2025-06-18T18:16:50.009Z,1750270610.009 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-06-18T18:16:50.009Z,1750270610.009 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-18T18:16:50.009Z,1750270610.009 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-06-18T18:16:50.009Z,1750270610.009 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-18T18:16:50.077Z,1750270610.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754186
2025-06-18T18:16:50.329Z,1750270610.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005695
2025-06-18T18:16:50.513Z,1750270610.513 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-18T18:16:50.513Z,1750270610.513 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-18T18:16:50.513Z,1750270610.513 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-18T18:16:50.514Z,1750270610.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-18T18:16:50.515Z,1750270610.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-18T18:16:50.515Z,1750270610.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-18T18:16:50.515Z,1750270610.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-18T18:16:50.515Z,1750270610.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-18T18:16:50.515Z,1750270610.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-18T18:16:50.515Z,1750270610.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-18T18:16:50.515Z,1750270610.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-18T18:16:50.516Z,1750270610.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-18T18:16:50.516Z,1750270610.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-18T18:16:50.516Z,1750270610.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-18T18:16:50.516Z,1750270610.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-18T18:16:50.516Z,1750270610.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-18T18:16:50.516Z,1750270610.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-18T18:16:50.516Z,1750270610.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-18T18:16:50.516Z,1750270610.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-18T18:16:50.517Z,1750270610.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-18T18:16:50.517Z,1750270610.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-18T18:16:50.517Z,1750270610.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-18T18:16:50.518Z,1750270610.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-18T18:16:50.518Z,1750270610.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-18T18:16:50.518Z,1750270610.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-18T18:16:50.518Z,1750270610.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-18T18:16:50.519Z,1750270610.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-06-18T18:16:50.519Z,1750270610.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-18T18:16:50.519Z,1750270610.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-06-18T18:16:50.519Z,1750270610.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-06-18T18:16:50.519Z,1750270610.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-06-18T18:16:50.519Z,1750270610.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-18T18:16:50.520Z,1750270610.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-06-18T18:16:50.521Z,1750270610.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-06-18T18:16:50.521Z,1750270610.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-18T18:16:50.521Z,1750270610.521 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-18T18:16:50.521Z,1750270610.521 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-18T18:16:50.521Z,1750270610.521 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-18T18:16:50.521Z,1750270610.521 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-18T18:16:50.521Z,1750270610.521 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-18T18:16:50.521Z,1750270610.521 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-18T18:16:50.522Z,1750270610.522 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-18T18:16:50.522Z,1750270610.522 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-06-18T18:16:50.522Z,1750270610.522 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-18T18:16:50.581Z,1750270610.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257875
2025-06-18T18:16:50.825Z,1750270610.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 583.099976 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-06-18T18:16:50.827Z,1750270610.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 577.812927 m,
bearing: 294.724126 deg,
lat: 36.905849 deg,
lon: -122.115875 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-06-18T18:16:50.828Z,1750270610.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:50.831Z,1750270610.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.099915 m,
bearing: 313.206161 deg,
approach rate: nan m/s,
LOS rate: nan deg/s,
cmd heading: 53.250822 deg,
new cmd heading: 313.206161 deg.
2025-06-18T18:16:50.833Z,1750270610.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509866
2025-06-18T18:16:50.832Z,1750270610.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466479 target range: 577.812927 and range: 583.10 m.
2025-06-18T18:16:50.850Z,1750270610.850 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-06-18T18:16:50.851Z,1750270610.851 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-06-18T18:16:51.049Z,1750270611.049 [DockingStepper](INFO): Resume
2025-06-18T18:16:51.085Z,1750270611.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761799
2025-06-18T18:16:51.277Z,1750270611.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:51.280Z,1750270611.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.125732 m,
bearing: 313.197629 deg,
approach rate: 0.056928 m/s,
LOS rate: nan deg/s,
cmd heading: 313.206165 deg,
new cmd heading: 313.197629 deg.
2025-06-18T18:16:51.281Z,1750270611.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466330 target range: 577.812927 and range: 583.10 m.
2025-06-18T18:16:51.338Z,1750270611.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014847
2025-06-18T18:16:51.353Z,1750270611.353 [DockingStepper](INFO): Resuming
2025-06-18T18:16:51.589Z,1750270611.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265708
2025-06-18T18:16:51.620Z,1750270611.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:51.622Z,1750270611.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:51.630Z,1750270611.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.145508 m,
bearing: 313.191153 deg,
approach rate: 0.057354 m/s,
LOS rate: nan deg/s,
cmd heading: 313.197641 deg,
new cmd heading: 313.191153 deg.
2025-06-18T18:16:51.631Z,1750270611.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466217 target range: 577.812927 and range: 583.10 m.
2025-06-18T18:16:51.721Z,1750270611.721 [DockingStepper](INFO): Start
2025-06-18T18:16:51.721Z,1750270611.721 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-18T18:16:51.837Z,1750270611.837 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-18T18:16:51.843Z,1750270611.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519692
2025-06-18T18:16:52.051Z,1750270612.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:52.057Z,1750270612.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.168823 m,
bearing: 313.183583 deg,
approach rate: 0.054419 m/s,
LOS rate: nan deg/s,
cmd heading: 313.191166 deg,
new cmd heading: 313.183583 deg.
2025-06-18T18:16:52.058Z,1750270612.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466084 target range: 577.812927 and range: 583.10 m.
2025-06-18T18:16:52.093Z,1750270612.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769947
2025-06-18T18:16:52.265Z,1750270612.265 [DockingStepper](INFO): Starting
2025-06-18T18:16:52.346Z,1750270612.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022500
2025-06-18T18:16:52.475Z,1750270612.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:52.478Z,1750270612.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.195435 m,
bearing: 313.175499 deg,
approach rate: 0.062720 m/s,
LOS rate: nan deg/s,
cmd heading: 313.183571 deg,
new cmd heading: 313.175499 deg.
2025-06-18T18:16:52.478Z,1750270612.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465944 target range: 577.812927 and range: 583.10 m.
2025-06-18T18:16:52.597Z,1750270612.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273805
2025-06-18T18:16:52.657Z,1750270612.657 [DockingStepper](INFO): Starting
2025-06-18T18:16:52.840Z,1750270612.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:52.843Z,1750270612.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.217041 m,
bearing: 313.168913 deg,
approach rate: 0.059122 m/s,
LOS rate: nan deg/s,
cmd heading: 313.175512 deg,
new cmd heading: 313.168913 deg.
2025-06-18T18:16:52.844Z,1750270612.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465828 target range: 577.812927 and range: 583.10 m.
2025-06-18T18:16:52.849Z,1750270612.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525981
2025-06-18T18:16:52.890Z,1750270612.890 [DockingStepper](INFO): Starting
2025-06-18T18:16:52.940Z,1750270612.940 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-18T18:16:53.101Z,1750270613.101 [DAT](INFO): DAT read: Rx Time:18:16:53.5732
2025-06-18T18:16:53.101Z,1750270613.101 [DAT](INFO): Rx dataTimestamp_ set to:1750270613.101060
2025-06-18T18:16:53.102Z,1750270613.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778865
2025-06-18T18:16:53.298Z,1750270613.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:53.301Z,1750270613.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.245300 m,
bearing: 313.160929 deg,
approach rate: 0.061776 m/s,
LOS rate: nan deg/s,
cmd heading: 313.168900 deg,
new cmd heading: 313.160929 deg.
2025-06-18T18:16:53.302Z,1750270613.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465689 target range: 577.812927 and range: 583.10 m.
2025-06-18T18:16:53.353Z,1750270613.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029959
2025-06-18T18:16:53.373Z,1750270613.373 [DockingStepper](INFO): Starting
2025-06-18T18:16:53.512Z,1750270613.512 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:16:53.606Z,1750270613.606 [DAT](INFO): DAT read: Range 10 to 50 : 588.6 m (Round-trip 784.8 ms) speed 0.0 m/s
2025-06-18T18:16:53.607Z,1750270613.607 [DAT](INFO): DAT read: user:1070>
2025-06-18T18:16:53.607Z,1750270613.607 [DAT](INFO): DAT read: Tx time:18:16:54.6858
2025-06-18T18:16:53.612Z,1750270613.612 [DAT](INFO): Ping request sent.
2025-06-18T18:16:53.612Z,1750270613.612 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:16:53.613Z,1750270613.613 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:16:53.613Z,1750270613.613 [DAT](INFO): publishing transmit ping time
2025-06-18T18:16:53.614Z,1750270613.614 [DAT](INFO): publishing transmit ping time
2025-06-18T18:16:53.658Z,1750270613.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:53.665Z,1750270613.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 588.599976 m,
deltaT: 15.397921 s,
deltaX: 5.500000 m,
approachRate: 0.357191 m/s,
rangeRepo size: 2
2025-06-18T18:16:53.666Z,1750270613.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:53.672Z,1750270613.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.266846 m,
bearing: 313.154823 deg,
approach rate: 0.059492 m/s,
LOS rate: nan deg/s,
cmd heading: 313.160922 deg,
new cmd heading: 313.154823 deg.
2025-06-18T18:16:53.673Z,1750270613.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465583 target range: 577.812927 and range: 588.60 m.
2025-06-18T18:16:53.726Z,1750270613.726 [DockingStepper](INFO): Starting
2025-06-18T18:16:53.857Z,1750270613.857 [DAT](INFO): DAT read: TxSync time:18:16:54.6850
2025-06-18T18:16:53.857Z,1750270613.857 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:53.858Z,1750270613.858 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:53.858Z,1750270613.858 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:16:54.061Z,1750270614.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:54.063Z,1750270614.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.292480 m,
bearing: 313.147604 deg,
approach rate: 0.063928 m/s,
LOS rate: nan deg/s,
cmd heading: 313.154830 deg,
new cmd heading: 313.147604 deg.
2025-06-18T18:16:54.064Z,1750270614.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465457 target range: 577.812927 and range: 588.60 m.
2025-06-18T18:16:54.105Z,1750270614.105 [DockingStepper](INFO): Starting
2025-06-18T18:16:54.110Z,1750270614.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497769
2025-06-18T18:16:54.361Z,1750270614.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748335
2025-06-18T18:16:54.479Z,1750270614.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:54.482Z,1750270614.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.317444 m,
bearing: 313.139083 deg,
approach rate: 0.059734 m/s,
LOS rate: nan deg/s,
cmd heading: 313.147617 deg,
new cmd heading: 313.139083 deg.
2025-06-18T18:16:54.482Z,1750270614.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465308 target range: 577.812927 and range: 588.60 m.
2025-06-18T18:16:54.516Z,1750270614.516 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:16:54.549Z,1750270614.549 [DockingStepper](INFO): Starting
2025-06-18T18:16:54.576Z,1750270614.576 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-18T18:16:54.613Z,1750270614.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000366
2025-06-18T18:16:54.865Z,1750270614.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252380
2025-06-18T18:16:54.947Z,1750270614.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:54.950Z,1750270614.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.346069 m,
bearing: 313.129527 deg,
approach rate: 0.061099 m/s,
LOS rate: nan deg/s,
cmd heading: 313.139093 deg,
new cmd heading: 313.129527 deg.
2025-06-18T18:16:54.951Z,1750270614.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465141 target range: 577.812927 and range: 588.60 m.
2025-06-18T18:16:54.997Z,1750270614.997 [DockingStepper](INFO): Starting
2025-06-18T18:16:55.117Z,1750270615.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504532
2025-06-18T18:16:55.365Z,1750270615.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:55.367Z,1750270615.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.375305 m,
bearing: 313.119083 deg,
approach rate: 0.070010 m/s,
LOS rate: nan deg/s,
cmd heading: 313.129531 deg,
new cmd heading: 313.119083 deg.
2025-06-18T18:16:55.369Z,1750270615.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756444
2025-06-18T18:16:55.373Z,1750270615.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464959 target range: 577.812927 and range: 588.60 m.
2025-06-18T18:16:55.425Z,1750270615.425 [DockingStepper](INFO): Changing to mode: 1
2025-06-18T18:16:55.425Z,1750270615.425 [DockingStepper](INFO): Standby mode.
2025-06-18T18:16:55.621Z,1750270615.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008347
2025-06-18T18:16:55.686Z,1750270615.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:55.688Z,1750270615.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:55.691Z,1750270615.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.400391 m,
bearing: 313.110375 deg,
approach rate: 0.077567 m/s,
LOS rate: nan deg/s,
cmd heading: 313.119094 deg,
new cmd heading: 313.110375 deg.
2025-06-18T18:16:55.708Z,1750270615.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464807 target range: 577.812927 and range: 588.60 m.
2025-06-18T18:16:55.873Z,1750270615.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260838
2025-06-18T18:16:56.080Z,1750270616.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:56.082Z,1750270616.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.430481 m,
bearing: 313.100267 deg,
approach rate: 0.076913 m/s,
LOS rate: nan deg/s,
cmd heading: 313.110379 deg,
new cmd heading: 313.100267 deg.
2025-06-18T18:16:56.083Z,1750270616.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464631 target range: 577.812927 and range: 588.60 m.
2025-06-18T18:16:56.125Z,1750270616.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512564
2025-06-18T18:16:56.377Z,1750270616.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764459
2025-06-18T18:16:56.503Z,1750270616.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:56.505Z,1750270616.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.468384 m,
bearing: 313.087119 deg,
approach rate: 0.089630 m/s,
LOS rate: nan deg/s,
cmd heading: 313.100270 deg,
new cmd heading: 313.087119 deg.
2025-06-18T18:16:56.506Z,1750270616.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464401 target range: 577.812927 and range: 588.60 m.
2025-06-18T18:16:56.634Z,1750270616.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021103
2025-06-18T18:16:56.879Z,1750270616.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:56.882Z,1750270616.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269131
2025-06-18T18:16:56.886Z,1750270616.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.503235 m,
bearing: 313.075562 deg,
approach rate: 0.092573 m/s,
LOS rate: nan deg/s,
cmd heading: 313.087129 deg,
new cmd heading: 313.075562 deg.
2025-06-18T18:16:56.887Z,1750270616.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464200 target range: 577.812927 and range: 588.60 m.
2025-06-18T18:16:57.133Z,1750270617.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520338
2025-06-18T18:16:57.354Z,1750270617.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:57.357Z,1750270617.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.555237 m,
bearing: 313.058459 deg,
approach rate: 0.109537 m/s,
LOS rate: nan deg/s,
cmd heading: 313.075572 deg,
new cmd heading: 313.058459 deg.
2025-06-18T18:16:57.357Z,1750270617.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463901 target range: 577.812927 and range: 588.60 m.
2025-06-18T18:16:57.385Z,1750270617.385 [DAT](INFO): DAT read: Rx Time:18:16:57.8679
2025-06-18T18:16:57.385Z,1750270617.385 [DAT](INFO): Rx dataTimestamp_ set to:1750270617.385013
2025-06-18T18:16:57.386Z,1750270617.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773366
2025-06-18T18:16:57.637Z,1750270617.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024241
2025-06-18T18:16:57.682Z,1750270617.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:57.684Z,1750270617.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.592041 m,
bearing: 313.046778 deg,
approach rate: 0.112228 m/s,
LOS rate: nan deg/s,
cmd heading: 313.058469 deg,
new cmd heading: 313.046778 deg.
2025-06-18T18:16:57.685Z,1750270617.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463697 target range: 577.812927 and range: 588.60 m.
2025-06-18T18:16:57.898Z,1750270617.898 [DAT](INFO): DAT read: 18:16:57.8679 LVL= 22560, 21569, 18194, 24355, AGC= 68, IDX= 379, 0.10, 1.231, 2.894,-2.434, 2.727, PHS=-1.408, 0.213, 1.119, RAW= 249.3, 0.7, CAL= 252.7, 1.5, ROT= 257.3, -1.5
2025-06-18T18:16:57.899Z,1750270617.899 [DAT](INFO): got valid direction response:
18:16:57.8679 LVL= 22560, 21569, 18194, 24355, AGC= 68, IDX= 379, 0.10, 1.231, 2.894,-2.434, 2.727, PHS=-1.408, 0.213, 1.119, RAW= 249.3, 0.7, CAL= 252.7, 1.5, ROT= 257.3, -1.5
2025-06-18T18:16:57.901Z,1750270617.901 [DAT](INFO): DAT read: Bearing 257.3, -1.5 (Local)
2025-06-18T18:16:57.902Z,1750270617.902 [DAT](INFO): Local bearing/azimuth received:
Bearing 257.3, -1.5 (Local)
2025-06-18T18:16:57.904Z,1750270617.904 [DAT](INFO): DAT read: Range 10 to 50 : 583.5 m (Round-trip 778.0 ms) speed 0.0 m/s
2025-06-18T18:16:57.905Z,1750270617.905 [DAT](INFO): DAT read: user:1071>
2025-06-18T18:16:57.906Z,1750270617.906 [DAT](INFO): DAT read: Tx time:18:16:58.9842
2025-06-18T18:16:57.907Z,1750270617.907 [DAT](INFO): Ping request sent.
2025-06-18T18:16:57.907Z,1750270617.907 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:16:57.907Z,1750270617.907 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:16:57.908Z,1750270617.908 [DAT](INFO): direction in FSK: [-0.219771,-0.975200,0.026177]
2025-06-18T18:16:57.909Z,1750270617.909 [DAT](INFO): publishing transmit ping time
2025-06-18T18:16:57.909Z,1750270617.909 [DAT](INFO): publishing direction and range info
2025-06-18T18:16:57.912Z,1750270617.912 [DAT](INFO): publishing transmit ping time
2025-06-18T18:16:57.912Z,1750270617.912 [DAT](INFO): publishing direction and range info
2025-06-18T18:16:58.121Z,1750270618.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 583.500000 m,
deltaT: 4.284430 s,
deltaX: -5.099976 m,
approachRate: -1.190351 m/s,
rangeRepo size: 3
2025-06-18T18:16:58.122Z,1750270618.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:58.125Z,1750270618.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.642517 m,
bearing: 313.031246 deg,
approach rate: 0.114980 m/s,
LOS rate: nan deg/s,
cmd heading: 313.046776 deg,
new cmd heading: 313.031246 deg.
2025-06-18T18:16:58.125Z,1750270618.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463426 target range: 577.812927 and range: 583.50 m.
2025-06-18T18:16:58.141Z,1750270618.141 [DAT](INFO): DAT read: TxSync time:18:16:58.9834
2025-06-18T18:16:58.519Z,1750270618.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:16:58.521Z,1750270618.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:58.524Z,1750270618.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.691467 m,
bearing: 313.015335 deg,
approach rate: 0.122245 m/s,
LOS rate: nan deg/s,
cmd heading: 313.031258 deg,
new cmd heading: 313.015335 deg.
2025-06-18T18:16:58.525Z,1750270618.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463148 target range: 577.812927 and range: 583.50 m.
2025-06-18T18:16:58.645Z,1750270618.645 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:16:58.645Z,1750270618.645 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:16:58.645Z,1750270618.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:16:58.897Z,1750270618.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990281
2025-06-18T18:16:58.918Z,1750270618.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:58.921Z,1750270618.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.740051 m,
bearing: 312.999588 deg,
approach rate: 0.122344 m/s,
LOS rate: nan deg/s,
cmd heading: 313.015330 deg,
new cmd heading: 312.999588 deg.
2025-06-18T18:16:58.922Z,1750270618.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462873 target range: 577.812927 and range: 583.50 m.
2025-06-18T18:16:59.149Z,1750270619.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242383
2025-06-18T18:16:59.401Z,1750270619.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494172
2025-06-18T18:16:59.455Z,1750270619.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:59.458Z,1750270619.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.808655 m,
bearing: 312.976334 deg,
approach rate: 0.127808 m/s,
LOS rate: nan deg/s,
cmd heading: 312.999593 deg,
new cmd heading: 312.976334 deg.
2025-06-18T18:16:59.458Z,1750270619.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462468 target range: 577.812927 and range: 583.50 m.
2025-06-18T18:16:59.653Z,1750270619.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746093
2025-06-18T18:16:59.905Z,1750270619.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998752
2025-06-18T18:16:59.929Z,1750270619.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:16:59.932Z,1750270619.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.866028 m,
bearing: 312.956706 deg,
approach rate: 0.120944 m/s,
LOS rate: nan deg/s,
cmd heading: 312.976343 deg,
new cmd heading: 312.956706 deg.
2025-06-18T18:16:59.933Z,1750270619.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462125 target range: 577.812927 and range: 583.50 m.
2025-06-18T18:17:00.137Z,1750270620.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:17:00.140Z,1750270620.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.894348 m,
bearing: 312.946766 deg,
approach rate: 0.136311 m/s,
LOS rate: nan deg/s,
cmd heading: 312.956700 deg,
new cmd heading: 312.946766 deg.
2025-06-18T18:17:00.141Z,1750270620.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461951 target range: 577.812927 and range: 583.50 m.
2025-06-18T18:17:00.158Z,1750270620.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251029
2025-06-18T18:17:00.409Z,1750270620.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502197
2025-06-18T18:17:00.566Z,1750270620.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:00.569Z,1750270620.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:17:00.571Z,1750270620.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.939331 m,
bearing: 312.927643 deg,
approach rate: 0.104200 m/s,
LOS rate: nan deg/s,
cmd heading: 312.946755 deg,
new cmd heading: 312.927643 deg.
2025-06-18T18:17:00.572Z,1750270620.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461617 target range: 577.812927 and range: 583.50 m.
2025-06-18T18:17:00.662Z,1750270620.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755232
2025-06-18T18:17:00.913Z,1750270620.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006114
2025-06-18T18:17:00.935Z,1750270620.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:17:00.938Z,1750270620.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 581.975708 m,
bearing: 312.911314 deg,
approach rate: 0.099311 m/s,
LOS rate: nan deg/s,
cmd heading: 312.927630 deg,
new cmd heading: 312.911314 deg.
2025-06-18T18:17:00.939Z,1750270620.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461333 target range: 577.812927 and range: 583.50 m.
2025-06-18T18:17:01.165Z,1750270621.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258731
2025-06-18T18:17:01.417Z,1750270621.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510244
2025-06-18T18:17:01.422Z,1750270621.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:17:01.429Z,1750270621.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 582.018921 m,
bearing: 312.888929 deg,
approach rate: 0.088698 m/s,
LOS rate: nan deg/s,
cmd heading: 312.911320 deg,
new cmd heading: 312.888929 deg.
2025-06-18T18:17:01.430Z,1750270621.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460942 target range: 577.812927 and range: 583.50 m.
2025-06-18T18:17:01.670Z,1750270621.670 [DAT](INFO): DAT read: Rx Time:18:17:02.1667
2025-06-18T18:17:01.670Z,1750270621.670 [DAT](INFO): Rx dataTimestamp_ set to:1750270621.669745
2025-06-18T18:17:01.671Z,1750270621.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763935
2025-06-18T18:17:01.758Z,1750270621.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:17:01.760Z,1750270621.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 582.049866 m,
bearing: 312.871881 deg,
approach rate: 0.092251 m/s,
LOS rate: nan deg/s,
cmd heading: 312.888917 deg,
new cmd heading: 312.871881 deg.
2025-06-18T18:17:01.761Z,1750270621.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460644 target range: 577.812927 and range: 583.50 m.
2025-06-18T18:17:01.921Z,1750270621.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.014044
2025-06-18T18:17:02.167Z,1750270622.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.81 m.
2025-06-18T18:17:02.179Z,1750270622.179 [DAT](INFO): DAT read: 18:17:02.1667 LVL= 25712, 24817, 14546, 26515, AGC= 74, IDX= 447, 0.03, 1.808,-3.062,-1.852,-3.071, PHS=-1.317, 0.056, 1.216, RAW= 242.8, 0.4, CAL= 245.9, 1.0, ROT= 264.1, -1.0
2025-06-18T18:17:02.180Z,1750270622.180 [DAT](INFO): got valid direction response:
18:17:02.1667 LVL= 25712, 24817, 14546, 26515, AGC= 74, IDX= 447, 0.03, 1.808,-3.062,-1.852,-3.071, PHS=-1.317, 0.056, 1.216, RAW= 242.8, 0.4, CAL= 245.9, 1.0, ROT= 264.1, -1.0
2025-06-18T18:17:02.181Z,1750270622.181 [DAT](INFO): DAT read: Bearing 264.1, -1.0 (Local)
2025-06-18T18:17:02.181Z,1750270622.181 [DAT](INFO): Local bearing/azimuth received:
Bearing 264.1, -1.0 (Local)
2025-06-18T18:17:02.183Z,1750270622.183 [DAT](INFO): DAT read: Range 10 to 50 : 583.8 m (Round-trip 778.4 ms) speed 0.1 m/s
2025-06-18T18:17:02.184Z,1750270622.184 [DAT](INFO): DAT read: user:1072>
2025-06-18T18:17:02.185Z,1750270622.185 [DAT](INFO): DAT read: Tx time:18:17:03.2842
2025-06-18T18:17:02.185Z,1750270622.185 [DAT](INFO): Ping request sent.
2025-06-18T18:17:02.185Z,1750270622.185 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:17:02.185Z,1750270622.185 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:17:02.186Z,1750270622.186 [DAT](INFO): direction in FSK: [-0.102777,-0.994551,0.017452]
2025-06-18T18:17:02.186Z,1750270622.186 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:02.187Z,1750270622.187 [DAT](INFO): publishing direction and range info
2025-06-18T18:17:02.190Z,1750270622.190 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:02.191Z,1750270622.191 [DAT](INFO): publishing direction and range info
2025-06-18T18:17:02.201Z,1750270622.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 577.812927 m,
nav range: 582.082703 m,
bearing: 312.852512 deg,
approach rate: 0.080140 m/s,
LOS rate: nan deg/s,
cmd heading: 312.871869 deg,
new cmd heading: 312.852512 deg.
2025-06-18T18:17:02.202Z,1750270622.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460307 target range: 577.812927 and range: 583.50 m.
2025-06-18T18:17:02.429Z,1750270622.429 [DAT](INFO): DAT read: TxSync time:18:17:03.2834
2025-06-18T18:17:02.626Z,1750270622.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 583.799988 m,
deltaT: 4.283639 s,
deltaX: 0.299988 m,
approachRate: 0.070031 m/s,
rangeRepo size: 4
2025-06-18T18:17:02.632Z,1750270622.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 578.409363 m,
bearing: 319.483640 deg,
lat: 36.905849 deg,
lon: -122.115805 deg,
deltaT: 28.504107 s,
deltaX: 0.596436 m,
approachRate: 0.020925 m/s,
posRepo size: 2
2025-06-18T18:17:02.633Z,1750270622.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:02.634Z,1750270622.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 319.483640 deg.
2025-06-18T18:17:02.635Z,1750270622.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576041 target range: 578.409363 and range: 583.80 m.
2025-06-18T18:17:02.982Z,1750270622.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:02.984Z,1750270622.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:02.987Z,1750270622.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.581543 m,
bearing: 313.233000 deg,
approach rate: 0.081082 m/s,
LOS rate: -0.055134 deg/s,
cmd heading: 319.483628 deg,
new cmd heading: 319.424238 deg.
2025-06-18T18:17:02.988Z,1750270622.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575005 target range: 578.409363 and range: 583.80 m.
2025-06-18T18:17:03.181Z,1750270623.181 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:03.181Z,1750270623.181 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:03.181Z,1750270623.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:03.433Z,1750270623.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247883
2025-06-18T18:17:03.437Z,1750270623.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:03.439Z,1750270623.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.616699 m,
bearing: 313.210208 deg,
approach rate: 0.077672 m/s,
LOS rate: -0.050353 deg/s,
cmd heading: 319.424233 deg,
new cmd heading: 319.355860 deg.
2025-06-18T18:17:03.441Z,1750270623.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.573811 target range: 578.409363 and range: 583.80 m.
2025-06-18T18:17:03.685Z,1750270623.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500233
2025-06-18T18:17:03.773Z,1750270623.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:03.775Z,1750270623.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.641541 m,
bearing: 313.193096 deg,
approach rate: 0.073890 m/s,
LOS rate: -0.050897 deg/s,
cmd heading: 319.355849 deg,
new cmd heading: 319.304516 deg.
2025-06-18T18:17:03.777Z,1750270623.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.572915 target range: 578.409363 and range: 583.80 m.
2025-06-18T18:17:03.937Z,1750270623.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751835
2025-06-18T18:17:04.175Z,1750270624.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:04.178Z,1750270624.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.668335 m,
bearing: 313.172759 deg,
approach rate: 0.066665 m/s,
LOS rate: -0.050597 deg/s,
cmd heading: 319.304514 deg,
new cmd heading: 319.243505 deg.
2025-06-18T18:17:04.178Z,1750270624.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.571850 target range: 578.409363 and range: 583.80 m.
2025-06-18T18:17:04.189Z,1750270624.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003877
2025-06-18T18:17:04.441Z,1750270624.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256497
2025-06-18T18:17:04.602Z,1750270624.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:04.605Z,1750270624.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.700867 m,
bearing: 313.150247 deg,
approach rate: 0.076182 m/s,
LOS rate: -0.052715 deg/s,
cmd heading: 319.243506 deg,
new cmd heading: 319.175974 deg.
2025-06-18T18:17:04.606Z,1750270624.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.570672 target range: 578.409363 and range: 583.80 m.
2025-06-18T18:17:04.694Z,1750270624.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509373
2025-06-18T18:17:04.945Z,1750270624.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759780
2025-06-18T18:17:04.994Z,1750270624.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:04.997Z,1750270624.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:04.999Z,1750270624.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.728333 m,
bearing: 313.129443 deg,
approach rate: 0.069532 m/s,
LOS rate: -0.052664 deg/s,
cmd heading: 319.175969 deg,
new cmd heading: 319.113561 deg.
2025-06-18T18:17:05.001Z,1750270625.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.569582 target range: 578.409363 and range: 583.80 m.
2025-06-18T18:17:05.198Z,1750270625.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012839
2025-06-18T18:17:05.449Z,1750270625.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263720
2025-06-18T18:17:05.490Z,1750270625.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:05.493Z,1750270625.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.769287 m,
bearing: 313.103055 deg,
approach rate: 0.083050 m/s,
LOS rate: -0.053506 deg/s,
cmd heading: 319.113569 deg,
new cmd heading: 319.034412 deg.
2025-06-18T18:17:05.494Z,1750270625.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568201 target range: 578.409363 and range: 583.80 m.
2025-06-18T18:17:05.701Z,1750270625.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515751
2025-06-18T18:17:05.830Z,1750270625.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:05.839Z,1750270625.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.792908 m,
bearing: 313.085004 deg,
approach rate: 0.069392 m/s,
LOS rate: -0.053030 deg/s,
cmd heading: 319.034421 deg,
new cmd heading: 318.980268 deg.
2025-06-18T18:17:05.857Z,1750270625.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.567256 target range: 578.409363 and range: 583.80 m.
2025-06-18T18:17:05.953Z,1750270625.953 [DAT](INFO): DAT read: Rx Time:18:17:06.4672
2025-06-18T18:17:05.953Z,1750270625.953 [DAT](INFO): Rx dataTimestamp_ set to:1750270625.953026
2025-06-18T18:17:05.954Z,1750270625.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768877
2025-06-18T18:17:06.208Z,1750270626.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023235
2025-06-18T18:17:06.311Z,1750270626.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:06.313Z,1750270626.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.819763 m,
bearing: 313.059780 deg,
approach rate: 0.055907 m/s,
LOS rate: -0.052507 deg/s,
cmd heading: 318.980271 deg,
new cmd heading: 318.904604 deg.
2025-06-18T18:17:06.314Z,1750270626.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.565935 target range: 578.409363 and range: 583.80 m.
2025-06-18T18:17:06.458Z,1750270626.458 [DAT](INFO): DAT read: Range 10 to 50 : 584.1 m (Round-trip 778.8 ms) speed 0.0 m/s
2025-06-18T18:17:06.459Z,1750270626.459 [DAT](INFO): DAT read: user:1073>
2025-06-18T18:17:06.460Z,1750270626.460 [DAT](INFO): DAT read: Tx time:18:17:07.5843
2025-06-18T18:17:06.460Z,1750270626.460 [DAT](INFO): Ping request sent.
2025-06-18T18:17:06.460Z,1750270626.460 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:17:06.461Z,1750270626.461 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:17:06.461Z,1750270626.461 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:06.461Z,1750270626.461 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:06.709Z,1750270626.709 [DAT](INFO): DAT read: TxSync time:18:17:07.5835
2025-06-18T18:17:06.746Z,1750270626.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 584.099976 m,
deltaT: 4.284064 s,
deltaX: 0.299988 m,
approachRate: 0.070024 m/s,
rangeRepo size: 4
2025-06-18T18:17:06.746Z,1750270626.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:06.754Z,1750270626.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.847839 m,
bearing: 313.036597 deg,
approach rate: 0.064641 m/s,
LOS rate: -0.053372 deg/s,
cmd heading: 318.904592 deg,
new cmd heading: 318.835047 deg.
2025-06-18T18:17:06.755Z,1750270626.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.564722 target range: 578.409363 and range: 584.10 m.
2025-06-18T18:17:07.141Z,1750270627.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:07.143Z,1750270627.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:07.150Z,1750270627.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.872925 m,
bearing: 313.013891 deg,
approach rate: 0.062977 m/s,
LOS rate: -0.057001 deg/s,
cmd heading: 318.835061 deg,
new cmd heading: 318.766946 deg.
2025-06-18T18:17:07.151Z,1750270627.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.563533 target range: 578.409363 and range: 584.10 m.
2025-06-18T18:17:07.213Z,1750270627.213 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:07.213Z,1750270627.213 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:07.213Z,1750270627.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:07.465Z,1750270627.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004864
2025-06-18T18:17:07.547Z,1750270627.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:07.550Z,1750270627.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.898926 m,
bearing: 312.990270 deg,
approach rate: 0.064434 m/s,
LOS rate: -0.058534 deg/s,
cmd heading: 318.766950 deg,
new cmd heading: 318.696090 deg.
2025-06-18T18:17:07.551Z,1750270627.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562296 target range: 578.409363 and range: 584.10 m.
2025-06-18T18:17:07.717Z,1750270627.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256608
2025-06-18T18:17:07.919Z,1750270627.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:07.923Z,1750270627.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.918091 m,
bearing: 312.968863 deg,
approach rate: 0.051489 m/s,
LOS rate: -0.057511 deg/s,
cmd heading: 318.696080 deg,
new cmd heading: 318.631860 deg.
2025-06-18T18:17:07.924Z,1750270627.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561175 target range: 578.409363 and range: 584.10 m.
2025-06-18T18:17:07.969Z,1750270627.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508791
2025-06-18T18:17:08.222Z,1750270628.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761999
2025-06-18T18:17:08.357Z,1750270628.357 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-06-18T18:17:08.393Z,1750270628.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:08.430Z,1750270628.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.938660 m,
bearing: 312.941976 deg,
approach rate: 0.043577 m/s,
LOS rate: -0.056961 deg/s,
cmd heading: 318.631849 deg,
new cmd heading: 318.551191 deg.
2025-06-18T18:17:08.438Z,1750270628.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559767 target range: 578.409363 and range: 584.10 m.
2025-06-18T18:17:08.473Z,1750270628.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012647
2025-06-18T18:17:08.725Z,1750270628.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264602
2025-06-18T18:17:08.813Z,1750270628.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:08.816Z,1750270628.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.953491 m,
bearing: 312.916919 deg,
approach rate: 0.035125 m/s,
LOS rate: -0.059340 deg/s,
cmd heading: 318.551198 deg,
new cmd heading: 318.476029 deg.
2025-06-18T18:17:08.817Z,1750270628.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558455 target range: 578.409363 and range: 584.10 m.
2025-06-18T18:17:08.977Z,1750270628.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517169
2025-06-18T18:17:09.189Z,1750270629.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:09.191Z,1750270629.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:09.194Z,1750270629.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.966736 m,
bearing: 312.894789 deg,
approach rate: 0.035089 m/s,
LOS rate: -0.058628 deg/s,
cmd heading: 318.476039 deg,
new cmd heading: 318.409650 deg.
2025-06-18T18:17:09.195Z,1750270629.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557297 target range: 578.409363 and range: 584.10 m.
2025-06-18T18:17:09.230Z,1750270629.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769286
2025-06-18T18:17:09.484Z,1750270629.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022786
2025-06-18T18:17:09.591Z,1750270629.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:09.594Z,1750270629.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.965759 m,
bearing: 312.870718 deg,
approach rate: -0.002439 m/s,
LOS rate: -0.060106 deg/s,
cmd heading: 318.409649 deg,
new cmd heading: 318.337438 deg.
2025-06-18T18:17:09.595Z,1750270629.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.556036 target range: 578.409363 and range: 584.10 m.
2025-06-18T18:17:09.733Z,1750270629.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272526
2025-06-18T18:17:09.985Z,1750270629.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524596
2025-06-18T18:17:10.033Z,1750270630.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:10.035Z,1750270630.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.961060 m,
bearing: 312.844110 deg,
approach rate: -0.010644 m/s,
LOS rate: -0.060264 deg/s,
cmd heading: 318.337441 deg,
new cmd heading: 318.257615 deg.
2025-06-18T18:17:10.037Z,1750270630.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554643 target range: 578.409363 and range: 584.10 m.
2025-06-18T18:17:10.237Z,1750270630.237 [DAT](INFO): DAT read: Rx Time:18:17:10.7675
2025-06-18T18:17:10.237Z,1750270630.237 [DAT](INFO): Rx dataTimestamp_ set to:1750270630.237024
2025-06-18T18:17:10.238Z,1750270630.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777591
2025-06-18T18:17:10.491Z,1750270630.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030259
2025-06-18T18:17:10.514Z,1750270630.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:10.533Z,1750270630.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.952759 m,
bearing: 312.817233 deg,
approach rate: -0.017247 m/s,
LOS rate: -0.055845 deg/s,
cmd heading: 318.257609 deg,
new cmd heading: 318.176977 deg.
2025-06-18T18:17:10.534Z,1750270630.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553236 target range: 578.409363 and range: 584.10 m.
2025-06-18T18:17:10.743Z,1750270630.743 [DAT](INFO): DAT read: Range 10 to 50 : 584.3 m (Round-trip 779.1 ms) speed 0.1 m/s
2025-06-18T18:17:10.744Z,1750270630.744 [DAT](INFO): DAT read: user:1074>
2025-06-18T18:17:10.746Z,1750270630.746 [DAT](INFO): DAT read: Tx time:18:17:11.8843
2025-06-18T18:17:10.746Z,1750270630.746 [DAT](INFO): Ping request sent.
2025-06-18T18:17:10.746Z,1750270630.746 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:17:10.747Z,1750270630.747 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:17:10.747Z,1750270630.747 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:10.748Z,1750270630.748 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:10.993Z,1750270630.993 [DAT](INFO): DAT read: TxSync time:18:17:11.8835
2025-06-18T18:17:11.007Z,1750270631.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 584.299988 m,
deltaT: 4.284254 s,
deltaX: 0.200012 m,
approachRate: 0.046685 m/s,
rangeRepo size: 4
2025-06-18T18:17:11.008Z,1750270631.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:11.011Z,1750270631.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.930969 m,
bearing: 312.784116 deg,
approach rate: -0.044258 m/s,
LOS rate: -0.067269 deg/s,
cmd heading: 318.176986 deg,
new cmd heading: 318.077631 deg.
2025-06-18T18:17:11.011Z,1750270631.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551502 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:11.376Z,1750270631.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:11.379Z,1750270631.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:11.381Z,1750270631.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.912415 m,
bearing: 312.760778 deg,
approach rate: -0.049842 m/s,
LOS rate: -0.062694 deg/s,
cmd heading: 318.077620 deg,
new cmd heading: 318.007604 deg.
2025-06-18T18:17:11.382Z,1750270631.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.550280 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:11.500Z,1750270631.500 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:11.500Z,1750270631.500 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:11.501Z,1750270631.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:11.749Z,1750270631.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002879
2025-06-18T18:17:11.864Z,1750270631.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:11.867Z,1750270631.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.882812 m,
bearing: 312.729131 deg,
approach rate: -0.060934 m/s,
LOS rate: -0.065146 deg/s,
cmd heading: 318.007597 deg,
new cmd heading: 317.912652 deg.
2025-06-18T18:17:11.868Z,1750270631.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548623 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:12.001Z,1750270632.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255158
2025-06-18T18:17:12.212Z,1750270632.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:12.215Z,1750270632.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.859863 m,
bearing: 312.707301 deg,
approach rate: -0.066847 m/s,
LOS rate: -0.063590 deg/s,
cmd heading: 317.912658 deg,
new cmd heading: 317.847164 deg.
2025-06-18T18:17:12.215Z,1750270632.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.547480 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:12.253Z,1750270632.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507032
2025-06-18T18:17:12.507Z,1750270632.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760929
2025-06-18T18:17:12.630Z,1750270632.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:12.632Z,1750270632.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.830872 m,
bearing: 312.679271 deg,
approach rate: -0.068721 m/s,
LOS rate: -0.066443 deg/s,
cmd heading: 317.847170 deg,
new cmd heading: 317.763078 deg.
2025-06-18T18:17:12.633Z,1750270632.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.546012 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:12.758Z,1750270632.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011942
2025-06-18T18:17:13.009Z,1750270633.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262727
2025-06-18T18:17:13.048Z,1750270633.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:13.051Z,1750270633.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.800354 m,
bearing: 312.653470 deg,
approach rate: -0.072951 m/s,
LOS rate: -0.061680 deg/s,
cmd heading: 317.763076 deg,
new cmd heading: 317.685669 deg.
2025-06-18T18:17:13.052Z,1750270633.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.544661 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:13.261Z,1750270633.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515433
2025-06-18T18:17:13.405Z,1750270633.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:13.407Z,1750270633.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:13.410Z,1750270633.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.767456 m,
bearing: 312.628691 deg,
approach rate: -0.091629 m/s,
LOS rate: -0.069020 deg/s,
cmd heading: 317.685677 deg,
new cmd heading: 317.611335 deg.
2025-06-18T18:17:13.411Z,1750270633.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.543364 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:13.516Z,1750270633.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769184
2025-06-18T18:17:13.765Z,1750270633.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018833
2025-06-18T18:17:13.850Z,1750270633.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:13.859Z,1750270633.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.726074 m,
bearing: 312.600032 deg,
approach rate: -0.093424 m/s,
LOS rate: -0.064705 deg/s,
cmd heading: 317.611337 deg,
new cmd heading: 317.525355 deg.
2025-06-18T18:17:13.865Z,1750270633.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541863 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:14.021Z,1750270634.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275506
2025-06-18T18:17:14.229Z,1750270634.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:14.233Z,1750270634.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.685425 m,
bearing: 312.574566 deg,
approach rate: -0.107133 m/s,
LOS rate: -0.067123 deg/s,
cmd heading: 317.525359 deg,
new cmd heading: 317.448953 deg.
2025-06-18T18:17:14.234Z,1750270634.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540529 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:14.273Z,1750270634.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526968
2025-06-18T18:17:14.537Z,1750270634.537 [DAT](INFO): DAT read: Rx Time:18:17:15.0746
2025-06-18T18:17:14.539Z,1750270634.539 [DAT](INFO): Rx dataTimestamp_ set to:1750270634.537699
2025-06-18T18:17:14.541Z,1750270634.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794437
2025-06-18T18:17:14.676Z,1750270634.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:14.678Z,1750270634.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.644165 m,
bearing: 312.545718 deg,
approach rate: -0.092459 m/s,
LOS rate: -0.064649 deg/s,
cmd heading: 317.448942 deg,
new cmd heading: 317.362394 deg.
2025-06-18T18:17:14.679Z,1750270634.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539019 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:14.789Z,1750270634.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.043526
2025-06-18T18:17:15.047Z,1750270635.047 [DAT](INFO): DAT read: 18:17:15.0746 LVL= 29104, 26449, 16978, 32755, AGC= 72, IDX= 510,-0.30, 2.103, 2.976,-2.001, 3.089, PHS=-0.899,-0.066, 1.190, RAW= 233.3, -2.5, CAL= 233.1, -7.2, ROT= 276.9, 7.2
2025-06-18T18:17:15.049Z,1750270635.049 [DAT](INFO): got valid direction response:
18:17:15.0746 LVL= 29104, 26449, 16978, 32755, AGC= 72, IDX= 510,-0.30, 2.103, 2.976,-2.001, 3.089, PHS=-0.899,-0.066, 1.190, RAW= 233.3, -2.5, CAL= 233.1, -7.2, ROT= 276.9, 7.2
2025-06-18T18:17:15.049Z,1750270635.049 [DAT](INFO): DAT read: $Error in header
2025-06-18T18:17:15.049Z,1750270635.049 [DAT](INFO): Received a bad header
2025-06-18T18:17:15.064Z,1750270635.064 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:17:15.065Z,1750270635.065 [DAT](INFO): direction in FSK: [0.119189,-0.984929,-0.125333]
2025-06-18T18:17:15.068Z,1750270635.068 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:15.068Z,1750270635.068 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:15.069Z,1750270635.069 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:15.146Z,1750270635.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:15.153Z,1750270635.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.592957 m,
bearing: 312.516219 deg,
approach rate: -0.108874 m/s,
LOS rate: -0.062723 deg/s,
cmd heading: 317.362390 deg,
new cmd heading: 317.273886 deg.
2025-06-18T18:17:15.154Z,1750270635.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.537474 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:15.293Z,1750270635.293 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:15.293Z,1750270635.293 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:15.293Z,1750270635.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:15.547Z,1750270635.547 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:15.547Z,1750270635.547 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:15.547Z,1750270635.547 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:15.558Z,1750270635.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:15.574Z,1750270635.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:15.581Z,1750270635.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.546570 m,
bearing: 312.491721 deg,
approach rate: -0.108443 m/s,
LOS rate: -0.057277 deg/s,
cmd heading: 317.273898 deg,
new cmd heading: 317.200398 deg.
2025-06-18T18:17:15.582Z,1750270635.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536191 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:15.797Z,1750270635.797 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:15.797Z,1750270635.797 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:15.797Z,1750270635.797 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:16.049Z,1750270636.049 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:16.049Z,1750270636.049 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:16.049Z,1750270636.049 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:16.107Z,1750270636.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:16.111Z,1750270636.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.473083 m,
bearing: 312.455337 deg,
approach rate: -0.137693 m/s,
LOS rate: -0.068181 deg/s,
cmd heading: 317.200405 deg,
new cmd heading: 317.091241 deg.
2025-06-18T18:17:16.114Z,1750270636.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.534286 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:16.300Z,1750270636.300 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:16.301Z,1750270636.301 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:16.301Z,1750270636.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:16.555Z,1750270636.555 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:16.555Z,1750270636.555 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:16.556Z,1750270636.556 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:16.668Z,1750270636.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:16.671Z,1750270636.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.391113 m,
bearing: 312.422667 deg,
approach rate: -0.146920 m/s,
LOS rate: -0.058565 deg/s,
cmd heading: 317.091232 deg,
new cmd heading: 316.993207 deg.
2025-06-18T18:17:16.672Z,1750270636.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.532575 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:16.805Z,1750270636.805 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:16.805Z,1750270636.805 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:16.805Z,1750270636.805 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:17.058Z,1750270637.058 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:17.058Z,1750270637.058 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:17.058Z,1750270637.058 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:17.139Z,1750270637.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:17.146Z,1750270637.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.316040 m,
bearing: 312.394672 deg,
approach rate: -0.161000 m/s,
LOS rate: -0.060045 deg/s,
cmd heading: 316.993205 deg,
new cmd heading: 316.909209 deg.
2025-06-18T18:17:17.147Z,1750270637.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531109 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:17.308Z,1750270637.308 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:17.309Z,1750270637.309 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:17.309Z,1750270637.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:17.512Z,1750270637.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:17.515Z,1750270637.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.247375 m,
bearing: 312.370753 deg,
approach rate: -0.180363 m/s,
LOS rate: -0.062837 deg/s,
cmd heading: 316.909221 deg,
new cmd heading: 316.837455 deg.
2025-06-18T18:17:17.519Z,1750270637.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529857 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:17.563Z,1750270637.563 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:17.563Z,1750270637.563 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:17.564Z,1750270637.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:17.813Z,1750270637.813 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:17.813Z,1750270637.813 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:17.813Z,1750270637.813 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:17.945Z,1750270637.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:17.947Z,1750270637.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:17.950Z,1750270637.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.163940 m,
bearing: 312.345466 deg,
approach rate: -0.191952 m/s,
LOS rate: -0.058183 deg/s,
cmd heading: 316.837449 deg,
new cmd heading: 316.761579 deg.
2025-06-18T18:17:17.951Z,1750270637.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528533 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:18.065Z,1750270638.065 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:18.066Z,1750270638.066 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:18.066Z,1750270638.066 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:18.317Z,1750270638.317 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:18.317Z,1750270638.317 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:18.317Z,1750270638.317 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:18.341Z,1750270638.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:18.345Z,1750270638.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.089233 m,
bearing: 312.324113 deg,
approach rate: -0.189425 m/s,
LOS rate: -0.054151 deg/s,
cmd heading: 316.761579 deg,
new cmd heading: 316.697510 deg.
2025-06-18T18:17:18.346Z,1750270638.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527414 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:18.571Z,1750270638.571 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:18.572Z,1750270638.572 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:18.572Z,1750270638.572 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:18.767Z,1750270638.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:18.774Z,1750270638.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 577.002380 m,
bearing: 312.300137 deg,
approach rate: -0.204108 m/s,
LOS rate: -0.056352 deg/s,
cmd heading: 316.697512 deg,
new cmd heading: 316.625575 deg.
2025-06-18T18:17:18.775Z,1750270638.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526159 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:18.821Z,1750270638.821 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:18.822Z,1750270638.822 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:18.822Z,1750270638.822 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:19.073Z,1750270639.073 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:19.073Z,1750270639.073 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:19.073Z,1750270639.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:19.157Z,1750270639.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:19.164Z,1750270639.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 576.917847 m,
bearing: 312.278055 deg,
approach rate: -0.216426 m/s,
LOS rate: -0.056543 deg/s,
cmd heading: 316.625577 deg,
new cmd heading: 316.559322 deg.
2025-06-18T18:17:19.165Z,1750270639.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525002 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:19.325Z,1750270639.325 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:19.326Z,1750270639.326 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:19.326Z,1750270639.326 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:19.559Z,1750270639.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:19.562Z,1750270639.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 576.826782 m,
bearing: 312.255532 deg,
approach rate: -0.226729 m/s,
LOS rate: -0.056086 deg/s,
cmd heading: 316.559324 deg,
new cmd heading: 316.491744 deg.
2025-06-18T18:17:19.563Z,1750270639.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523823 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:19.580Z,1750270639.580 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:19.580Z,1750270639.580 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:19.581Z,1750270639.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:19.829Z,1750270639.829 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:19.829Z,1750270639.829 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:19.829Z,1750270639.829 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:19.958Z,1750270639.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:19.976Z,1750270639.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:19.979Z,1750270639.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 576.736023 m,
bearing: 312.233342 deg,
approach rate: -0.217545 m/s,
LOS rate: -0.053197 deg/s,
cmd heading: 316.491732 deg,
new cmd heading: 316.425151 deg.
2025-06-18T18:17:19.984Z,1750270639.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522661 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:20.081Z,1750270640.081 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:20.081Z,1750270640.081 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:20.081Z,1750270640.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:20.333Z,1750270640.333 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:20.333Z,1750270640.333 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:20.333Z,1750270640.333 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:20.362Z,1750270640.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:20.365Z,1750270640.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 576.641663 m,
bearing: 312.211447 deg,
approach rate: -0.244796 m/s,
LOS rate: -0.056812 deg/s,
cmd heading: 316.425152 deg,
new cmd heading: 316.359455 deg.
2025-06-18T18:17:20.366Z,1750270640.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521514 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:20.589Z,1750270640.589 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:20.590Z,1750270640.590 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:20.591Z,1750270640.591 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:20.774Z,1750270640.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:20.777Z,1750270640.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 576.544800 m,
bearing: 312.189270 deg,
approach rate: -0.235111 m/s,
LOS rate: -0.053837 deg/s,
cmd heading: 316.359445 deg,
new cmd heading: 316.292905 deg.
2025-06-18T18:17:20.778Z,1750270640.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520352 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:20.838Z,1750270640.838 [DAT](INFO): Reached modem response timeout
2025-06-18T18:17:20.838Z,1750270640.838 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:17:20.839Z,1750270640.839 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:21.088Z,1750270641.088 [DAT](INFO): Reached modem response timeout
2025-06-18T18:17:21.089Z,1750270641.089 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:17:21.089Z,1750270641.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:21.161Z,1750270641.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:21.180Z,1750270641.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 576.451172 m,
bearing: 312.168889 deg,
approach rate: -0.241567 m/s,
LOS rate: -0.052593 deg/s,
cmd heading: 316.292892 deg,
new cmd heading: 316.231739 deg.
2025-06-18T18:17:21.181Z,1750270641.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519285 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:21.340Z,1750270641.340 [DAT](INFO): Reached modem response timeout
2025-06-18T18:17:21.341Z,1750270641.341 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:17:21.341Z,1750270641.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:21.592Z,1750270641.592 [DAT](INFO): Reached modem response timeout
2025-06-18T18:17:21.593Z,1750270641.593 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:17:21.593Z,1750270641.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:21.718Z,1750270641.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:21.721Z,1750270641.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 576.319702 m,
bearing: 312.137438 deg,
approach rate: -0.236313 m/s,
LOS rate: -0.056546 deg/s,
cmd heading: 316.231748 deg,
new cmd heading: 316.137372 deg.
2025-06-18T18:17:21.722Z,1750270641.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517638 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:21.846Z,1750270641.846 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:17:21.846Z,1750270641.846 [DAT](INFO): response not received
2025-06-18T18:17:21.846Z,1750270641.846 [DAT](INFO): DAT read: user:1076>
2025-06-18T18:17:21.847Z,1750270641.847 [DAT](INFO): DAT read: Tx time:18:17:22.8360
2025-06-18T18:17:21.847Z,1750270641.847 [DAT](INFO): Ping request sent.
2025-06-18T18:17:21.847Z,1750270641.847 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:17:21.848Z,1750270641.848 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:21.848Z,1750270641.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000889
2025-06-18T18:17:22.097Z,1750270642.097 [DAT](INFO): DAT read: TxSync time:18:17:22.8352
2025-06-18T18:17:22.098Z,1750270642.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250271
2025-06-18T18:17:22.233Z,1750270642.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:22.235Z,1750270642.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:22.242Z,1750270642.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 576.185364 m,
bearing: 312.109913 deg,
approach rate: -0.259653 m/s,
LOS rate: -0.053213 deg/s,
cmd heading: 316.137382 deg,
new cmd heading: 316.054788 deg.
2025-06-18T18:17:22.243Z,1750270642.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516197 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:22.349Z,1750270642.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501350
2025-06-18T18:17:22.604Z,1750270642.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755983
2025-06-18T18:17:22.722Z,1750270642.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:22.725Z,1750270642.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 576.041931 m,
bearing: 312.082993 deg,
approach rate: -0.294359 m/s,
LOS rate: -0.055261 deg/s,
cmd heading: 316.054791 deg,
new cmd heading: 315.974011 deg.
2025-06-18T18:17:22.726Z,1750270642.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514787 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:22.853Z,1750270642.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005655
2025-06-18T18:17:23.105Z,1750270643.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257338
2025-06-18T18:17:23.108Z,1750270643.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:23.111Z,1750270643.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 575.926819 m,
bearing: 312.062455 deg,
approach rate: -0.298497 m/s,
LOS rate: -0.053266 deg/s,
cmd heading: 315.974004 deg,
new cmd heading: 315.912379 deg.
2025-06-18T18:17:23.112Z,1750270643.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513711 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:23.357Z,1750270643.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509395
2025-06-18T18:17:23.562Z,1750270643.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:23.565Z,1750270643.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 575.785950 m,
bearing: 312.038425 deg,
approach rate: -0.310210 m/s,
LOS rate: -0.052931 deg/s,
cmd heading: 315.912368 deg,
new cmd heading: 315.840260 deg.
2025-06-18T18:17:23.566Z,1750270643.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512453 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:23.612Z,1750270643.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764672
2025-06-18T18:17:23.861Z,1750270643.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013217
2025-06-18T18:17:24.023Z,1750270644.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:24.039Z,1750270644.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 575.651428 m,
bearing: 312.016154 deg,
approach rate: -0.292058 m/s,
LOS rate: -0.048364 deg/s,
cmd heading: 315.840269 deg,
new cmd heading: 315.773440 deg.
2025-06-18T18:17:24.044Z,1750270644.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511286 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:24.113Z,1750270644.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265653
2025-06-18T18:17:24.365Z,1750270644.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517394
2025-06-18T18:17:24.380Z,1750270644.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:24.383Z,1750270644.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:24.390Z,1750270644.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 575.518188 m,
bearing: 311.995152 deg,
approach rate: -0.370190 m/s,
LOS rate: -0.058365 deg/s,
cmd heading: 315.773442 deg,
new cmd heading: 315.710422 deg.
2025-06-18T18:17:24.391Z,1750270644.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510186 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:24.617Z,1750270644.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769859
2025-06-18T18:17:24.638Z,1750270644.638 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:17:24.795Z,1750270644.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:24.825Z,1750270644.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 575.368896 m,
bearing: 311.973014 deg,
approach rate: -0.361999 m/s,
LOS rate: -0.053694 deg/s,
cmd heading: 315.710413 deg,
new cmd heading: 315.643981 deg.
2025-06-18T18:17:24.826Z,1750270644.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509027 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:24.871Z,1750270644.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023162
2025-06-18T18:17:25.121Z,1750270645.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273342
2025-06-18T18:17:25.212Z,1750270645.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:25.214Z,1750270645.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 575.212952 m,
bearing: 311.951041 deg,
approach rate: -0.374322 m/s,
LOS rate: -0.052756 deg/s,
cmd heading: 315.643969 deg,
new cmd heading: 315.578033 deg.
2025-06-18T18:17:25.215Z,1750270645.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507876 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:25.373Z,1750270645.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525171
2025-06-18T18:17:25.581Z,1750270645.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:25.600Z,1750270645.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 575.072083 m,
bearing: 311.932198 deg,
approach rate: -0.381360 m/s,
LOS rate: -0.051025 deg/s,
cmd heading: 315.578044 deg,
new cmd heading: 315.521501 deg.
2025-06-18T18:17:25.601Z,1750270645.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506889 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:25.626Z,1750270645.626 [DAT](INFO): DAT read: Rx Time:18:17:26.0303
2025-06-18T18:17:25.627Z,1750270645.627 [DAT](INFO): Rx dataTimestamp_ set to:1750270645.626199
2025-06-18T18:17:25.627Z,1750270645.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779548
2025-06-18T18:17:25.642Z,1750270645.642 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:17:25.879Z,1750270645.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030806
2025-06-18T18:17:26.029Z,1750270646.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.41 m.
2025-06-18T18:17:26.031Z,1750270646.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.409363 m,
nav range: 574.873474 m,
bearing: 311.909127 deg,
approach rate: -0.443493 m/s,
LOS rate: -0.051534 deg/s,
cmd heading: 315.521490 deg,
new cmd heading: 315.452255 deg.
2025-06-18T18:17:26.033Z,1750270646.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505681 target range: 578.409363 and range: 584.30 m.
2025-06-18T18:17:26.138Z,1750270646.138 [DAT](INFO): DAT read: 18:17:26.0303 LVL= 25984, 25777, 14834, 27427, AGC= 74, IDX= 503, 0.33, 0.098,-0.270, 1.588, 0.561, PHS=-0.376,-0.785, 1.023, RAW= 197.5, 1.7, CAL= 197.4, -5.9, ROT= 312.6, 5.9
2025-06-18T18:17:26.140Z,1750270646.140 [DAT](INFO): got valid direction response:
18:17:26.0303 LVL= 25984, 25777, 14834, 27427, AGC= 74, IDX= 503, 0.33, 0.098,-0.270, 1.588, 0.561, PHS=-0.376,-0.785, 1.023, RAW= 197.5, 1.7, CAL= 197.4, -5.9, ROT= 312.6, 5.9
2025-06-18T18:17:26.141Z,1750270646.141 [DAT](INFO): DAT read: Bearing 312.6, 5.9 (Local)
2025-06-18T18:17:26.142Z,1750270646.142 [DAT](INFO): Local bearing/azimuth received:
Bearing 312.6, 5.9 (Local)
2025-06-18T18:17:26.146Z,1750270646.146 [DAT](INFO): DAT read: Range 10 to 50 : 592.6 m (Round-trip 790.2 ms) speed 0.1 m/s
2025-06-18T18:17:26.147Z,1750270646.147 [DAT](INFO): DAT read: user:1077>
2025-06-18T18:17:26.148Z,1750270646.148 [DAT](INFO): DAT read: Tx time:18:17:27.1344
2025-06-18T18:17:26.148Z,1750270646.148 [DAT](INFO): Ping request sent.
2025-06-18T18:17:26.148Z,1750270646.148 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:17:26.149Z,1750270646.149 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:17:26.150Z,1750270646.150 [DAT](INFO): direction in FSK: [0.673290,-0.732198,-0.102793]
2025-06-18T18:17:26.150Z,1750270646.150 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:26.150Z,1750270646.150 [DAT](INFO): publishing direction and range info
2025-06-18T18:17:26.165Z,1750270646.165 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:26.166Z,1750270646.166 [DAT](INFO): publishing direction and range info
2025-06-18T18:17:26.381Z,1750270646.381 [DAT](INFO): DAT read: TxSync time:18:17:27.1336
2025-06-18T18:17:26.419Z,1750270646.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 592.599976 m,
deltaT: 15.388038 s,
deltaX: 8.299988 m,
approachRate: 0.539379 m/s,
rangeRepo size: 4
2025-06-18T18:17:26.425Z,1750270646.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 587.123352 m,
bearing: 313.055955 deg,
lat: 36.905942 deg,
lon: -122.115776 deg,
deltaT: 23.956356 s,
deltaX: 8.713989 m,
approachRate: 0.363744 m/s,
posRepo size: 3
2025-06-18T18:17:26.426Z,1750270646.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.12 m.
2025-06-18T18:17:26.433Z,1750270646.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.123352 m,
nav range: 579.745117 m,
bearing: 312.816751 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.051534 deg/s,
cmd heading: 315.452259 deg,
new cmd heading: 315.392054 deg.
2025-06-18T18:17:26.434Z,1750270646.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504630 target range: 587.123352 and range: 592.60 m.
2025-06-18T18:17:26.861Z,1750270646.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:26.863Z,1750270646.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.12 m.
2025-06-18T18:17:26.866Z,1750270646.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.123352 m,
nav range: 579.533813 m,
bearing: 312.794045 deg,
approach rate: -0.474956 m/s,
LOS rate: -0.051056 deg/s,
cmd heading: 315.392045 deg,
new cmd heading: 315.323902 deg.
2025-06-18T18:17:26.867Z,1750270646.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503440 target range: 587.123352 and range: 592.60 m.
2025-06-18T18:17:26.885Z,1750270646.885 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:26.885Z,1750270646.885 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:26.886Z,1750270646.886 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:27.137Z,1750270647.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988770
2025-06-18T18:17:27.218Z,1750270647.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.12 m.
2025-06-18T18:17:27.224Z,1750270647.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.123352 m,
nav range: 579.377136 m,
bearing: 312.778065 deg,
approach rate: -0.442004 m/s,
LOS rate: -0.045094 deg/s,
cmd heading: 315.323907 deg,
new cmd heading: 315.275953 deg.
2025-06-18T18:17:27.225Z,1750270647.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502604 target range: 587.123352 and range: 592.60 m.
2025-06-18T18:17:27.389Z,1750270647.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240574
2025-06-18T18:17:27.617Z,1750270647.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.12 m.
2025-06-18T18:17:27.619Z,1750270647.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.123352 m,
nav range: 579.176514 m,
bearing: 312.758623 deg,
approach rate: -0.503969 m/s,
LOS rate: -0.048855 deg/s,
cmd heading: 315.275959 deg,
new cmd heading: 315.217613 deg.
2025-06-18T18:17:27.636Z,1750270647.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501585 target range: 587.123352 and range: 592.60 m.
2025-06-18T18:17:27.641Z,1750270647.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492525
2025-06-18T18:17:27.894Z,1750270647.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745185
2025-06-18T18:17:28.110Z,1750270648.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.12 m.
2025-06-18T18:17:28.113Z,1750270648.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.123352 m,
nav range: 578.938721 m,
bearing: 312.735765 deg,
approach rate: -0.481042 m/s,
LOS rate: -0.046261 deg/s,
cmd heading: 315.217602 deg,
new cmd heading: 315.148998 deg.
2025-06-18T18:17:28.114Z,1750270648.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.500388 target range: 587.123352 and range: 592.60 m.
2025-06-18T18:17:28.145Z,1750270648.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996400
2025-06-18T18:17:28.397Z,1750270648.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248406
2025-06-18T18:17:28.488Z,1750270648.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.12 m.
2025-06-18T18:17:28.491Z,1750270648.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.123352 m,
nav range: 578.757080 m,
bearing: 312.718277 deg,
approach rate: -0.480864 m/s,
LOS rate: -0.046312 deg/s,
cmd heading: 315.148999 deg,
new cmd heading: 315.096518 deg.
2025-06-18T18:17:28.492Z,1750270648.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499472 target range: 587.123352 and range: 592.60 m.
2025-06-18T18:17:28.649Z,1750270648.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500524
2025-06-18T18:17:28.902Z,1750270648.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753406
2025-06-18T18:17:29.034Z,1750270649.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:29.041Z,1750270649.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.12 m.
2025-06-18T18:17:29.043Z,1750270649.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.123352 m,
nav range: 578.518372 m,
bearing: 312.696116 deg,
approach rate: -0.431673 m/s,
LOS rate: -0.040092 deg/s,
cmd heading: 315.096516 deg,
new cmd heading: 315.030006 deg.
2025-06-18T18:17:29.053Z,1750270649.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498311 target range: 587.123352 and range: 592.60 m.
2025-06-18T18:17:29.153Z,1750270649.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005122
2025-06-18T18:17:29.386Z,1750270649.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.12 m.
2025-06-18T18:17:29.389Z,1750270649.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.123352 m,
nav range: 578.330627 m,
bearing: 312.679502 deg,
approach rate: -0.543642 m/s,
LOS rate: -0.048123 deg/s,
cmd heading: 315.030017 deg,
new cmd heading: 314.980160 deg.
2025-06-18T18:17:29.390Z,1750270649.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497441 target range: 587.123352 and range: 592.60 m.
2025-06-18T18:17:29.407Z,1750270649.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258169
2025-06-18T18:17:29.658Z,1750270649.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509828
2025-06-18T18:17:29.823Z,1750270649.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.12 m.
2025-06-18T18:17:29.826Z,1750270649.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.123352 m,
nav range: 578.116211 m,
bearing: 312.661426 deg,
approach rate: -0.491100 m/s,
LOS rate: -0.041417 deg/s,
cmd heading: 314.980157 deg,
new cmd heading: 314.925908 deg.
2025-06-18T18:17:29.826Z,1750270649.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496494 target range: 587.123352 and range: 592.60 m.
2025-06-18T18:17:29.910Z,1750270649.910 [DAT](INFO): DAT read: Rx Time:18:17:30.3289
2025-06-18T18:17:29.911Z,1750270649.911 [DAT](INFO): Rx dataTimestamp_ set to:1750270649.910199
2025-06-18T18:17:29.925Z,1750270649.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777134
2025-06-18T18:17:30.161Z,1750270650.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012402
2025-06-18T18:17:30.184Z,1750270650.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.12 m.
2025-06-18T18:17:30.187Z,1750270650.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.123352 m,
nav range: 577.941040 m,
bearing: 312.647370 deg,
approach rate: -0.485414 m/s,
LOS rate: -0.038964 deg/s,
cmd heading: 314.925898 deg,
new cmd heading: 314.883716 deg.
2025-06-18T18:17:30.192Z,1750270650.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495758 target range: 587.123352 and range: 592.60 m.
2025-06-18T18:17:30.419Z,1750270650.419 [DAT](INFO): DAT read: 18:17:30.3289 LVL= 23696, 32753, 14322, 30195, AGC= 72, IDX= 417,-0.12, 0.333,-0.439, 1.484, 0.508, PHS=-0.088,-0.901, 0.972, RAW= 184.3, 0.2, CAL= 184.5, -7.5, ROT= 325.5, 7.5
2025-06-18T18:17:30.420Z,1750270650.420 [DAT](INFO): got valid direction response:
18:17:30.3289 LVL= 23696, 32753, 14322, 30195, AGC= 72, IDX= 417,-0.12, 0.333,-0.439, 1.484, 0.508, PHS=-0.088,-0.901, 0.972, RAW= 184.3, 0.2, CAL= 184.5, -7.5, ROT= 325.5, 7.5
2025-06-18T18:17:30.421Z,1750270650.421 [DAT](INFO): DAT read: Bearing 325.5, 7.5 (Local)
2025-06-18T18:17:30.421Z,1750270650.421 [DAT](INFO): Local bearing/azimuth received:
Bearing 325.5, 7.5 (Local)
2025-06-18T18:17:30.423Z,1750270650.423 [DAT](INFO): DAT read: Range 10 to 50 : 592.7 m (Round-trip 790.3 ms) speed 0.1 m/s
2025-06-18T18:17:30.423Z,1750270650.423 [DAT](INFO): DAT read: user:1078>
2025-06-18T18:17:30.425Z,1750270650.425 [DAT](INFO): DAT read: Tx time:18:17:31.4344
2025-06-18T18:17:30.425Z,1750270650.425 [DAT](INFO): Ping request sent.
2025-06-18T18:17:30.426Z,1750270650.426 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:17:30.426Z,1750270650.426 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:17:30.427Z,1750270650.427 [DAT](INFO): direction in FSK: [0.817076,-0.561561,-0.130526]
2025-06-18T18:17:30.427Z,1750270650.427 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:30.427Z,1750270650.427 [DAT](INFO): publishing direction and range info
2025-06-18T18:17:30.443Z,1750270650.443 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:30.443Z,1750270650.443 [DAT](INFO): publishing direction and range info
2025-06-18T18:17:30.606Z,1750270650.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 592.700012 m,
deltaT: 4.283540 s,
deltaX: 0.100037 m,
approachRate: 0.023354 m/s,
rangeRepo size: 4
2025-06-18T18:17:30.612Z,1750270650.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 587.222839 m,
bearing: 310.103282 deg,
lat: 36.905942 deg,
lon: -122.115776 deg,
deltaT: 4.283540 s,
deltaX: 0.099487 m,
approachRate: 0.023225 m/s,
posRepo size: 4
2025-06-18T18:17:30.613Z,1750270650.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:30.615Z,1750270650.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 577.743103 m,
bearing: 312.632278 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.038964 deg/s,
cmd heading: 314.883715 deg,
new cmd heading: 314.834422 deg.
2025-06-18T18:17:30.621Z,1750270650.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494897 target range: 587.222839 and range: 592.70 m.
2025-06-18T18:17:30.666Z,1750270650.666 [DAT](INFO): DAT read: TxSync time:18:17:31.4336
2025-06-18T18:17:31.034Z,1750270651.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:31.041Z,1750270651.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 577.532776 m,
bearing: 312.616032 deg,
approach rate: -0.490357 m/s,
LOS rate: -0.037889 deg/s,
cmd heading: 314.834428 deg,
new cmd heading: 314.785673 deg.
2025-06-18T18:17:31.042Z,1750270651.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494046 target range: 587.222839 and range: 592.70 m.
2025-06-18T18:17:31.390Z,1750270651.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:31.413Z,1750270651.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:31.415Z,1750270651.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 577.344604 m,
bearing: 312.602989 deg,
approach rate: -0.496896 m/s,
LOS rate: -0.034454 deg/s,
cmd heading: 314.785660 deg,
new cmd heading: 314.746518 deg.
2025-06-18T18:17:31.421Z,1750270651.421 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:31.421Z,1750270651.421 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:31.421Z,1750270651.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:31.432Z,1750270651.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493363 target range: 587.222839 and range: 592.70 m.
2025-06-18T18:17:31.673Z,1750270651.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247114
2025-06-18T18:17:31.855Z,1750270651.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:31.858Z,1750270651.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 577.106323 m,
bearing: 312.588575 deg,
approach rate: -0.538965 m/s,
LOS rate: -0.032617 deg/s,
cmd heading: 314.746510 deg,
new cmd heading: 314.703249 deg.
2025-06-18T18:17:31.859Z,1750270651.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492608 target range: 587.222839 and range: 592.70 m.
2025-06-18T18:17:31.926Z,1750270651.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500473
2025-06-18T18:17:32.177Z,1750270652.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751036
2025-06-18T18:17:32.214Z,1750270652.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:32.221Z,1750270652.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 576.928711 m,
bearing: 312.578452 deg,
approach rate: -0.494006 m/s,
LOS rate: -0.028165 deg/s,
cmd heading: 314.703261 deg,
new cmd heading: 314.672882 deg.
2025-06-18T18:17:32.222Z,1750270652.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492078 target range: 587.222839 and range: 592.70 m.
2025-06-18T18:17:32.429Z,1750270652.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003123
2025-06-18T18:17:32.604Z,1750270652.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:32.607Z,1750270652.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 576.711548 m,
bearing: 312.566800 deg,
approach rate: -0.558049 m/s,
LOS rate: -0.029953 deg/s,
cmd heading: 314.672880 deg,
new cmd heading: 314.637912 deg.
2025-06-18T18:17:32.609Z,1750270652.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.491467 target range: 587.222839 and range: 592.70 m.
2025-06-18T18:17:32.683Z,1750270652.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257394
2025-06-18T18:17:32.933Z,1750270652.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507124
2025-06-18T18:17:33.140Z,1750270653.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:33.143Z,1750270653.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 576.432861 m,
bearing: 312.555418 deg,
approach rate: -0.523756 m/s,
LOS rate: -0.021401 deg/s,
cmd heading: 314.637910 deg,
new cmd heading: 314.603748 deg.
2025-06-18T18:17:33.168Z,1750270653.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.490871 target range: 587.222839 and range: 592.70 m.
2025-06-18T18:17:33.185Z,1750270653.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759165
2025-06-18T18:17:33.437Z,1750270653.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011234
2025-06-18T18:17:33.629Z,1750270653.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:33.631Z,1750270653.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:33.634Z,1750270653.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 576.144226 m,
bearing: 312.544531 deg,
approach rate: -0.582253 m/s,
LOS rate: -0.021974 deg/s,
cmd heading: 314.603759 deg,
new cmd heading: 314.571080 deg.
2025-06-18T18:17:33.635Z,1750270653.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.490301 target range: 587.222839 and range: 592.70 m.
2025-06-18T18:17:33.689Z,1750270653.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263371
2025-06-18T18:17:33.941Z,1750270653.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515124
2025-06-18T18:17:34.102Z,1750270654.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:34.109Z,1750270654.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 575.890137 m,
bearing: 312.536581 deg,
approach rate: -0.540325 m/s,
LOS rate: -0.016913 deg/s,
cmd heading: 314.571083 deg,
new cmd heading: 314.547223 deg.
2025-06-18T18:17:34.110Z,1750270654.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489885 target range: 587.222839 and range: 592.70 m.
2025-06-18T18:17:34.194Z,1750270654.194 [DAT](INFO): DAT read: Rx Time:18:17:34.6167
2025-06-18T18:17:34.194Z,1750270654.194 [DAT](INFO): Rx dataTimestamp_ set to:1750270654.193895
2025-06-18T18:17:34.195Z,1750270654.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769409
2025-06-18T18:17:34.445Z,1750270654.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019040
2025-06-18T18:17:34.472Z,1750270654.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:34.475Z,1750270654.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 575.668274 m,
bearing: 312.530312 deg,
approach rate: -0.599142 m/s,
LOS rate: -0.016936 deg/s,
cmd heading: 314.547232 deg,
new cmd heading: 314.528418 deg.
2025-06-18T18:17:34.476Z,1750270654.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489556 target range: 587.222839 and range: 592.70 m.
2025-06-18T18:17:34.699Z,1750270654.699 [DAT](INFO): DAT read: Range 10 to 50 : 583.6 m (Round-trip 778.2 ms) speed 0.4 m/s
2025-06-18T18:17:34.700Z,1750270654.700 [DAT](INFO): DAT read: user:1079>
2025-06-18T18:17:34.700Z,1750270654.700 [DAT](INFO): DAT read: Tx time:18:17:35.7344
2025-06-18T18:17:34.701Z,1750270654.701 [DAT](INFO): Ping request sent.
2025-06-18T18:17:34.701Z,1750270654.701 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:17:34.701Z,1750270654.701 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:17:34.701Z,1750270654.701 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:34.702Z,1750270654.702 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:34.940Z,1750270654.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 583.599976 m,
deltaT: 4.284936 s,
deltaX: -9.100037 m,
approachRate: -2.123728 m/s,
rangeRepo size: 4
2025-06-18T18:17:34.941Z,1750270654.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:34.943Z,1750270654.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 575.409546 m,
bearing: 312.524118 deg,
approach rate: -0.558891 m/s,
LOS rate: -0.013385 deg/s,
cmd heading: 314.528408 deg,
new cmd heading: 314.509820 deg.
2025-06-18T18:17:34.949Z,1750270654.949 [DAT](INFO): DAT read: TxSync time:18:17:35.7336
2025-06-18T18:17:34.950Z,1750270654.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489232 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:35.286Z,1750270655.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:35.291Z,1750270655.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 575.208557 m,
bearing: 312.519909 deg,
approach rate: -0.574643 m/s,
LOS rate: -0.012038 deg/s,
cmd heading: 314.509830 deg,
new cmd heading: 314.497199 deg.
2025-06-18T18:17:35.294Z,1750270655.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489012 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:35.733Z,1750270655.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:35.735Z,1750270655.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:35.738Z,1750270655.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 574.952271 m,
bearing: 312.515294 deg,
approach rate: -0.569407 m/s,
LOS rate: -0.010258 deg/s,
cmd heading: 314.497208 deg,
new cmd heading: 314.483356 deg.
2025-06-18T18:17:35.739Z,1750270655.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488770 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:35.957Z,1750270655.957 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:35.957Z,1750270655.957 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:35.957Z,1750270655.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:36.156Z,1750270656.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:36.159Z,1750270656.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 574.710632 m,
bearing: 312.511664 deg,
approach rate: -0.573987 m/s,
LOS rate: -0.008627 deg/s,
cmd heading: 314.483356 deg,
new cmd heading: 314.472461 deg.
2025-06-18T18:17:36.160Z,1750270656.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488580 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:36.209Z,1750270656.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508279
2025-06-18T18:17:36.461Z,1750270656.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759901
2025-06-18T18:17:36.542Z,1750270656.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:36.545Z,1750270656.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 574.493958 m,
bearing: 312.508981 deg,
approach rate: -0.560458 m/s,
LOS rate: -0.006942 deg/s,
cmd heading: 314.472455 deg,
new cmd heading: 314.464403 deg.
2025-06-18T18:17:36.546Z,1750270656.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488439 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:36.713Z,1750270656.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011941
2025-06-18T18:17:36.965Z,1750270656.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263980
2025-06-18T18:17:36.970Z,1750270656.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:36.973Z,1750270656.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 574.257568 m,
bearing: 312.505097 deg,
approach rate: -0.553224 m/s,
LOS rate: -0.009094 deg/s,
cmd heading: 314.464396 deg,
new cmd heading: 314.452738 deg.
2025-06-18T18:17:36.974Z,1750270656.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488235 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:37.220Z,1750270657.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519305
2025-06-18T18:17:37.330Z,1750270657.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:37.333Z,1750270657.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 574.068848 m,
bearing: 312.502969 deg,
approach rate: -0.524182 m/s,
LOS rate: -0.005913 deg/s,
cmd heading: 314.452730 deg,
new cmd heading: 314.446343 deg.
2025-06-18T18:17:37.334Z,1750270657.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488124 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:37.469Z,1750270657.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767874
2025-06-18T18:17:37.721Z,1750270657.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019996
2025-06-18T18:17:37.725Z,1750270657.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:37.727Z,1750270657.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 573.845154 m,
bearing: 312.500998 deg,
approach rate: -0.566355 m/s,
LOS rate: -0.004993 deg/s,
cmd heading: 314.446337 deg,
new cmd heading: 314.440420 deg.
2025-06-18T18:17:37.729Z,1750270657.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488020 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:37.973Z,1750270657.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271932
2025-06-18T18:17:38.150Z,1750270658.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:38.153Z,1750270658.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:38.155Z,1750270658.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 573.613892 m,
bearing: 312.499001 deg,
approach rate: -0.540236 m/s,
LOS rate: -0.004667 deg/s,
cmd heading: 314.440408 deg,
new cmd heading: 314.434415 deg.
2025-06-18T18:17:38.157Z,1750270658.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487916 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:38.230Z,1750270658.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528782
2025-06-18T18:17:38.481Z,1750270658.481 [DAT](INFO): DAT read: Rx Time:18:17:38.9204
2025-06-18T18:17:38.482Z,1750270658.482 [DAT](INFO): Rx dataTimestamp_ set to:1750270658.481284
2025-06-18T18:17:38.482Z,1750270658.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781244
2025-06-18T18:17:38.604Z,1750270658.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:38.607Z,1750270658.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 573.372498 m,
bearing: 312.497482 deg,
approach rate: -0.535248 m/s,
LOS rate: -0.003368 deg/s,
cmd heading: 314.434425 deg,
new cmd heading: 314.429867 deg.
2025-06-18T18:17:38.624Z,1750270658.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487836 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:38.733Z,1750270658.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031963
2025-06-18T18:17:38.983Z,1750270658.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:39.022Z,1750270659.022 [DAT](INFO): DAT read: 18:17:38.9204 LVL= 23920, 22561, 21554, 24723, AGC= 71, IDX= 485,-0.47,-2.645, 2.204,-2.620, 2.929, PHS= 0.797,-0.678, 0.731, RAW= 147.8, -11.8, CAL= 154.9, -20.0, ROT= 355.1, 20.0
2025-06-18T18:17:39.023Z,1750270659.023 [DAT](INFO): got valid direction response:
18:17:38.9204 LVL= 23920, 22561, 21554, 24723, AGC= 71, IDX= 485,-0.47,-2.645, 2.204,-2.620, 2.929, PHS= 0.797,-0.678, 0.731, RAW= 147.8, -11.8, CAL= 154.9, -20.0, ROT= 355.1, 20.0
2025-06-18T18:17:39.034Z,1750270659.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 573.164001 m,
bearing: 312.495658 deg,
approach rate: -0.550223 m/s,
LOS rate: -0.004815 deg/s,
cmd heading: 314.429862 deg,
new cmd heading: 314.424389 deg.
2025-06-18T18:17:39.035Z,1750270659.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487741 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:39.044Z,1750270659.044 [DAT](INFO): DAT read: $Error in header
2025-06-18T18:17:39.044Z,1750270659.044 [DAT](INFO): Received a bad header
2025-06-18T18:17:39.056Z,1750270659.056 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:17:39.057Z,1750270659.057 [DAT](INFO): direction in FSK: [0.936258,-0.080266,-0.342020]
2025-06-18T18:17:39.060Z,1750270659.060 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:39.060Z,1750270659.060 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:39.060Z,1750270659.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:39.241Z,1750270659.241 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:39.241Z,1750270659.241 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:39.241Z,1750270659.241 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:39.361Z,1750270659.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:39.363Z,1750270659.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 572.958923 m,
bearing: 312.493862 deg,
approach rate: -0.542727 m/s,
LOS rate: -0.004755 deg/s,
cmd heading: 314.424398 deg,
new cmd heading: 314.419008 deg.
2025-06-18T18:17:39.364Z,1750270659.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487647 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:39.493Z,1750270659.493 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:39.493Z,1750270659.493 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:39.493Z,1750270659.493 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:39.744Z,1750270659.744 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:39.745Z,1750270659.745 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:39.745Z,1750270659.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:39.776Z,1750270659.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:39.781Z,1750270659.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 572.733337 m,
bearing: 312.492758 deg,
approach rate: -0.543273 m/s,
LOS rate: -0.002661 deg/s,
cmd heading: 314.419016 deg,
new cmd heading: 314.415701 deg.
2025-06-18T18:17:39.785Z,1750270659.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487589 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:39.997Z,1750270659.997 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:39.997Z,1750270659.997 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:39.997Z,1750270659.997 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:40.187Z,1750270660.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:40.189Z,1750270660.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:40.192Z,1750270660.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 572.505554 m,
bearing: 312.490913 deg,
approach rate: -0.550717 m/s,
LOS rate: -0.004463 deg/s,
cmd heading: 314.415710 deg,
new cmd heading: 314.410173 deg.
2025-06-18T18:17:40.193Z,1750270660.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487493 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:40.249Z,1750270660.249 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:40.249Z,1750270660.249 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:40.250Z,1750270660.250 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:40.501Z,1750270660.501 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:40.501Z,1750270660.501 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:40.501Z,1750270660.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:40.578Z,1750270660.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:40.581Z,1750270660.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 572.293640 m,
bearing: 312.489847 deg,
approach rate: -0.544724 m/s,
LOS rate: -0.002742 deg/s,
cmd heading: 314.410164 deg,
new cmd heading: 314.406963 deg.
2025-06-18T18:17:40.582Z,1750270660.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487437 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:40.753Z,1750270660.753 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:40.753Z,1750270660.753 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:40.753Z,1750270660.753 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:40.997Z,1750270660.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:40.999Z,1750270660.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 572.048401 m,
bearing: 312.488704 deg,
approach rate: -0.586213 m/s,
LOS rate: -0.002731 deg/s,
cmd heading: 314.406967 deg,
new cmd heading: 314.403539 deg.
2025-06-18T18:17:41.005Z,1750270661.005 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:41.005Z,1750270661.005 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:41.005Z,1750270661.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:41.021Z,1750270661.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487377 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:41.257Z,1750270661.257 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:41.257Z,1750270661.257 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:41.257Z,1750270661.257 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:41.356Z,1750270661.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:41.380Z,1750270661.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 571.840332 m,
bearing: 312.487950 deg,
approach rate: -0.579114 m/s,
LOS rate: -0.002102 deg/s,
cmd heading: 314.403552 deg,
new cmd heading: 314.401287 deg.
2025-06-18T18:17:41.381Z,1750270661.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487338 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:41.509Z,1750270661.509 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:41.510Z,1750270661.510 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:41.510Z,1750270661.510 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:41.761Z,1750270661.761 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:41.761Z,1750270661.761 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:41.761Z,1750270661.761 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:41.790Z,1750270661.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:41.797Z,1750270661.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 571.609253 m,
bearing: 312.487283 deg,
approach rate: -0.532538 m/s,
LOS rate: -0.001537 deg/s,
cmd heading: 314.401285 deg,
new cmd heading: 314.399284 deg.
2025-06-18T18:17:41.798Z,1750270661.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487303 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:42.015Z,1750270662.015 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:42.015Z,1750270662.015 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:42.015Z,1750270662.015 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:42.194Z,1750270662.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:42.196Z,1750270662.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:42.199Z,1750270662.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 571.346069 m,
bearing: 312.485846 deg,
approach rate: -0.648681 m/s,
LOS rate: -0.003544 deg/s,
cmd heading: 314.399290 deg,
new cmd heading: 314.394977 deg.
2025-06-18T18:17:42.199Z,1750270662.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487227 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:42.269Z,1750270662.269 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:42.270Z,1750270662.270 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:42.270Z,1750270662.270 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:42.521Z,1750270662.521 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:42.521Z,1750270662.521 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:42.521Z,1750270662.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:42.596Z,1750270662.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:42.599Z,1750270662.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 571.114075 m,
bearing: 312.484641 deg,
approach rate: -0.598119 m/s,
LOS rate: -0.003107 deg/s,
cmd heading: 314.394974 deg,
new cmd heading: 314.391358 deg.
2025-06-18T18:17:42.599Z,1750270662.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487164 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:42.772Z,1750270662.772 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:42.773Z,1750270662.773 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:42.773Z,1750270662.773 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:43.025Z,1750270663.025 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:43.025Z,1750270663.025 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:43.025Z,1750270663.025 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:43.028Z,1750270663.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:43.031Z,1750270663.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 570.854736 m,
bearing: 312.483220 deg,
approach rate: -0.588921 m/s,
LOS rate: -0.003228 deg/s,
cmd heading: 314.391367 deg,
new cmd heading: 314.387102 deg.
2025-06-18T18:17:43.037Z,1750270663.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487090 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:43.277Z,1750270663.277 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:43.277Z,1750270663.277 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:43.277Z,1750270663.277 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:43.373Z,1750270663.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:43.392Z,1750270663.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 570.631287 m,
bearing: 312.481916 deg,
approach rate: -0.639601 m/s,
LOS rate: -0.003733 deg/s,
cmd heading: 314.387105 deg,
new cmd heading: 314.383192 deg.
2025-06-18T18:17:43.393Z,1750270663.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487022 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:43.528Z,1750270663.528 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:43.529Z,1750270663.529 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:43.529Z,1750270663.529 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:43.779Z,1750270663.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:43.781Z,1750270663.781 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:43.781Z,1750270663.781 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:43.781Z,1750270663.781 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:43.783Z,1750270663.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 570.384216 m,
bearing: 312.480353 deg,
approach rate: -0.609423 m/s,
LOS rate: -0.003859 deg/s,
cmd heading: 314.383198 deg,
new cmd heading: 314.378505 deg.
2025-06-18T18:17:43.784Z,1750270663.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486940 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:44.033Z,1750270664.033 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:44.033Z,1750270664.033 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:44.033Z,1750270664.033 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:44.204Z,1750270664.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:44.206Z,1750270664.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:44.209Z,1750270664.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 570.119202 m,
bearing: 312.478812 deg,
approach rate: -0.620077 m/s,
LOS rate: -0.003606 deg/s,
cmd heading: 314.378499 deg,
new cmd heading: 314.373876 deg.
2025-06-18T18:17:44.210Z,1750270664.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486859 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:44.285Z,1750270664.285 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:44.285Z,1750270664.285 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:44.285Z,1750270664.285 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:44.537Z,1750270664.537 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:44.537Z,1750270664.537 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:44.537Z,1750270664.537 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:17:44.629Z,1750270664.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:44.636Z,1750270664.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 569.864319 m,
bearing: 312.477153 deg,
approach rate: -0.602178 m/s,
LOS rate: -0.003922 deg/s,
cmd heading: 314.373882 deg,
new cmd heading: 314.368902 deg.
2025-06-18T18:17:44.637Z,1750270664.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486773 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:44.790Z,1750270664.790 [DAT](INFO): Reached modem response timeout
2025-06-18T18:17:44.790Z,1750270664.790 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:17:44.790Z,1750270664.790 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:45.041Z,1750270665.041 [DAT](INFO): Reached modem response timeout
2025-06-18T18:17:45.041Z,1750270665.041 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:17:45.041Z,1750270665.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:45.062Z,1750270665.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:45.069Z,1750270665.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 569.597229 m,
bearing: 312.475629 deg,
approach rate: -0.616722 m/s,
LOS rate: -0.003520 deg/s,
cmd heading: 314.368910 deg,
new cmd heading: 314.364336 deg.
2025-06-18T18:17:45.070Z,1750270665.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486693 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:45.292Z,1750270665.292 [DAT](INFO): Reached modem response timeout
2025-06-18T18:17:45.293Z,1750270665.293 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:17:45.293Z,1750270665.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:45.511Z,1750270665.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:45.533Z,1750270665.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 569.303345 m,
bearing: 312.473725 deg,
approach rate: -0.655730 m/s,
LOS rate: -0.004250 deg/s,
cmd heading: 314.364347 deg,
new cmd heading: 314.358632 deg.
2025-06-18T18:17:45.534Z,1750270665.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486593 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:45.545Z,1750270665.545 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:17:45.545Z,1750270665.545 [DAT](INFO): response not received
2025-06-18T18:17:45.546Z,1750270665.546 [DAT](INFO): DAT read: user:1081>
2025-06-18T18:17:45.547Z,1750270665.547 [DAT](INFO): DAT read: Tx time:18:17:46.6845
2025-06-18T18:17:45.547Z,1750270665.547 [DAT](INFO): Ping request sent.
2025-06-18T18:17:45.547Z,1750270665.547 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:17:45.547Z,1750270665.547 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:45.548Z,1750270665.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-06-18T18:17:45.797Z,1750270665.797 [DAT](INFO): DAT read: TxSync time:18:17:46.6837
2025-06-18T18:17:45.798Z,1750270665.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250803
2025-06-18T18:17:45.945Z,1750270665.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:45.947Z,1750270665.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 569.034241 m,
bearing: 312.471980 deg,
approach rate: -0.619683 m/s,
LOS rate: -0.004021 deg/s,
cmd heading: 314.358637 deg,
new cmd heading: 314.353398 deg.
2025-06-18T18:17:45.971Z,1750270665.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486502 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:46.049Z,1750270666.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502008
2025-06-18T18:17:46.301Z,1750270666.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753987
2025-06-18T18:17:46.359Z,1750270666.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:46.366Z,1750270666.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:46.373Z,1750270666.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 568.771301 m,
bearing: 312.470982 deg,
approach rate: -0.624984 m/s,
LOS rate: -0.002373 deg/s,
cmd heading: 314.353391 deg,
new cmd heading: 314.350396 deg.
2025-06-18T18:17:46.374Z,1750270666.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486449 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:46.553Z,1750270666.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005848
2025-06-18T18:17:46.728Z,1750270666.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:46.731Z,1750270666.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 568.541077 m,
bearing: 312.469973 deg,
approach rate: -0.635337 m/s,
LOS rate: -0.002785 deg/s,
cmd heading: 314.350386 deg,
new cmd heading: 314.347358 deg.
2025-06-18T18:17:46.732Z,1750270666.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486396 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:46.806Z,1750270666.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258942
2025-06-18T18:17:47.057Z,1750270667.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509919
2025-06-18T18:17:47.163Z,1750270667.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:47.165Z,1750270667.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 568.276733 m,
bearing: 312.469567 deg,
approach rate: -0.608291 m/s,
LOS rate: -0.000934 deg/s,
cmd heading: 314.347353 deg,
new cmd heading: 314.346136 deg.
2025-06-18T18:17:47.166Z,1750270667.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486375 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:47.309Z,1750270667.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761890
2025-06-18T18:17:47.536Z,1750270667.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:47.539Z,1750270667.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 568.030762 m,
bearing: 312.469012 deg,
approach rate: -0.658802 m/s,
LOS rate: -0.001488 deg/s,
cmd heading: 314.346124 deg,
new cmd heading: 314.344458 deg.
2025-06-18T18:17:47.540Z,1750270667.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486346 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:47.578Z,1750270667.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030693
2025-06-18T18:17:47.829Z,1750270667.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281942
2025-06-18T18:17:48.063Z,1750270668.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:48.077Z,1750270668.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 567.718140 m,
bearing: 312.468125 deg,
approach rate: -0.593134 m/s,
LOS rate: -0.001684 deg/s,
cmd heading: 314.344457 deg,
new cmd heading: 314.341794 deg.
2025-06-18T18:17:48.078Z,1750270668.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486300 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:48.081Z,1750270668.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533976
2025-06-18T18:17:48.333Z,1750270668.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786210
2025-06-18T18:17:48.422Z,1750270668.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:48.429Z,1750270668.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:48.431Z,1750270668.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 567.477844 m,
bearing: 312.467955 deg,
approach rate: -0.657166 m/s,
LOS rate: -0.000464 deg/s,
cmd heading: 314.341807 deg,
new cmd heading: 314.341298 deg.
2025-06-18T18:17:48.436Z,1750270668.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486290 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:48.586Z,1750270668.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039205
2025-06-18T18:17:48.837Z,1750270668.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290306
2025-06-18T18:17:48.890Z,1750270668.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:48.894Z,1750270668.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 567.182739 m,
bearing: 312.467673 deg,
approach rate: -0.640067 m/s,
LOS rate: -0.000612 deg/s,
cmd heading: 314.341288 deg,
new cmd heading: 314.340442 deg.
2025-06-18T18:17:48.896Z,1750270668.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486276 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:49.090Z,1750270669.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542350
2025-06-18T18:17:49.334Z,1750270669.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:49.337Z,1750270669.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 566.901245 m,
bearing: 312.468021 deg,
approach rate: -0.633719 m/s,
LOS rate: 0.000785 deg/s,
cmd heading: 314.340441 deg,
new cmd heading: 314.341487 deg.
2025-06-18T18:17:49.338Z,1750270669.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486294 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:49.341Z,1750270669.341 [DAT](INFO): DAT read: Rx Time:18:17:49.8469
2025-06-18T18:17:49.341Z,1750270669.341 [DAT](INFO): Rx dataTimestamp_ set to:1750270669.341217
2025-06-18T18:17:49.342Z,1750270669.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.795125
2025-06-18T18:17:49.593Z,1750270669.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.045713
2025-06-18T18:17:49.779Z,1750270669.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:49.786Z,1750270669.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 566.632751 m,
bearing: 312.468348 deg,
approach rate: -0.603266 m/s,
LOS rate: 0.000735 deg/s,
cmd heading: 314.341479 deg,
new cmd heading: 314.342461 deg.
2025-06-18T18:17:49.787Z,1750270669.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486311 target range: 587.222839 and range: 583.60 m.
2025-06-18T18:17:49.847Z,1750270669.847 [DAT](INFO): DAT read: Range 10 to 50 : 568.7 m (Round-trip 758.3 ms) speed 0.5 m/s
2025-06-18T18:17:49.848Z,1750270669.848 [DAT](INFO): DAT read: user:1082>
2025-06-18T18:17:49.849Z,1750270669.849 [DAT](INFO): DAT read: Tx time:18:17:50.9345
2025-06-18T18:17:49.849Z,1750270669.849 [DAT](INFO): Ping request sent.
2025-06-18T18:17:49.849Z,1750270669.849 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:17:49.850Z,1750270669.850 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:17:49.850Z,1750270669.850 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:49.850Z,1750270669.850 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:50.097Z,1750270670.097 [DAT](INFO): DAT read: TxSync time:18:17:50.9337
2025-06-18T18:17:50.187Z,1750270670.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 568.700012 m,
deltaT: 15.148267 s,
deltaX: -14.899963 m,
approachRate: -0.983608 m/s,
rangeRepo size: 4
2025-06-18T18:17:50.188Z,1750270670.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:50.191Z,1750270670.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 566.370117 m,
bearing: 312.468988 deg,
approach rate: -0.644666 m/s,
LOS rate: 0.001571 deg/s,
cmd heading: 314.342463 deg,
new cmd heading: 314.344383 deg.
2025-06-18T18:17:50.191Z,1750270670.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486344 target range: 587.222839 and range: 568.70 m.
2025-06-18T18:17:50.613Z,1750270670.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:50.615Z,1750270670.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:50.618Z,1750270670.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 566.105103 m,
bearing: 312.469712 deg,
approach rate: -0.618364 m/s,
LOS rate: 0.001691 deg/s,
cmd heading: 314.344375 deg,
new cmd heading: 314.346550 deg.
2025-06-18T18:17:50.619Z,1750270670.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486382 target range: 587.222839 and range: 568.70 m.
2025-06-18T18:17:50.853Z,1750270670.853 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:50.853Z,1750270670.853 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:50.853Z,1750270670.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:51.002Z,1750270671.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:51.009Z,1750270671.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 565.874268 m,
bearing: 312.470347 deg,
approach rate: -0.605698 m/s,
LOS rate: 0.001665 deg/s,
cmd heading: 314.346561 deg,
new cmd heading: 314.348465 deg.
2025-06-18T18:17:51.011Z,1750270671.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486416 target range: 587.222839 and range: 568.70 m.
2025-06-18T18:17:51.106Z,1750270671.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256178
2025-06-18T18:17:51.357Z,1750270671.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507506
2025-06-18T18:17:51.421Z,1750270671.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:51.423Z,1750270671.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 565.599731 m,
bearing: 312.471678 deg,
approach rate: -0.646713 m/s,
LOS rate: 0.003137 deg/s,
cmd heading: 314.348474 deg,
new cmd heading: 314.352469 deg.
2025-06-18T18:17:51.424Z,1750270671.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486485 target range: 587.222839 and range: 568.70 m.
2025-06-18T18:17:51.612Z,1750270671.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762355
2025-06-18T18:17:51.792Z,1750270671.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:51.795Z,1750270671.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 565.363831 m,
bearing: 312.472771 deg,
approach rate: -0.634874 m/s,
LOS rate: 0.002942 deg/s,
cmd heading: 314.352462 deg,
new cmd heading: 314.355742 deg.
2025-06-18T18:17:51.796Z,1750270671.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486543 target range: 587.222839 and range: 568.70 m.
2025-06-18T18:17:51.861Z,1750270671.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011647
2025-06-18T18:17:52.114Z,1750270672.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264917
2025-06-18T18:17:52.203Z,1750270672.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:52.232Z,1750270672.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 565.104248 m,
bearing: 312.473700 deg,
approach rate: -0.632696 m/s,
LOS rate: 0.002265 deg/s,
cmd heading: 314.355741 deg,
new cmd heading: 314.358529 deg.
2025-06-18T18:17:52.234Z,1750270672.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486591 target range: 587.222839 and range: 568.70 m.
2025-06-18T18:17:52.365Z,1750270672.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515612
2025-06-18T18:17:52.576Z,1750270672.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:52.579Z,1750270672.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 564.867737 m,
bearing: 312.474538 deg,
approach rate: -0.632901 m/s,
LOS rate: 0.002243 deg/s,
cmd heading: 314.358528 deg,
new cmd heading: 314.361042 deg.
2025-06-18T18:17:52.596Z,1750270672.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486635 target range: 587.222839 and range: 568.70 m.
2025-06-18T18:17:52.617Z,1750270672.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767617
2025-06-18T18:17:52.869Z,1750270672.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019814
2025-06-18T18:17:52.986Z,1750270672.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:52.988Z,1750270672.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:52.991Z,1750270672.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 564.607239 m,
bearing: 312.475463 deg,
approach rate: -0.632443 m/s,
LOS rate: 0.002249 deg/s,
cmd heading: 314.361041 deg,
new cmd heading: 314.363820 deg.
2025-06-18T18:17:52.992Z,1750270672.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486684 target range: 587.222839 and range: 568.70 m.
2025-06-18T18:17:53.121Z,1750270673.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271808
2025-06-18T18:17:53.373Z,1750270673.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523565
2025-06-18T18:17:53.434Z,1750270673.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:53.442Z,1750270673.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 564.332458 m,
bearing: 312.476349 deg,
approach rate: -0.616228 m/s,
LOS rate: 0.001987 deg/s,
cmd heading: 314.363828 deg,
new cmd heading: 314.366485 deg.
2025-06-18T18:17:53.443Z,1750270673.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486730 target range: 587.222839 and range: 568.70 m.
2025-06-18T18:17:53.625Z,1750270673.625 [DAT](INFO): DAT read: Rx Time:18:17:54.1084
2025-06-18T18:17:53.625Z,1750270673.625 [DAT](INFO): Rx dataTimestamp_ set to:1750270673.625017
2025-06-18T18:17:53.626Z,1750270673.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776556
2025-06-18T18:17:53.794Z,1750270673.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.22 m.
2025-06-18T18:17:53.797Z,1750270673.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 587.222839 m,
nav range: 564.101685 m,
bearing: 312.477098 deg,
approach rate: -0.641315 m/s,
LOS rate: 0.002082 deg/s,
cmd heading: 314.366478 deg,
new cmd heading: 314.368726 deg.
2025-06-18T18:17:53.798Z,1750270673.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486769 target range: 587.222839 and range: 568.70 m.
2025-06-18T18:17:53.878Z,1750270673.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028394
2025-06-18T18:17:54.145Z,1750270674.145 [DAT](INFO): DAT read: 18:17:54.1084 LVL= 23760, 26609, 20754, 31683, AGC= 68, IDX= 54, 0.39, 1.914, 0.484, 2.010, 1.283, PHS= 0.719,-0.752, 0.724, RAW= 150.2, -9.4, CAL= 156.4, -17.4, ROT= 353.6, 17.4
2025-06-18T18:17:54.146Z,1750270674.146 [DAT](INFO): got valid direction response:
18:17:54.1084 LVL= 23760, 26609, 20754, 31683, AGC= 68, IDX= 54, 0.39, 1.914, 0.484, 2.010, 1.283, PHS= 0.719,-0.752, 0.724, RAW= 150.2, -9.4, CAL= 156.4, -17.4, ROT= 353.6, 17.4
2025-06-18T18:17:54.147Z,1750270674.147 [DAT](INFO): DAT read: Bearing 353.6, 17.4 (Local)
2025-06-18T18:17:54.147Z,1750270674.147 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.6, 17.4 (Local)
2025-06-18T18:17:54.149Z,1750270674.149 [DAT](INFO): DAT read: Range 10 to 50 : 577.3 m (Round-trip 769.8 ms) speed 0.4 m/s
2025-06-18T18:17:54.150Z,1750270674.150 [DAT](INFO): DAT read: user:1083>
2025-06-18T18:17:54.151Z,1750270674.151 [DAT](INFO): DAT read: Tx time:18:17:55.1845
2025-06-18T18:17:54.151Z,1750270674.151 [DAT](INFO): Ping request sent.
2025-06-18T18:17:54.151Z,1750270674.151 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:17:54.151Z,1750270674.151 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:17:54.153Z,1750270674.153 [DAT](INFO): direction in FSK: [0.948293,-0.106368,-0.299041]
2025-06-18T18:17:54.153Z,1750270674.153 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:54.153Z,1750270674.153 [DAT](INFO): publishing direction and range info
2025-06-18T18:17:54.158Z,1750270674.158 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:54.158Z,1750270674.158 [DAT](INFO): publishing direction and range info
2025-06-18T18:17:54.319Z,1750270674.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 577.299988 m,
deltaT: 4.284231 s,
deltaX: 8.599976 m,
approachRate: 2.007356 m/s,
rangeRepo size: 4
2025-06-18T18:17:54.329Z,1750270674.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 571.971863 m,
bearing: 306.900980 deg,
lat: 36.905942 deg,
lon: -122.115776 deg,
deltaT: 23.717434 s,
deltaX: -15.250977 m,
approachRate: -0.643028 m/s,
posRepo size: 4
2025-06-18T18:17:54.330Z,1750270674.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.97 m.
2025-06-18T18:17:54.337Z,1750270674.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 571.971863 m,
nav range: 563.778564 m,
bearing: 312.477847 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002082 deg/s,
cmd heading: 314.368718 deg,
new cmd heading: 314.371994 deg.
2025-06-18T18:17:54.338Z,1750270674.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486826 target range: 571.971863 and range: 577.30 m.
2025-06-18T18:17:54.385Z,1750270674.385 [DAT](INFO): DAT read: TxSync time:18:17:55.1837
2025-06-18T18:17:54.627Z,1750270674.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.97 m.
2025-06-18T18:17:54.630Z,1750270674.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 571.971863 m,
nav range: 563.575806 m,
bearing: 312.478311 deg,
approach rate: -0.656245 m/s,
LOS rate: 0.001502 deg/s,
cmd heading: 314.371997 deg,
new cmd heading: 314.373389 deg.
2025-06-18T18:17:54.631Z,1750270674.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486851 target range: 571.971863 and range: 577.30 m.
2025-06-18T18:17:55.051Z,1750270675.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:55.059Z,1750270675.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.97 m.
2025-06-18T18:17:55.063Z,1750270675.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 571.971863 m,
nav range: 563.317017 m,
bearing: 312.478955 deg,
approach rate: -0.601330 m/s,
LOS rate: 0.001497 deg/s,
cmd heading: 314.373390 deg,
new cmd heading: 314.375323 deg.
2025-06-18T18:17:55.065Z,1750270675.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486885 target range: 571.971863 and range: 577.30 m.
2025-06-18T18:17:55.139Z,1750270675.139 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:55.140Z,1750270675.140 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:55.141Z,1750270675.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:55.389Z,1750270675.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237696
2025-06-18T18:17:55.452Z,1750270675.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.97 m.
2025-06-18T18:17:55.455Z,1750270675.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 571.971863 m,
nav range: 563.058105 m,
bearing: 312.479295 deg,
approach rate: -0.655506 m/s,
LOS rate: 0.000862 deg/s,
cmd heading: 314.375330 deg,
new cmd heading: 314.376351 deg.
2025-06-18T18:17:55.456Z,1750270675.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486902 target range: 571.971863 and range: 577.30 m.
2025-06-18T18:17:55.641Z,1750270675.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489716
2025-06-18T18:17:55.760Z,1750270675.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:17:55.843Z,1750270675.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.97 m.
2025-06-18T18:17:55.846Z,1750270675.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 571.971863 m,
nav range: 562.814392 m,
bearing: 312.479589 deg,
approach rate: -0.623378 m/s,
LOS rate: 0.000753 deg/s,
cmd heading: 314.376341 deg,
new cmd heading: 314.377223 deg.
2025-06-18T18:17:55.847Z,1750270675.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486917 target range: 571.971863 and range: 577.30 m.
2025-06-18T18:17:55.894Z,1750270675.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743211
2025-06-18T18:17:56.147Z,1750270676.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995616
2025-06-18T18:17:56.256Z,1750270676.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.97 m.
2025-06-18T18:17:56.259Z,1750270676.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 571.971863 m,
nav range: 562.557373 m,
bearing: 312.479075 deg,
approach rate: -0.623129 m/s,
LOS rate: -0.001248 deg/s,
cmd heading: 314.377215 deg,
new cmd heading: 314.375670 deg.
2025-06-18T18:17:56.260Z,1750270676.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486890 target range: 571.971863 and range: 577.30 m.
2025-06-18T18:17:56.397Z,1750270676.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245726
2025-06-18T18:17:56.642Z,1750270676.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.97 m.
2025-06-18T18:17:56.645Z,1750270676.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 571.971863 m,
nav range: 562.316406 m,
bearing: 312.478548 deg,
approach rate: -0.624299 m/s,
LOS rate: -0.001364 deg/s,
cmd heading: 314.375658 deg,
new cmd heading: 314.374078 deg.
2025-06-18T18:17:56.646Z,1750270676.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486863 target range: 571.971863 and range: 577.30 m.
2025-06-18T18:17:56.649Z,1750270676.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497756
2025-06-18T18:17:56.764Z,1750270676.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:17:56.902Z,1750270676.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750372
2025-06-18T18:17:57.045Z,1750270677.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.97 m.
2025-06-18T18:17:57.047Z,1750270677.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 571.971863 m,
nav range: 562.065430 m,
bearing: 312.477974 deg,
approach rate: -0.622976 m/s,
LOS rate: -0.001428 deg/s,
cmd heading: 314.374073 deg,
new cmd heading: 314.372348 deg.
2025-06-18T18:17:57.048Z,1750270677.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486833 target range: 571.971863 and range: 577.30 m.
2025-06-18T18:17:57.156Z,1750270677.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003947
2025-06-18T18:17:57.405Z,1750270677.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253645
2025-06-18T18:17:57.475Z,1750270677.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:57.477Z,1750270677.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.97 m.
2025-06-18T18:17:57.480Z,1750270677.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 571.971863 m,
nav range: 561.792419 m,
bearing: 312.476995 deg,
approach rate: -0.630828 m/s,
LOS rate: -0.002262 deg/s,
cmd heading: 314.372352 deg,
new cmd heading: 314.369415 deg.
2025-06-18T18:17:57.481Z,1750270677.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486781 target range: 571.971863 and range: 577.30 m.
2025-06-18T18:17:57.657Z,1750270677.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505693
2025-06-18T18:17:57.864Z,1750270677.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.97 m.
2025-06-18T18:17:57.869Z,1750270677.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 571.971863 m,
nav range: 561.553162 m,
bearing: 312.476117 deg,
approach rate: -0.620350 m/s,
LOS rate: -0.002277 deg/s,
cmd heading: 314.369401 deg,
new cmd heading: 314.366767 deg.
2025-06-18T18:17:57.871Z,1750270677.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486735 target range: 571.971863 and range: 577.30 m.
2025-06-18T18:17:57.909Z,1750270677.909 [DAT](INFO): DAT read: Rx Time:18:17:58.3559
2025-06-18T18:17:57.909Z,1750270677.909 [DAT](INFO): Rx dataTimestamp_ set to:1750270677.909176
2025-06-18T18:17:57.910Z,1750270677.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758866
2025-06-18T18:17:58.164Z,1750270678.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012542
2025-06-18T18:17:58.350Z,1750270678.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.97 m.
2025-06-18T18:17:58.369Z,1750270678.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 571.971863 m,
nav range: 561.235718 m,
bearing: 312.474401 deg,
approach rate: -0.651714 m/s,
LOS rate: -0.003525 deg/s,
cmd heading: 314.366779 deg,
new cmd heading: 314.361628 deg.
2025-06-18T18:17:58.370Z,1750270678.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486645 target range: 571.971863 and range: 577.30 m.
2025-06-18T18:17:58.422Z,1750270678.422 [DAT](INFO): DAT read: 18:17:58.3559 LVL= 28368, 27569, 26210, 32755, AGC= 69, IDX= 411,-0.19,-2.191, 2.872,-2.085,-2.732, PHS= 0.629,-0.632, 0.643, RAW= 150.6, -10.1, CAL= 156.9, -18.0, ROT= 353.1, 18.0
2025-06-18T18:17:58.424Z,1750270678.424 [DAT](INFO): got valid direction response:
18:17:58.3559 LVL= 28368, 27569, 26210, 32755, AGC= 69, IDX= 411,-0.19,-2.191, 2.872,-2.085,-2.732, PHS= 0.629,-0.632, 0.643, RAW= 150.6, -10.1, CAL= 156.9, -18.0, ROT= 353.1, 18.0
2025-06-18T18:17:58.425Z,1750270678.425 [DAT](INFO): DAT read: Bearing 353.1, 18.0 (Local)
2025-06-18T18:17:58.426Z,1750270678.426 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.1, 18.0 (Local)
2025-06-18T18:17:58.462Z,1750270678.462 [DAT](INFO): DAT read: Range 10 to 50 : 575.3 m (Round-trip 767.1 ms) speed 0.5 m/s
2025-06-18T18:17:58.463Z,1750270678.463 [DAT](INFO): DAT read: user:1084>
2025-06-18T18:17:58.474Z,1750270678.474 [DAT](INFO): DAT read: Tx time:18:17:59.4346
2025-06-18T18:17:58.475Z,1750270678.475 [DAT](INFO): Ping request sent.
2025-06-18T18:17:58.481Z,1750270678.481 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:17:58.481Z,1750270678.481 [DAT](INFO): DAT read: TxSync time:18:17:59.4338
2025-06-18T18:17:58.482Z,1750270678.482 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:17:58.483Z,1750270678.483 [DAT](INFO): direction in FSK: [0.944168,-0.114257,-0.309017]
2025-06-18T18:17:58.483Z,1750270678.483 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:58.483Z,1750270678.483 [DAT](INFO): publishing direction and range info
2025-06-18T18:17:58.491Z,1750270678.491 [DAT](INFO): publishing transmit ping time
2025-06-18T18:17:58.491Z,1750270678.491 [DAT](INFO): publishing direction and range info
2025-06-18T18:17:58.696Z,1750270678.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 575.299988 m,
deltaT: 4.283229 s,
deltaX: -2.000000 m,
approachRate: -0.466937 m/s,
rangeRepo size: 4
2025-06-18T18:17:58.698Z,1750270678.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 569.994263 m,
bearing: 306.868616 deg,
lat: 36.905792 deg,
lon: -122.115999 deg,
deltaT: 4.283229 s,
deltaX: -1.977600 m,
approachRate: -0.461708 m/s,
posRepo size: 4
2025-06-18T18:17:58.699Z,1750270678.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:17:58.705Z,1750270678.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 565.065369 m,
bearing: 309.872934 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003525 deg/s,
cmd heading: 314.361615 deg,
new cmd heading: 314.358012 deg.
2025-06-18T18:17:58.706Z,1750270678.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486582 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:17:59.067Z,1750270679.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:17:59.090Z,1750270679.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 564.813660 m,
bearing: 309.870405 deg,
approach rate: -0.668882 m/s,
LOS rate: -0.006725 deg/s,
cmd heading: 314.358009 deg,
new cmd heading: 314.350417 deg.
2025-06-18T18:17:59.091Z,1750270679.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486450 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:17:59.492Z,1750270679.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:17:59.494Z,1750270679.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:17:59.498Z,1750270679.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 564.535645 m,
bearing: 309.867513 deg,
approach rate: -0.651581 m/s,
LOS rate: -0.006780 deg/s,
cmd heading: 314.350413 deg,
new cmd heading: 314.341735 deg.
2025-06-18T18:17:59.499Z,1750270679.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486298 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:17:59.673Z,1750270679.673 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:17:59.673Z,1750270679.673 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:17:59.674Z,1750270679.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:17:59.925Z,1750270679.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449688
2025-06-18T18:17:59.937Z,1750270679.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:17:59.940Z,1750270679.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 564.246399 m,
bearing: 309.864521 deg,
approach rate: -0.652764 m/s,
LOS rate: -0.006757 deg/s,
cmd heading: 314.341725 deg,
new cmd heading: 314.332743 deg.
2025-06-18T18:17:59.941Z,1750270679.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486141 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:00.180Z,1750270680.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704056
2025-06-18T18:18:00.418Z,1750270680.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:00.421Z,1750270680.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 563.923584 m,
bearing: 309.861145 deg,
approach rate: -0.670862 m/s,
LOS rate: -0.007019 deg/s,
cmd heading: 314.332737 deg,
new cmd heading: 314.322604 deg.
2025-06-18T18:18:00.422Z,1750270680.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485964 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:00.429Z,1750270680.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953911
2025-06-18T18:18:00.681Z,1750270680.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205513
2025-06-18T18:18:00.858Z,1750270680.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:00.865Z,1750270680.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 563.634216 m,
bearing: 309.858056 deg,
approach rate: -0.657865 m/s,
LOS rate: -0.007027 deg/s,
cmd heading: 314.322601 deg,
new cmd heading: 314.313328 deg.
2025-06-18T18:18:00.866Z,1750270680.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485803 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:00.933Z,1750270680.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457612
2025-06-18T18:18:01.187Z,1750270681.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711564
2025-06-18T18:18:01.309Z,1750270681.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:01.311Z,1750270681.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 563.324646 m,
bearing: 309.854985 deg,
approach rate: -0.688500 m/s,
LOS rate: -0.006834 deg/s,
cmd heading: 314.313339 deg,
new cmd heading: 314.304121 deg.
2025-06-18T18:18:01.312Z,1750270681.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485642 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:01.437Z,1750270681.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961635
2025-06-18T18:18:01.642Z,1750270681.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:01.644Z,1750270681.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:01.647Z,1750270681.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 563.097900 m,
bearing: 309.852722 deg,
approach rate: -0.674256 m/s,
LOS rate: -0.006729 deg/s,
cmd heading: 314.304132 deg,
new cmd heading: 314.297343 deg.
2025-06-18T18:18:01.648Z,1750270681.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485524 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:01.690Z,1750270681.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215070
2025-06-18T18:18:01.941Z,1750270681.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465941
2025-06-18T18:18:02.027Z,1750270682.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:02.030Z,1750270682.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 562.838684 m,
bearing: 309.850127 deg,
approach rate: -0.676416 m/s,
LOS rate: -0.006776 deg/s,
cmd heading: 314.297356 deg,
new cmd heading: 314.289566 deg.
2025-06-18T18:18:02.031Z,1750270682.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485388 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:02.193Z,1750270682.193 [DAT](INFO): DAT read: Rx Time:18:18:02.5938
2025-06-18T18:18:02.193Z,1750270682.193 [DAT](INFO): Rx dataTimestamp_ set to:1750270682.193188
2025-06-18T18:18:02.194Z,1750270682.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.718772
2025-06-18T18:18:02.445Z,1750270682.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.969567
2025-06-18T18:18:02.463Z,1750270682.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:02.466Z,1750270682.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 562.541748 m,
bearing: 309.848015 deg,
approach rate: -0.681604 m/s,
LOS rate: -0.004849 deg/s,
cmd heading: 314.289570 deg,
new cmd heading: 314.283233 deg.
2025-06-18T18:18:02.467Z,1750270682.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485277 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:02.705Z,1750270682.705 [DAT](INFO): DAT read: 18:18:02.5938 LVL= 19696, 26865, 18754, 22787, AGC= 70, IDX= 320,-0.31, 1.628, 0.012, 1.631, 0.834, PHS= 0.882,-0.776, 0.794, RAW= 147.3, -11.1, CAL= 154.3, -19.5, ROT= 355.7, 19.5
2025-06-18T18:18:02.706Z,1750270682.706 [DAT](INFO): got valid direction response:
18:18:02.5938 LVL= 19696, 26865, 18754, 22787, AGC= 70, IDX= 320,-0.31, 1.628, 0.012, 1.631, 0.834, PHS= 0.882,-0.776, 0.794, RAW= 147.3, -11.1, CAL= 154.3, -19.5, ROT= 355.7, 19.5
2025-06-18T18:18:02.706Z,1750270682.706 [DAT](INFO): DAT read: $Error in header
2025-06-18T18:18:02.707Z,1750270682.707 [DAT](INFO): Received a bad header
2025-06-18T18:18:02.721Z,1750270682.721 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:18:02.723Z,1750270682.723 [DAT](INFO): direction in FSK: [0.939988,-0.070678,-0.333807]
2025-06-18T18:18:02.726Z,1750270682.726 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:02.726Z,1750270682.726 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:02.726Z,1750270682.726 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:02.907Z,1750270682.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:02.910Z,1750270682.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 562.241455 m,
bearing: 309.845868 deg,
approach rate: -0.675599 m/s,
LOS rate: -0.004834 deg/s,
cmd heading: 314.283232 deg,
new cmd heading: 314.276786 deg.
2025-06-18T18:18:02.911Z,1750270682.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485165 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:02.950Z,1750270682.950 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:02.950Z,1750270682.950 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:02.950Z,1750270682.950 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:03.202Z,1750270683.202 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:03.203Z,1750270683.203 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:03.203Z,1750270683.203 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:03.355Z,1750270683.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:03.363Z,1750270683.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 561.937073 m,
bearing: 309.843701 deg,
approach rate: -0.679939 m/s,
LOS rate: -0.004843 deg/s,
cmd heading: 314.276784 deg,
new cmd heading: 314.270280 deg.
2025-06-18T18:18:03.364Z,1750270683.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485051 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:03.455Z,1750270683.455 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:03.455Z,1750270683.455 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:03.455Z,1750270683.455 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:03.679Z,1750270683.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:03.681Z,1750270683.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:03.684Z,1750270683.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 561.708374 m,
bearing: 309.842073 deg,
approach rate: -0.700651 m/s,
LOS rate: -0.004991 deg/s,
cmd heading: 314.270282 deg,
new cmd heading: 314.265394 deg.
2025-06-18T18:18:03.685Z,1750270683.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484966 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:03.705Z,1750270683.705 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:03.705Z,1750270683.705 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:03.705Z,1750270683.705 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:03.957Z,1750270683.957 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:03.957Z,1750270683.957 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:03.957Z,1750270683.957 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:04.103Z,1750270684.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:04.113Z,1750270684.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 561.431030 m,
bearing: 309.840091 deg,
approach rate: -0.657326 m/s,
LOS rate: -0.004701 deg/s,
cmd heading: 314.265391 deg,
new cmd heading: 314.259441 deg.
2025-06-18T18:18:04.114Z,1750270684.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484862 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:04.211Z,1750270684.211 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:04.211Z,1750270684.211 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:04.211Z,1750270684.211 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:04.461Z,1750270684.461 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:04.461Z,1750270684.461 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:04.461Z,1750270684.461 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:04.488Z,1750270684.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:04.491Z,1750270684.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 561.152832 m,
bearing: 309.838177 deg,
approach rate: -0.724133 m/s,
LOS rate: -0.004984 deg/s,
cmd heading: 314.259435 deg,
new cmd heading: 314.253691 deg.
2025-06-18T18:18:04.492Z,1750270684.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484762 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:04.713Z,1750270684.713 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:04.713Z,1750270684.713 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:04.713Z,1750270684.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:04.885Z,1750270684.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:04.890Z,1750270684.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 560.882385 m,
bearing: 309.836314 deg,
approach rate: -0.680229 m/s,
LOS rate: -0.004686 deg/s,
cmd heading: 314.253698 deg,
new cmd heading: 314.248108 deg.
2025-06-18T18:18:04.891Z,1750270684.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484664 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:04.966Z,1750270684.966 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:04.966Z,1750270684.966 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:04.966Z,1750270684.966 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:05.217Z,1750270685.217 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:05.217Z,1750270685.217 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:05.217Z,1750270685.217 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:05.393Z,1750270685.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:05.396Z,1750270685.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 560.536316 m,
bearing: 309.834405 deg,
approach rate: -0.681326 m/s,
LOS rate: -0.003762 deg/s,
cmd heading: 314.248097 deg,
new cmd heading: 314.242364 deg.
2025-06-18T18:18:05.397Z,1750270685.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484564 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:05.469Z,1750270685.469 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:05.470Z,1750270685.470 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:05.470Z,1750270685.470 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:05.695Z,1750270685.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:05.718Z,1750270685.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:05.721Z,1750270685.721 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:05.721Z,1750270685.721 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:05.721Z,1750270685.721 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:05.725Z,1750270685.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 560.330872 m,
bearing: 309.833262 deg,
approach rate: -0.632678 m/s,
LOS rate: -0.003520 deg/s,
cmd heading: 314.242360 deg,
new cmd heading: 314.238931 deg.
2025-06-18T18:18:05.726Z,1750270685.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484504 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:05.973Z,1750270685.973 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:05.973Z,1750270685.973 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:05.973Z,1750270685.973 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:06.106Z,1750270686.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:06.109Z,1750270686.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 560.055420 m,
bearing: 309.831715 deg,
approach rate: -0.709223 m/s,
LOS rate: -0.003985 deg/s,
cmd heading: 314.238917 deg,
new cmd heading: 314.234274 deg.
2025-06-18T18:18:06.110Z,1750270686.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484423 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:06.227Z,1750270686.227 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:06.228Z,1750270686.228 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:06.228Z,1750270686.228 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:06.476Z,1750270686.476 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:06.477Z,1750270686.477 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:06.477Z,1750270686.477 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:06.551Z,1750270686.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:06.562Z,1750270686.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 559.767151 m,
bearing: 309.830318 deg,
approach rate: -0.648123 m/s,
LOS rate: -0.003143 deg/s,
cmd heading: 314.234273 deg,
new cmd heading: 314.230080 deg.
2025-06-18T18:18:06.563Z,1750270686.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484350 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:06.729Z,1750270686.729 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:06.729Z,1750270686.729 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:06.729Z,1750270686.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:06.939Z,1750270686.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:06.949Z,1750270686.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 559.511414 m,
bearing: 309.829053 deg,
approach rate: -0.658711 m/s,
LOS rate: -0.003261 deg/s,
cmd heading: 314.230093 deg,
new cmd heading: 314.226294 deg.
2025-06-18T18:18:06.950Z,1750270686.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484283 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:06.981Z,1750270686.981 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:06.981Z,1750270686.981 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:06.981Z,1750270686.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:07.232Z,1750270687.232 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:07.233Z,1750270687.233 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:07.233Z,1750270687.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:07.373Z,1750270687.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:07.376Z,1750270687.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 559.214600 m,
bearing: 309.827449 deg,
approach rate: -0.683996 m/s,
LOS rate: -0.003697 deg/s,
cmd heading: 314.226295 deg,
new cmd heading: 314.221482 deg.
2025-06-18T18:18:07.377Z,1750270687.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484200 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:07.485Z,1750270687.485 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:07.485Z,1750270687.485 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:07.486Z,1750270687.486 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:07.717Z,1750270687.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:07.721Z,1750270687.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 558.986450 m,
bearing: 309.826190 deg,
approach rate: -0.662844 m/s,
LOS rate: -0.003661 deg/s,
cmd heading: 314.221487 deg,
new cmd heading: 314.217707 deg.
2025-06-18T18:18:07.722Z,1750270687.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484134 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:07.737Z,1750270687.737 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:07.737Z,1750270687.737 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:07.737Z,1750270687.737 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:07.989Z,1750270687.989 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:07.989Z,1750270687.989 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:07.989Z,1750270687.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:08.131Z,1750270688.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:08.133Z,1750270688.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:08.136Z,1750270688.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 558.712219 m,
bearing: 309.824647 deg,
approach rate: -0.659452 m/s,
LOS rate: -0.003712 deg/s,
cmd heading: 314.217716 deg,
new cmd heading: 314.213086 deg.
2025-06-18T18:18:08.137Z,1750270688.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484053 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:08.241Z,1750270688.241 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:08.241Z,1750270688.241 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:08.241Z,1750270688.241 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:08.492Z,1750270688.492 [DAT](INFO): Reached modem response timeout
2025-06-18T18:18:08.493Z,1750270688.493 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:18:08.493Z,1750270688.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:08.582Z,1750270688.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:08.585Z,1750270688.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 558.432800 m,
bearing: 309.823261 deg,
approach rate: -0.622120 m/s,
LOS rate: -0.003088 deg/s,
cmd heading: 314.213099 deg,
new cmd heading: 314.208939 deg.
2025-06-18T18:18:08.586Z,1750270688.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483981 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:08.744Z,1750270688.744 [DAT](INFO): Reached modem response timeout
2025-06-18T18:18:08.745Z,1750270688.745 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:18:08.745Z,1750270688.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:08.950Z,1750270688.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:08.958Z,1750270688.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 558.194031 m,
bearing: 309.822062 deg,
approach rate: -0.649082 m/s,
LOS rate: -0.003261 deg/s,
cmd heading: 314.208947 deg,
new cmd heading: 314.205348 deg.
2025-06-18T18:18:08.959Z,1750270688.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483918 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:08.997Z,1750270688.997 [DAT](INFO): Reached modem response timeout
2025-06-18T18:18:08.997Z,1750270688.997 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:18:08.997Z,1750270688.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:09.249Z,1750270689.249 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:18:09.249Z,1750270689.249 [DAT](INFO): response not received
2025-06-18T18:18:09.250Z,1750270689.250 [DAT](INFO): DAT read: user:1086>
2025-06-18T18:18:09.250Z,1750270689.250 [DAT](INFO): DAT read: Tx time:18:18:10.3846
2025-06-18T18:18:09.251Z,1750270689.251 [DAT](INFO): Ping request sent.
2025-06-18T18:18:09.251Z,1750270689.251 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:18:09.251Z,1750270689.251 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:09.252Z,1750270689.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-06-18T18:18:09.457Z,1750270689.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:09.459Z,1750270689.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 557.857361 m,
bearing: 309.820471 deg,
approach rate: -0.664432 m/s,
LOS rate: -0.003142 deg/s,
cmd heading: 314.205340 deg,
new cmd heading: 314.200565 deg.
2025-06-18T18:18:09.465Z,1750270689.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483834 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:09.504Z,1750270689.504 [DAT](INFO): DAT read: TxSync time:18:18:10.3838
2025-06-18T18:18:09.505Z,1750270689.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254107
2025-06-18T18:18:09.738Z,1750270689.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:09.753Z,1750270689.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502158
2025-06-18T18:18:09.757Z,1750270689.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 557.669495 m,
bearing: 309.819565 deg,
approach rate: -0.667252 m/s,
LOS rate: -0.003220 deg/s,
cmd heading: 314.200559 deg,
new cmd heading: 314.197839 deg.
2025-06-18T18:18:09.758Z,1750270689.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483787 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:10.005Z,1750270690.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754429
2025-06-18T18:18:10.140Z,1750270690.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:10.143Z,1750270690.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:10.145Z,1750270690.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 557.407959 m,
bearing: 309.818385 deg,
approach rate: -0.647143 m/s,
LOS rate: -0.002922 deg/s,
cmd heading: 314.197827 deg,
new cmd heading: 314.194285 deg.
2025-06-18T18:18:10.146Z,1750270690.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483725 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:10.259Z,1750270690.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007978
2025-06-18T18:18:10.509Z,1750270690.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258061
2025-06-18T18:18:10.586Z,1750270690.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:10.590Z,1750270690.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 557.121216 m,
bearing: 309.816860 deg,
approach rate: -0.646209 m/s,
LOS rate: -0.003437 deg/s,
cmd heading: 314.194275 deg,
new cmd heading: 314.189700 deg.
2025-06-18T18:18:10.591Z,1750270690.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483645 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:10.761Z,1750270690.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509986
2025-06-18T18:18:10.956Z,1750270690.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:10.959Z,1750270690.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 556.882935 m,
bearing: 309.815600 deg,
approach rate: -0.645004 m/s,
LOS rate: -0.003412 deg/s,
cmd heading: 314.189713 deg,
new cmd heading: 314.185931 deg.
2025-06-18T18:18:10.960Z,1750270690.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483579 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:11.014Z,1750270691.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763095
2025-06-18T18:18:11.265Z,1750270691.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014073
2025-06-18T18:18:11.468Z,1750270691.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:11.471Z,1750270691.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 556.549072 m,
bearing: 309.813577 deg,
approach rate: -0.661954 m/s,
LOS rate: -0.004013 deg/s,
cmd heading: 314.185942 deg,
new cmd heading: 314.179870 deg.
2025-06-18T18:18:11.476Z,1750270691.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483473 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:11.517Z,1750270691.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266154
2025-06-18T18:18:11.769Z,1750270691.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518067
2025-06-18T18:18:11.779Z,1750270691.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:11.782Z,1750270691.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 556.337769 m,
bearing: 309.812295 deg,
approach rate: -0.662434 m/s,
LOS rate: -0.004019 deg/s,
cmd heading: 314.179877 deg,
new cmd heading: 314.176031 deg.
2025-06-18T18:18:11.783Z,1750270691.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483406 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:12.021Z,1750270692.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770075
2025-06-18T18:18:12.173Z,1750270692.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:12.175Z,1750270692.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:12.178Z,1750270692.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 556.075928 m,
bearing: 309.810698 deg,
approach rate: -0.661014 m/s,
LOS rate: -0.004034 deg/s,
cmd heading: 314.176025 deg,
new cmd heading: 314.171231 deg.
2025-06-18T18:18:12.179Z,1750270692.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483323 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:12.273Z,1750270692.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021924
2025-06-18T18:18:12.525Z,1750270692.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274551
2025-06-18T18:18:12.667Z,1750270692.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:12.670Z,1750270692.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 555.749268 m,
bearing: 309.809044 deg,
approach rate: -0.664686 m/s,
LOS rate: -0.003368 deg/s,
cmd heading: 314.171244 deg,
new cmd heading: 314.166278 deg.
2025-06-18T18:18:12.670Z,1750270692.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483236 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:12.777Z,1750270692.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526212
2025-06-18T18:18:12.999Z,1750270692.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:13.006Z,1750270693.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 555.541870 m,
bearing: 309.808013 deg,
approach rate: -0.623891 m/s,
LOS rate: -0.003102 deg/s,
cmd heading: 314.166271 deg,
new cmd heading: 314.163178 deg.
2025-06-18T18:18:13.007Z,1750270693.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483182 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:13.029Z,1750270693.029 [DAT](INFO): DAT read: Rx Time:18:18:13.5439
2025-06-18T18:18:13.030Z,1750270693.030 [DAT](INFO): Rx dataTimestamp_ set to:1750270693.029239
2025-06-18T18:18:13.030Z,1750270693.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779315
2025-06-18T18:18:13.281Z,1750270693.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030003
2025-06-18T18:18:13.525Z,1750270693.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 569.99 m.
2025-06-18T18:18:13.529Z,1750270693.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 569.994263 m,
nav range: 555.170044 m,
bearing: 309.805789 deg,
approach rate: -0.706325 m/s,
LOS rate: -0.004229 deg/s,
cmd heading: 314.163184 deg,
new cmd heading: 314.156506 deg.
2025-06-18T18:18:13.530Z,1750270693.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483066 target range: 569.994263 and range: 575.30 m.
2025-06-18T18:18:13.539Z,1750270693.539 [DAT](INFO): DAT read: 18:18:13.5439 LVL= 29280, 25985, 27490, 32755, AGC= 69, IDX= 463,-0.12, 0.745,-0.773, 0.848,-0.085, PHS= 0.918,-0.642, 0.930, RAW= 150.4, -15.2, CAL= 156.8, -22.6, ROT= 353.2, 22.6
2025-06-18T18:18:13.540Z,1750270693.540 [DAT](INFO): got valid direction response:
18:18:13.5439 LVL= 29280, 25985, 27490, 32755, AGC= 69, IDX= 463,-0.12, 0.745,-0.773, 0.848,-0.085, PHS= 0.918,-0.642, 0.930, RAW= 150.4, -15.2, CAL= 156.8, -22.6, ROT= 353.2, 22.6
2025-06-18T18:18:13.541Z,1750270693.541 [DAT](INFO): DAT read: Bearing 353.2, 22.6 (Local)
2025-06-18T18:18:13.541Z,1750270693.541 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.2, 22.6 (Local)
2025-06-18T18:18:13.543Z,1750270693.543 [DAT](INFO): DAT read: Range 10 to 50 : 566.2 m (Round-trip 755.0 ms) speed 0.5 m/s
2025-06-18T18:18:13.544Z,1750270693.544 [DAT](INFO): DAT read: user:1087>
2025-06-18T18:18:13.545Z,1750270693.545 [DAT](INFO): DAT read: Tx time:18:18:14.6347
2025-06-18T18:18:13.545Z,1750270693.545 [DAT](INFO): Ping request sent.
2025-06-18T18:18:13.545Z,1750270693.545 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:18:13.545Z,1750270693.545 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:18:13.546Z,1750270693.546 [DAT](INFO): direction in FSK: [0.916716,-0.109312,-0.384295]
2025-06-18T18:18:13.546Z,1750270693.546 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:13.547Z,1750270693.547 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:13.554Z,1750270693.554 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:13.554Z,1750270693.554 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:13.785Z,1750270693.785 [DAT](INFO): DAT read: TxSync time:18:18:14.6339
2025-06-18T18:18:13.895Z,1750270693.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 566.200012 m,
deltaT: 15.119484 s,
deltaX: -9.099976 m,
approachRate: -0.601871 m/s,
rangeRepo size: 4
2025-06-18T18:18:13.902Z,1750270693.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 560.989990 m,
bearing: 307.529725 deg,
lat: 36.905626 deg,
lon: -122.116135 deg,
deltaT: 15.119484 s,
deltaX: -9.004272 m,
approachRate: -0.595541 m/s,
posRepo size: 4
2025-06-18T18:18:13.903Z,1750270693.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.99 m.
2025-06-18T18:18:13.910Z,1750270693.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 560.989990 m,
nav range: 552.830139 m,
bearing: 307.531757 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004229 deg/s,
cmd heading: 314.156518 deg,
new cmd heading: 314.151848 deg.
2025-06-18T18:18:13.911Z,1750270693.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482984 target range: 560.989990 and range: 566.20 m.
2025-06-18T18:18:14.227Z,1750270694.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:14.229Z,1750270694.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.99 m.
2025-06-18T18:18:14.232Z,1750270694.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 560.989990 m,
nav range: 552.580078 m,
bearing: 307.529399 deg,
approach rate: -0.745230 m/s,
LOS rate: -0.007028 deg/s,
cmd heading: 314.151846 deg,
new cmd heading: 314.144772 deg.
2025-06-18T18:18:14.233Z,1750270694.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482861 target range: 560.989990 and range: 566.20 m.
2025-06-18T18:18:14.290Z,1750270694.290 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:14.290Z,1750270694.290 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:14.290Z,1750270694.290 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:14.541Z,1750270694.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995820
2025-06-18T18:18:14.660Z,1750270694.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.99 m.
2025-06-18T18:18:14.663Z,1750270694.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 560.989990 m,
nav range: 552.289001 m,
bearing: 307.526817 deg,
approach rate: -0.675642 m/s,
LOS rate: -0.005997 deg/s,
cmd heading: 314.144770 deg,
new cmd heading: 314.137020 deg.
2025-06-18T18:18:14.664Z,1750270694.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482725 target range: 560.989990 and range: 566.20 m.
2025-06-18T18:18:14.795Z,1750270694.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249688
2025-06-18T18:18:15.045Z,1750270695.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499891
2025-06-18T18:18:15.099Z,1750270695.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.99 m.
2025-06-18T18:18:15.102Z,1750270695.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 560.989990 m,
nav range: 551.991943 m,
bearing: 307.524216 deg,
approach rate: -0.676129 m/s,
LOS rate: -0.005925 deg/s,
cmd heading: 314.137011 deg,
new cmd heading: 314.129202 deg.
2025-06-18T18:18:15.103Z,1750270695.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482589 target range: 560.989990 and range: 566.20 m.
2025-06-18T18:18:15.297Z,1750270695.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751815
2025-06-18T18:18:15.533Z,1750270695.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.99 m.
2025-06-18T18:18:15.536Z,1750270695.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 560.989990 m,
nav range: 551.693115 m,
bearing: 307.521145 deg,
approach rate: -0.688587 m/s,
LOS rate: -0.007080 deg/s,
cmd heading: 314.129197 deg,
new cmd heading: 314.119979 deg.
2025-06-18T18:18:15.537Z,1750270695.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482428 target range: 560.989990 and range: 566.20 m.
2025-06-18T18:18:15.549Z,1750270695.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004195
2025-06-18T18:18:15.801Z,1750270695.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255891
2025-06-18T18:18:15.869Z,1750270695.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.99 m.
2025-06-18T18:18:15.873Z,1750270695.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 560.989990 m,
nav range: 551.462402 m,
bearing: 307.518755 deg,
approach rate: -0.688293 m/s,
LOS rate: -0.007134 deg/s,
cmd heading: 314.119990 deg,
new cmd heading: 314.112816 deg.
2025-06-18T18:18:15.875Z,1750270695.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482303 target range: 560.989990 and range: 566.20 m.
2025-06-18T18:18:16.053Z,1750270696.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507807
2025-06-18T18:18:16.255Z,1750270696.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:16.257Z,1750270696.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.99 m.
2025-06-18T18:18:16.260Z,1750270696.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 560.989990 m,
nav range: 551.194275 m,
bearing: 307.515970 deg,
approach rate: -0.689887 m/s,
LOS rate: -0.007168 deg/s,
cmd heading: 314.112805 deg,
new cmd heading: 314.104447 deg.
2025-06-18T18:18:16.261Z,1750270696.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482157 target range: 560.989990 and range: 566.20 m.
2025-06-18T18:18:16.306Z,1750270696.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760667
2025-06-18T18:18:16.557Z,1750270696.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011885
2025-06-18T18:18:16.669Z,1750270696.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.99 m.
2025-06-18T18:18:16.692Z,1750270696.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 560.989990 m,
nav range: 550.903687 m,
bearing: 307.513137 deg,
approach rate: -0.705286 m/s,
LOS rate: -0.006880 deg/s,
cmd heading: 314.104445 deg,
new cmd heading: 314.095941 deg.
2025-06-18T18:18:16.693Z,1750270696.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482008 target range: 560.989990 and range: 566.20 m.
2025-06-18T18:18:16.809Z,1750270696.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263956
2025-06-18T18:18:17.061Z,1750270697.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515961
2025-06-18T18:18:17.070Z,1750270697.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.99 m.
2025-06-18T18:18:17.073Z,1750270697.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 560.989990 m,
nav range: 550.620911 m,
bearing: 307.510393 deg,
approach rate: -0.705043 m/s,
LOS rate: -0.006845 deg/s,
cmd heading: 314.095948 deg,
new cmd heading: 314.087711 deg.
2025-06-18T18:18:17.074Z,1750270697.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481865 target range: 560.989990 and range: 566.20 m.
2025-06-18T18:18:17.313Z,1750270697.313 [DAT](INFO): DAT read: Rx Time:18:18:17.7807
2025-06-18T18:18:17.313Z,1750270697.313 [DAT](INFO): Rx dataTimestamp_ set to:1750270697.313185
2025-06-18T18:18:17.314Z,1750270697.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769079
2025-06-18T18:18:17.549Z,1750270697.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.99 m.
2025-06-18T18:18:17.556Z,1750270697.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 560.989990 m,
nav range: 550.297241 m,
bearing: 307.507000 deg,
approach rate: -0.675876 m/s,
LOS rate: -0.007089 deg/s,
cmd heading: 314.087724 deg,
new cmd heading: 314.077540 deg.
2025-06-18T18:18:17.557Z,1750270697.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481687 target range: 560.989990 and range: 566.20 m.
2025-06-18T18:18:17.565Z,1750270697.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019903
2025-06-18T18:18:17.823Z,1750270697.823 [DAT](INFO): DAT read: 18:18:17.7807 LVL= 21856, 21873, 22466, 30115, AGC= 71, IDX= 313,-0.12, 1.429,-0.162, 1.321, 0.660, PHS= 0.857,-0.775, 0.657, RAW= 143.6, -9.6, CAL= 150.4, -18.8, ROT= 359.6, 18.8
2025-06-18T18:18:17.824Z,1750270697.824 [DAT](INFO): got valid direction response:
18:18:17.7807 LVL= 21856, 21873, 22466, 30115, AGC= 71, IDX= 313,-0.12, 1.429,-0.162, 1.321, 0.660, PHS= 0.857,-0.775, 0.657, RAW= 143.6, -9.6, CAL= 150.4, -18.8, ROT= 359.6, 18.8
2025-06-18T18:18:17.825Z,1750270697.825 [DAT](INFO): DAT read: Bearing 359.6, 18.8 (Local)
2025-06-18T18:18:17.825Z,1750270697.825 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.6, 18.8 (Local)
2025-06-18T18:18:17.827Z,1750270697.827 [DAT](INFO): DAT read: Range 10 to 50 : 556.3 m (Round-trip 741.8 ms) speed 0.5 m/s
2025-06-18T18:18:17.827Z,1750270697.827 [DAT](INFO): DAT read: user:1088>
2025-06-18T18:18:17.828Z,1750270697.828 [DAT](INFO): DAT read: Tx time:18:18:18.8847
2025-06-18T18:18:17.829Z,1750270697.829 [DAT](INFO): Ping request sent.
2025-06-18T18:18:17.829Z,1750270697.829 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:18:17.829Z,1750270697.829 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:18:17.830Z,1750270697.830 [DAT](INFO): direction in FSK: [0.946626,-0.006609,-0.322266]
2025-06-18T18:18:17.830Z,1750270697.830 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:17.830Z,1750270697.830 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:17.838Z,1750270697.838 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:17.839Z,1750270697.839 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:17.964Z,1750270697.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 556.299988 m,
deltaT: 4.283851 s,
deltaX: -9.900024 m,
approachRate: -2.311010 m/s,
rangeRepo size: 4
2025-06-18T18:18:17.966Z,1750270697.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 551.184937 m,
bearing: 312.894178 deg,
lat: 36.905626 deg,
lon: -122.116135 deg,
deltaT: 4.283851 s,
deltaX: -9.805054 m,
approachRate: -2.288841 m/s,
posRepo size: 4
2025-06-18T18:18:17.967Z,1750270697.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:17.978Z,1750270697.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 550.013367 m,
bearing: 307.504028 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007089 deg/s,
cmd heading: 314.077534 deg,
new cmd heading: 314.068815 deg.
2025-06-18T18:18:17.979Z,1750270697.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481535 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:18.072Z,1750270698.072 [DAT](INFO): DAT read: TxSync time:18:18:18.8839
2025-06-18T18:18:18.267Z,1750270698.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:18.270Z,1750270698.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:18.273Z,1750270698.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 549.772522 m,
bearing: 307.501535 deg,
approach rate: -0.775520 m/s,
LOS rate: -0.008032 deg/s,
cmd heading: 314.068818 deg,
new cmd heading: 314.061335 deg.
2025-06-18T18:18:18.274Z,1750270698.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481404 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:18.321Z,1750270698.321 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:18.321Z,1750270698.321 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:18.321Z,1750270698.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:18.573Z,1750270698.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744097
2025-06-18T18:18:18.707Z,1750270698.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:18.710Z,1750270698.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 549.467346 m,
bearing: 307.498659 deg,
approach rate: -0.698282 m/s,
LOS rate: -0.006584 deg/s,
cmd heading: 314.061332 deg,
new cmd heading: 314.052700 deg.
2025-06-18T18:18:18.711Z,1750270698.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481254 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:18.825Z,1750270698.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996191
2025-06-18T18:18:19.077Z,1750270699.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248191
2025-06-18T18:18:19.086Z,1750270699.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:19.089Z,1750270699.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 549.203796 m,
bearing: 307.496200 deg,
approach rate: -0.695393 m/s,
LOS rate: -0.006491 deg/s,
cmd heading: 314.052699 deg,
new cmd heading: 314.045319 deg.
2025-06-18T18:18:19.090Z,1750270699.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481125 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:19.329Z,1750270699.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500360
2025-06-18T18:18:19.571Z,1750270699.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:19.578Z,1750270699.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 548.869324 m,
bearing: 307.493203 deg,
approach rate: -0.688652 m/s,
LOS rate: -0.006176 deg/s,
cmd heading: 314.045322 deg,
new cmd heading: 314.036324 deg.
2025-06-18T18:18:19.579Z,1750270699.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480968 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:19.581Z,1750270699.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752284
2025-06-18T18:18:19.833Z,1750270699.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004407
2025-06-18T18:18:19.909Z,1750270699.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:19.911Z,1750270699.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 548.636047 m,
bearing: 307.491054 deg,
approach rate: -0.691825 m/s,
LOS rate: -0.006376 deg/s,
cmd heading: 314.036334 deg,
new cmd heading: 314.029884 deg.
2025-06-18T18:18:19.932Z,1750270699.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480855 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:20.085Z,1750270700.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256093
2025-06-18T18:18:20.287Z,1750270700.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:20.289Z,1750270700.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:20.292Z,1750270700.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 548.370361 m,
bearing: 307.488563 deg,
approach rate: -0.697718 m/s,
LOS rate: -0.006545 deg/s,
cmd heading: 314.029886 deg,
new cmd heading: 314.022410 deg.
2025-06-18T18:18:20.293Z,1750270700.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480725 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:20.337Z,1750270700.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508285
2025-06-18T18:18:20.589Z,1750270700.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760097
2025-06-18T18:18:20.732Z,1750270700.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:20.735Z,1750270700.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 548.071045 m,
bearing: 307.485011 deg,
approach rate: -0.676273 m/s,
LOS rate: -0.008028 deg/s,
cmd heading: 314.022400 deg,
new cmd heading: 314.011741 deg.
2025-06-18T18:18:20.737Z,1750270700.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480539 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:20.841Z,1750270700.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012354
2025-06-18T18:18:21.093Z,1750270701.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264218
2025-06-18T18:18:21.115Z,1750270701.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:21.118Z,1750270701.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 547.812256 m,
bearing: 307.481919 deg,
approach rate: -0.675797 m/s,
LOS rate: -0.008078 deg/s,
cmd heading: 314.011745 deg,
new cmd heading: 314.002465 deg.
2025-06-18T18:18:21.119Z,1750270701.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480377 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:21.345Z,1750270701.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516689
2025-06-18T18:18:21.590Z,1750270701.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:21.593Z,1750270701.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 547.497925 m,
bearing: 307.478409 deg,
approach rate: -0.661854 m/s,
LOS rate: -0.007396 deg/s,
cmd heading: 314.002456 deg,
new cmd heading: 313.991919 deg.
2025-06-18T18:18:21.594Z,1750270701.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480193 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:21.597Z,1750270701.597 [DAT](INFO): DAT read: Rx Time:18:18:22.0354
2025-06-18T18:18:21.598Z,1750270701.598 [DAT](INFO): Rx dataTimestamp_ set to:1750270701.597410
2025-06-18T18:18:21.598Z,1750270701.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769567
2025-06-18T18:18:21.849Z,1750270701.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020145
2025-06-18T18:18:21.956Z,1750270701.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:21.987Z,1750270701.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 547.273315 m,
bearing: 307.475870 deg,
approach rate: -0.617724 m/s,
LOS rate: -0.006986 deg/s,
cmd heading: 313.991910 deg,
new cmd heading: 313.984289 deg.
2025-06-18T18:18:21.993Z,1750270701.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480060 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:22.110Z,1750270702.110 [DAT](INFO): DAT read: 18:18:22.0354 LVL= 19328, 20129, 18850, 21475, AGC= 70, IDX= 488, 0.16,-3.041, 2.045,-2.986, 2.615, PHS= 0.716,-0.522, 0.680, RAW= 148.5, -14.2, CAL= 155.2, -22.0, ROT= 354.8, 22.0
2025-06-18T18:18:22.111Z,1750270702.111 [DAT](INFO): got valid direction response:
18:18:22.0354 LVL= 19328, 20129, 18850, 21475, AGC= 70, IDX= 488, 0.16,-3.041, 2.045,-2.986, 2.615, PHS= 0.716,-0.522, 0.680, RAW= 148.5, -14.2, CAL= 155.2, -22.0, ROT= 354.8, 22.0
2025-06-18T18:18:22.112Z,1750270702.112 [DAT](INFO): DAT read: $Error in header
2025-06-18T18:18:22.112Z,1750270702.112 [DAT](INFO): Received a bad header
2025-06-18T18:18:22.124Z,1750270702.124 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:18:22.125Z,1750270702.125 [DAT](INFO): direction in FSK: [0.923368,-0.084033,-0.374607]
2025-06-18T18:18:22.128Z,1750270702.128 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:22.128Z,1750270702.128 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:22.128Z,1750270702.128 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:22.310Z,1750270702.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:22.313Z,1750270702.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:22.316Z,1750270702.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 547.018921 m,
bearing: 307.472974 deg,
approach rate: -0.707569 m/s,
LOS rate: -0.008057 deg/s,
cmd heading: 313.984288 deg,
new cmd heading: 313.975598 deg.
2025-06-18T18:18:22.317Z,1750270702.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479908 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:22.353Z,1750270702.353 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:22.353Z,1750270702.353 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:22.353Z,1750270702.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:22.605Z,1750270702.605 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:22.605Z,1750270702.605 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:22.605Z,1750270702.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:22.779Z,1750270702.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:22.782Z,1750270702.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 546.714355 m,
bearing: 307.469590 deg,
approach rate: -0.653102 m/s,
LOS rate: -0.007262 deg/s,
cmd heading: 313.975600 deg,
new cmd heading: 313.965440 deg.
2025-06-18T18:18:22.783Z,1750270702.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479731 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:22.858Z,1750270702.858 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:22.858Z,1750270702.858 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:22.858Z,1750270702.858 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:23.109Z,1750270703.109 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:23.109Z,1750270703.109 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:23.109Z,1750270703.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:23.120Z,1750270703.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:23.123Z,1750270703.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 546.491577 m,
bearing: 307.467109 deg,
approach rate: -0.653263 m/s,
LOS rate: -0.007277 deg/s,
cmd heading: 313.965437 deg,
new cmd heading: 313.957992 deg.
2025-06-18T18:18:23.124Z,1750270703.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479601 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:23.361Z,1750270703.361 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:23.361Z,1750270703.361 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:23.361Z,1750270703.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:23.582Z,1750270703.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:23.585Z,1750270703.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 546.190918 m,
bearing: 307.463749 deg,
approach rate: -0.651872 m/s,
LOS rate: -0.007290 deg/s,
cmd heading: 313.958005 deg,
new cmd heading: 313.947919 deg.
2025-06-18T18:18:23.586Z,1750270703.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479425 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:23.626Z,1750270703.626 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:23.626Z,1750270703.626 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:23.626Z,1750270703.626 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:23.878Z,1750270703.878 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:23.878Z,1750270703.878 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:23.878Z,1750270703.878 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:24.055Z,1750270704.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:24.070Z,1750270704.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 545.901123 m,
bearing: 307.460385 deg,
approach rate: -0.651652 m/s,
LOS rate: -0.007569 deg/s,
cmd heading: 313.947924 deg,
new cmd heading: 313.937826 deg.
2025-06-18T18:18:24.071Z,1750270704.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479249 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:24.129Z,1750270704.129 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:24.129Z,1750270704.129 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:24.129Z,1750270704.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:24.381Z,1750270704.381 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:24.381Z,1750270704.381 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:24.381Z,1750270704.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:24.430Z,1750270704.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:24.436Z,1750270704.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:24.439Z,1750270704.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 545.650513 m,
bearing: 307.457470 deg,
approach rate: -0.617964 m/s,
LOS rate: -0.007191 deg/s,
cmd heading: 313.937815 deg,
new cmd heading: 313.929067 deg.
2025-06-18T18:18:24.444Z,1750270704.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479096 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:24.633Z,1750270704.633 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:24.633Z,1750270704.633 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:24.633Z,1750270704.633 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:24.885Z,1750270704.885 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:24.885Z,1750270704.885 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:24.886Z,1750270704.886 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:24.986Z,1750270704.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:24.993Z,1750270704.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 545.270325 m,
bearing: 307.454410 deg,
approach rate: -0.685590 m/s,
LOS rate: -0.005521 deg/s,
cmd heading: 313.929073 deg,
new cmd heading: 313.919888 deg.
2025-06-18T18:18:24.994Z,1750270704.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478936 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:25.136Z,1750270705.136 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:25.137Z,1750270705.137 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:25.137Z,1750270705.137 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:25.389Z,1750270705.389 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:25.389Z,1750270705.389 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:25.389Z,1750270705.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:25.504Z,1750270705.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:25.511Z,1750270705.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 544.917542 m,
bearing: 307.451566 deg,
approach rate: -0.681501 m/s,
LOS rate: -0.005498 deg/s,
cmd heading: 313.919893 deg,
new cmd heading: 313.911355 deg.
2025-06-18T18:18:25.543Z,1750270705.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478786 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:25.642Z,1750270705.642 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:25.642Z,1750270705.642 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:25.642Z,1750270705.642 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:25.893Z,1750270705.893 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:25.893Z,1750270705.893 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:25.893Z,1750270705.893 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:25.925Z,1750270705.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:25.962Z,1750270705.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 544.634888 m,
bearing: 307.449525 deg,
approach rate: -0.670775 m/s,
LOS rate: -0.004847 deg/s,
cmd heading: 313.911341 deg,
new cmd heading: 313.905214 deg.
2025-06-18T18:18:25.966Z,1750270705.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478680 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:26.144Z,1750270706.144 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:26.145Z,1750270706.145 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:26.145Z,1750270706.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:26.295Z,1750270706.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:26.298Z,1750270706.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 544.386475 m,
bearing: 307.447719 deg,
approach rate: -0.671361 m/s,
LOS rate: -0.004882 deg/s,
cmd heading: 313.905222 deg,
new cmd heading: 313.899803 deg.
2025-06-18T18:18:26.299Z,1750270706.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478585 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:26.397Z,1750270706.397 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:26.397Z,1750270706.397 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:26.397Z,1750270706.397 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:26.648Z,1750270706.648 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:26.649Z,1750270706.649 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:26.649Z,1750270706.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:26.733Z,1750270706.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:26.735Z,1750270706.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:26.739Z,1750270706.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 544.108582 m,
bearing: 307.445938 deg,
approach rate: -0.632318 m/s,
LOS rate: -0.004056 deg/s,
cmd heading: 313.899812 deg,
new cmd heading: 313.894464 deg.
2025-06-18T18:18:26.760Z,1750270706.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478492 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:26.885Z,1750270706.885 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:18:26.901Z,1750270706.901 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:26.901Z,1750270706.901 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:26.901Z,1750270706.901 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:27.087Z,1750270707.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:27.090Z,1750270707.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 543.863586 m,
bearing: 307.444374 deg,
approach rate: -0.695535 m/s,
LOS rate: -0.004441 deg/s,
cmd heading: 313.894457 deg,
new cmd heading: 313.889764 deg.
2025-06-18T18:18:27.091Z,1750270707.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478410 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:27.153Z,1750270707.153 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:27.153Z,1750270707.153 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:27.153Z,1750270707.153 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:27.404Z,1750270707.404 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:27.405Z,1750270707.405 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:27.405Z,1750270707.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:27.595Z,1750270707.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:27.628Z,1750270707.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 543.531189 m,
bearing: 307.442258 deg,
approach rate: -0.656665 m/s,
LOS rate: -0.004182 deg/s,
cmd heading: 313.889758 deg,
new cmd heading: 313.883407 deg.
2025-06-18T18:18:27.629Z,1750270707.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478299 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:27.659Z,1750270707.659 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:27.659Z,1750270707.659 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:27.659Z,1750270707.659 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:18:27.889Z,1750270707.889 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:18:27.909Z,1750270707.909 [DAT](INFO): Reached modem response timeout
2025-06-18T18:18:27.909Z,1750270707.909 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:18:27.909Z,1750270707.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:27.957Z,1750270707.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:27.968Z,1750270707.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 543.275085 m,
bearing: 307.441122 deg,
approach rate: -0.703473 m/s,
LOS rate: -0.003123 deg/s,
cmd heading: 313.883420 deg,
new cmd heading: 313.880009 deg.
2025-06-18T18:18:27.969Z,1750270707.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478240 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:28.160Z,1750270708.160 [DAT](INFO): Reached modem response timeout
2025-06-18T18:18:28.161Z,1750270708.161 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:18:28.161Z,1750270708.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:28.345Z,1750270708.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:28.347Z,1750270708.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 543.027588 m,
bearing: 307.440055 deg,
approach rate: -0.646971 m/s,
LOS rate: -0.002790 deg/s,
cmd heading: 313.880005 deg,
new cmd heading: 313.876802 deg.
2025-06-18T18:18:28.349Z,1750270708.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478184 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:28.413Z,1750270708.413 [DAT](INFO): Reached modem response timeout
2025-06-18T18:18:28.413Z,1750270708.413 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:18:28.413Z,1750270708.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:28.665Z,1750270708.665 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:18:28.665Z,1750270708.665 [DAT](INFO): response not received
2025-06-18T18:18:28.666Z,1750270708.666 [DAT](INFO): DAT read: user:1090>
2025-06-18T18:18:28.666Z,1750270708.666 [DAT](ERROR): No response from remote modem.
2025-06-18T18:18:28.666Z,1750270708.666 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:18:28.666Z,1750270708.666 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:28.779Z,1750270708.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:28.785Z,1750270708.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:28.792Z,1750270708.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 542.718689 m,
bearing: 307.439123 deg,
approach rate: -0.693472 m/s,
LOS rate: -0.002094 deg/s,
cmd heading: 313.876808 deg,
new cmd heading: 313.874010 deg.
2025-06-18T18:18:28.793Z,1750270708.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478135 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:28.917Z,1750270708.917 [DAT](INFO): DAT read: Tx time:18:18:29.8348
2025-06-18T18:18:28.917Z,1750270708.917 [DAT](INFO): Ping request sent.
2025-06-18T18:18:28.917Z,1750270708.917 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:18:28.918Z,1750270708.918 [DAT](INFO): DAT read: TxSync time:18:18:29.8340
2025-06-18T18:18:28.918Z,1750270708.918 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:28.919Z,1750270708.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001605
2025-06-18T18:18:29.106Z,1750270709.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:29.109Z,1750270709.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 542.493896 m,
bearing: 307.438475 deg,
approach rate: -0.701707 m/s,
LOS rate: -0.002022 deg/s,
cmd heading: 313.874021 deg,
new cmd heading: 313.872078 deg.
2025-06-18T18:18:29.110Z,1750270709.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478101 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:29.170Z,1750270709.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252423
2025-06-18T18:18:29.421Z,1750270709.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503388
2025-06-18T18:18:29.520Z,1750270709.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:29.523Z,1750270709.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 542.228577 m,
bearing: 307.437783 deg,
approach rate: -0.673561 m/s,
LOS rate: -0.001757 deg/s,
cmd heading: 313.872082 deg,
new cmd heading: 313.870005 deg.
2025-06-18T18:18:29.523Z,1750270709.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478065 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:29.673Z,1750270709.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755399
2025-06-18T18:18:29.925Z,1750270709.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007694
2025-06-18T18:18:29.943Z,1750270709.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:29.962Z,1750270709.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 541.931274 m,
bearing: 307.436877 deg,
approach rate: -0.670908 m/s,
LOS rate: -0.002046 deg/s,
cmd heading: 313.870005 deg,
new cmd heading: 313.867285 deg.
2025-06-18T18:18:29.963Z,1750270709.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478017 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:30.177Z,1750270710.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259398
2025-06-18T18:18:30.359Z,1750270710.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:30.362Z,1750270710.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 541.651672 m,
bearing: 307.436062 deg,
approach rate: -0.672078 m/s,
LOS rate: -0.001961 deg/s,
cmd heading: 313.867273 deg,
new cmd heading: 313.864826 deg.
2025-06-18T18:18:30.363Z,1750270710.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477974 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:30.430Z,1750270710.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512439
2025-06-18T18:18:30.683Z,1750270710.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765950
2025-06-18T18:18:30.770Z,1750270710.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:30.776Z,1750270710.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 541.385864 m,
bearing: 307.434798 deg,
approach rate: -0.647078 m/s,
LOS rate: -0.003079 deg/s,
cmd heading: 313.864814 deg,
new cmd heading: 313.861020 deg.
2025-06-18T18:18:30.777Z,1750270710.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477908 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:30.933Z,1750270710.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015323
2025-06-18T18:18:31.128Z,1750270711.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:31.131Z,1750270711.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:31.133Z,1750270711.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 541.126770 m,
bearing: 307.433556 deg,
approach rate: -0.717695 m/s,
LOS rate: -0.003442 deg/s,
cmd heading: 313.861017 deg,
new cmd heading: 313.857289 deg.
2025-06-18T18:18:31.134Z,1750270711.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477843 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:31.186Z,1750270711.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268162
2025-06-18T18:18:31.437Z,1750270711.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519580
2025-06-18T18:18:31.526Z,1750270711.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:31.529Z,1750270711.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 540.857117 m,
bearing: 307.432252 deg,
approach rate: -0.681561 m/s,
LOS rate: -0.003297 deg/s,
cmd heading: 313.857301 deg,
new cmd heading: 313.853388 deg.
2025-06-18T18:18:31.530Z,1750270711.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477775 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:31.690Z,1750270711.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772328
2025-06-18T18:18:31.941Z,1750270711.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023436
2025-06-18T18:18:31.954Z,1750270711.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:31.957Z,1750270711.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 540.564392 m,
bearing: 307.430782 deg,
approach rate: -0.683604 m/s,
LOS rate: -0.003435 deg/s,
cmd heading: 313.853394 deg,
new cmd heading: 313.848982 deg.
2025-06-18T18:18:31.958Z,1750270711.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477698 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:32.194Z,1750270712.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276648
2025-06-18T18:18:32.427Z,1750270712.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:32.430Z,1750270712.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 540.241638 m,
bearing: 307.429159 deg,
approach rate: -0.682476 m/s,
LOS rate: -0.003433 deg/s,
cmd heading: 313.848968 deg,
new cmd heading: 313.844098 deg.
2025-06-18T18:18:32.431Z,1750270712.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477613 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:32.445Z,1750270712.445 [DAT](INFO): DAT read: Rx Time:18:18:32.9761
2025-06-18T18:18:32.445Z,1750270712.445 [DAT](INFO): Rx dataTimestamp_ set to:1750270712.445167
2025-06-18T18:18:32.446Z,1750270712.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528569
2025-06-18T18:18:32.700Z,1750270712.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781743
2025-06-18T18:18:32.866Z,1750270712.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.18 m.
2025-06-18T18:18:32.881Z,1750270712.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 551.184937 m,
nav range: 539.937988 m,
bearing: 307.427073 deg,
approach rate: -0.694397 m/s,
LOS rate: -0.004774 deg/s,
cmd heading: 313.844105 deg,
new cmd heading: 313.837842 deg.
2025-06-18T18:18:32.885Z,1750270712.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477504 target range: 551.184937 and range: 556.30 m.
2025-06-18T18:18:32.955Z,1750270712.955 [DAT](INFO): DAT read: 18:18:32.9761 LVL= 29584, 27985, 27266, 32755, AGC= 73, IDX= 374, 0.47, 0.560,-0.931, 0.678,-0.207, PHS= 0.855,-0.677, 0.882, RAW= 150.9, -13.6, CAL= 157.7, -21.1, ROT= 352.3, 21.1
2025-06-18T18:18:32.957Z,1750270712.957 [DAT](INFO): got valid direction response:
18:18:32.9761 LVL= 29584, 27985, 27266, 32755, AGC= 73, IDX= 374, 0.47, 0.560,-0.931, 0.678,-0.207, PHS= 0.855,-0.677, 0.882, RAW= 150.9, -13.6, CAL= 157.7, -21.1, ROT= 352.3, 21.1
2025-06-18T18:18:32.959Z,1750270712.959 [DAT](INFO): DAT read: Bearing 352.3, 21.1 (Local)
2025-06-18T18:18:32.959Z,1750270712.959 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.3, 21.1 (Local)
2025-06-18T18:18:32.962Z,1750270712.962 [DAT](INFO): DAT read: Range 10 to 50 : 552.9 m (Round-trip 737.2 ms) speed 0.5 m/s
2025-06-18T18:18:32.963Z,1750270712.963 [DAT](INFO): DAT read: user:1091>
2025-06-18T18:18:32.972Z,1750270712.972 [DAT](INFO): DAT read: Tx time:18:18:34.0848
2025-06-18T18:18:32.972Z,1750270712.972 [DAT](INFO): Ping request sent.
2025-06-18T18:18:32.972Z,1750270712.972 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:18:32.973Z,1750270712.973 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:18:32.974Z,1750270712.974 [DAT](INFO): direction in FSK: [0.924541,-0.125003,-0.359997]
2025-06-18T18:18:32.974Z,1750270712.974 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:32.974Z,1750270712.974 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:32.979Z,1750270712.979 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:32.979Z,1750270712.979 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:33.201Z,1750270713.201 [DAT](INFO): DAT read: TxSync time:18:18:34.0840
2025-06-18T18:18:33.273Z,1750270713.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 552.900024 m,
deltaT: 15.132224 s,
deltaX: -3.399963 m,
approachRate: -0.224684 m/s,
rangeRepo size: 4
2025-06-18T18:18:33.275Z,1750270713.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 547.823425 m,
bearing: 305.832819 deg,
lat: 36.905602 deg,
lon: -122.116231 deg,
deltaT: 15.132224 s,
deltaX: -3.361511 m,
approachRate: -0.222143 m/s,
posRepo size: 4
2025-06-18T18:18:33.280Z,1750270713.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.82 m.
2025-06-18T18:18:33.283Z,1750270713.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 547.823425 m,
nav range: 544.882690 m,
bearing: 306.654869 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004774 deg/s,
cmd heading: 313.837849 deg,
new cmd heading: 313.832072 deg.
2025-06-18T18:18:33.289Z,1750270713.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477403 target range: 547.823425 and range: 552.90 m.
2025-06-18T18:18:33.768Z,1750270713.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:33.770Z,1750270713.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.82 m.
2025-06-18T18:18:33.775Z,1750270713.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 547.823425 m,
nav range: 544.522461 m,
bearing: 306.650807 deg,
approach rate: -0.717613 m/s,
LOS rate: -0.008098 deg/s,
cmd heading: 313.832084 deg,
new cmd heading: 313.819889 deg.
2025-06-18T18:18:33.776Z,1750270713.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477190 target range: 547.823425 and range: 552.90 m.
2025-06-18T18:18:33.958Z,1750270713.958 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:33.958Z,1750270713.958 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:33.959Z,1750270713.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:34.209Z,1750270714.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236288
2025-06-18T18:18:34.243Z,1750270714.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.82 m.
2025-06-18T18:18:34.246Z,1750270714.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 547.823425 m,
nav range: 544.195007 m,
bearing: 306.647110 deg,
approach rate: -0.691553 m/s,
LOS rate: -0.007813 deg/s,
cmd heading: 313.819899 deg,
new cmd heading: 313.808801 deg.
2025-06-18T18:18:34.247Z,1750270714.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476997 target range: 547.823425 and range: 552.90 m.
2025-06-18T18:18:34.462Z,1750270714.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489473
2025-06-18T18:18:34.707Z,1750270714.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.82 m.
2025-06-18T18:18:34.716Z,1750270714.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743018
2025-06-18T18:18:34.740Z,1750270714.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 547.823425 m,
nav range: 543.893677 m,
bearing: 306.643601 deg,
approach rate: -0.651902 m/s,
LOS rate: -0.007594 deg/s,
cmd heading: 313.808807 deg,
new cmd heading: 313.798276 deg.
2025-06-18T18:18:34.748Z,1750270714.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476813 target range: 547.823425 and range: 552.90 m.
2025-06-18T18:18:34.965Z,1750270714.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992886
2025-06-18T18:18:35.197Z,1750270715.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.82 m.
2025-06-18T18:18:35.204Z,1750270715.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 547.823425 m,
nav range: 543.550232 m,
bearing: 306.639516 deg,
approach rate: -0.699260 m/s,
LOS rate: -0.008323 deg/s,
cmd heading: 313.798288 deg,
new cmd heading: 313.786025 deg.
2025-06-18T18:18:35.205Z,1750270715.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476599 target range: 547.823425 and range: 552.90 m.
2025-06-18T18:18:35.217Z,1750270715.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244476
2025-06-18T18:18:35.469Z,1750270715.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496436
2025-06-18T18:18:35.563Z,1750270715.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.82 m.
2025-06-18T18:18:35.565Z,1750270715.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 547.823425 m,
nav range: 543.284546 m,
bearing: 306.636262 deg,
approach rate: -0.726347 m/s,
LOS rate: -0.008901 deg/s,
cmd heading: 313.786021 deg,
new cmd heading: 313.776254 deg.
2025-06-18T18:18:35.566Z,1750270715.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476429 target range: 547.823425 and range: 552.90 m.
2025-06-18T18:18:35.723Z,1750270715.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750544
2025-06-18T18:18:35.973Z,1750270715.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000687
2025-06-18T18:18:36.002Z,1750270716.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:36.005Z,1750270716.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.82 m.
2025-06-18T18:18:36.007Z,1750270716.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 547.823425 m,
nav range: 542.983154 m,
bearing: 306.632138 deg,
approach rate: -0.681831 m/s,
LOS rate: -0.009336 deg/s,
cmd heading: 313.776240 deg,
new cmd heading: 313.763860 deg.
2025-06-18T18:18:36.009Z,1750270716.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476213 target range: 547.823425 and range: 552.90 m.
2025-06-18T18:18:36.229Z,1750270716.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256217
2025-06-18T18:18:36.389Z,1750270716.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.82 m.
2025-06-18T18:18:36.392Z,1750270716.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 547.823425 m,
nav range: 542.720398 m,
bearing: 306.628538 deg,
approach rate: -0.683567 m/s,
LOS rate: -0.009369 deg/s,
cmd heading: 313.763864 deg,
new cmd heading: 313.753060 deg.
2025-06-18T18:18:36.393Z,1750270716.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476024 target range: 547.823425 and range: 552.90 m.
2025-06-18T18:18:36.478Z,1750270716.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504863
2025-06-18T18:18:36.732Z,1750270716.732 [DAT](INFO): DAT read: Rx Time:18:18:37.2041
2025-06-18T18:18:36.734Z,1750270716.734 [DAT](INFO): Rx dataTimestamp_ set to:1750270716.733028
2025-06-18T18:18:36.756Z,1750270716.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762745
2025-06-18T18:18:36.832Z,1750270716.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.82 m.
2025-06-18T18:18:36.835Z,1750270716.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 547.823425 m,
nav range: 542.418457 m,
bearing: 306.624280 deg,
approach rate: -0.682124 m/s,
LOS rate: -0.009624 deg/s,
cmd heading: 313.753072 deg,
new cmd heading: 313.740292 deg.
2025-06-18T18:18:36.836Z,1750270716.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475801 target range: 547.823425 and range: 552.90 m.
2025-06-18T18:18:36.981Z,1750270716.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.008353
2025-06-18T18:18:37.191Z,1750270717.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.82 m.
2025-06-18T18:18:37.210Z,1750270717.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 547.823425 m,
nav range: 542.172546 m,
bearing: 306.620760 deg,
approach rate: -0.685125 m/s,
LOS rate: -0.009813 deg/s,
cmd heading: 313.740286 deg,
new cmd heading: 313.729720 deg.
2025-06-18T18:18:37.210Z,1750270717.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475616 target range: 547.823425 and range: 552.90 m.
2025-06-18T18:18:37.239Z,1750270717.239 [DAT](INFO): DAT read: 18:18:37.2041 LVL= 20080, 18737, 17506, 23219, AGC= 73, IDX= 307,-0.31,-3.074, 1.637,-2.995, 2.486, PHS= 0.811,-0.802, 0.799, RAW= 149.6, -10.1, CAL= 156.1, -18.1, ROT= 353.9, 18.1
2025-06-18T18:18:37.240Z,1750270717.240 [DAT](INFO): got valid direction response:
18:18:37.2041 LVL= 20080, 18737, 17506, 23219, AGC= 73, IDX= 307,-0.31,-3.074, 1.637,-2.995, 2.486, PHS= 0.811,-0.802, 0.799, RAW= 149.6, -10.1, CAL= 156.1, -18.1, ROT= 353.9, 18.1
2025-06-18T18:18:37.241Z,1750270717.241 [DAT](INFO): DAT read: Bearing 353.9, 18.1 (Local)
2025-06-18T18:18:37.241Z,1750270717.241 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.9, 18.1 (Local)
2025-06-18T18:18:37.243Z,1750270717.243 [DAT](INFO): DAT read: Range 10 to 50 : 536.3 m (Round-trip 715.1 ms) speed 0.3 m/s
2025-06-18T18:18:37.244Z,1750270717.244 [DAT](INFO): DAT read: user:1092>
2025-06-18T18:18:37.245Z,1750270717.245 [DAT](INFO): DAT read: Tx time:18:18:38.2848
2025-06-18T18:18:37.246Z,1750270717.246 [DAT](INFO): Ping request sent.
2025-06-18T18:18:37.246Z,1750270717.246 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:18:37.246Z,1750270717.246 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:18:37.247Z,1750270717.247 [DAT](INFO): direction in FSK: [0.945134,-0.101006,-0.310676]
2025-06-18T18:18:37.247Z,1750270717.247 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:37.247Z,1750270717.247 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:37.251Z,1750270717.251 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:37.251Z,1750270717.251 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:37.485Z,1750270717.485 [DAT](INFO): DAT read: TxSync time:18:18:38.2840
2025-06-18T18:18:37.649Z,1750270717.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 536.299988 m,
deltaT: 4.283840 s,
deltaX: -16.600037 m,
approachRate: -3.875036 m/s,
rangeRepo size: 4
2025-06-18T18:18:37.651Z,1750270717.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 531.378845 m,
bearing: 308.263120 deg,
lat: 36.905602 deg,
lon: -122.116135 deg,
deltaT: 4.283840 s,
deltaX: -16.444580 m,
approachRate: -3.838748 m/s,
posRepo size: 4
2025-06-18T18:18:37.651Z,1750270717.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-18T18:18:37.654Z,1750270717.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 531.378845 m,
nav range: 535.025024 m,
bearing: 307.162480 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.009813 deg/s,
cmd heading: 313.729713 deg,
new cmd heading: 313.716265 deg.
2025-06-18T18:18:37.655Z,1750270717.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475382 target range: 531.378845 and range: 536.30 m.
2025-06-18T18:18:38.030Z,1750270718.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:38.041Z,1750270718.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-18T18:18:38.043Z,1750270718.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 531.378845 m,
nav range: 534.754028 m,
bearing: 307.159075 deg,
approach rate: -0.689221 m/s,
LOS rate: -0.008664 deg/s,
cmd heading: 313.716271 deg,
new cmd heading: 313.706051 deg.
2025-06-18T18:18:38.049Z,1750270718.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475204 target range: 531.378845 and range: 536.30 m.
2025-06-18T18:18:38.243Z,1750270718.243 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:38.243Z,1750270718.243 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:38.244Z,1750270718.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:38.493Z,1750270718.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247082
2025-06-18T18:18:38.530Z,1750270718.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-18T18:18:38.533Z,1750270718.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 531.378845 m,
nav range: 534.410034 m,
bearing: 307.154697 deg,
approach rate: -0.703473 m/s,
LOS rate: -0.008957 deg/s,
cmd heading: 313.706053 deg,
new cmd heading: 313.692913 deg.
2025-06-18T18:18:38.534Z,1750270718.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474974 target range: 531.378845 and range: 536.30 m.
2025-06-18T18:18:38.751Z,1750270718.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504343
2025-06-18T18:18:38.929Z,1750270718.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-18T18:18:38.932Z,1750270718.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 531.378845 m,
nav range: 534.132507 m,
bearing: 307.151498 deg,
approach rate: -0.694284 m/s,
LOS rate: -0.008008 deg/s,
cmd heading: 313.692912 deg,
new cmd heading: 313.683309 deg.
2025-06-18T18:18:38.933Z,1750270718.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474807 target range: 531.378845 and range: 536.30 m.
2025-06-18T18:18:38.997Z,1750270718.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751217
2025-06-18T18:18:39.249Z,1750270719.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003070
2025-06-18T18:18:39.344Z,1750270719.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-18T18:18:39.347Z,1750270719.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 531.378845 m,
nav range: 533.845032 m,
bearing: 307.148119 deg,
approach rate: -0.694136 m/s,
LOS rate: -0.008164 deg/s,
cmd heading: 313.683322 deg,
new cmd heading: 313.673179 deg.
2025-06-18T18:18:39.348Z,1750270719.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474630 target range: 531.378845 and range: 536.30 m.
2025-06-18T18:18:39.501Z,1750270719.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255081
2025-06-18T18:18:39.757Z,1750270719.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510522
2025-06-18T18:18:39.895Z,1750270719.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-18T18:18:39.900Z,1750270719.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 531.378845 m,
nav range: 533.466064 m,
bearing: 307.144350 deg,
approach rate: -0.687095 m/s,
LOS rate: -0.006839 deg/s,
cmd heading: 313.673186 deg,
new cmd heading: 313.661870 deg.
2025-06-18T18:18:39.901Z,1750270719.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474432 target range: 531.378845 and range: 536.30 m.
2025-06-18T18:18:40.005Z,1750270720.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759764
2025-06-18T18:18:40.214Z,1750270720.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:40.216Z,1750270720.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-18T18:18:40.219Z,1750270720.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 531.378845 m,
nav range: 533.254456 m,
bearing: 307.142235 deg,
approach rate: -0.659518 m/s,
LOS rate: -0.006593 deg/s,
cmd heading: 313.661876 deg,
new cmd heading: 313.655530 deg.
2025-06-18T18:18:40.228Z,1750270720.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474322 target range: 531.378845 and range: 536.30 m.
2025-06-18T18:18:40.261Z,1750270720.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014011
2025-06-18T18:18:40.509Z,1750270720.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263316
2025-06-18T18:18:40.611Z,1750270720.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-18T18:18:40.614Z,1750270720.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 531.378845 m,
nav range: 532.966248 m,
bearing: 307.139362 deg,
approach rate: -0.728921 m/s,
LOS rate: -0.007272 deg/s,
cmd heading: 313.655537 deg,
new cmd heading: 313.646912 deg.
2025-06-18T18:18:40.615Z,1750270720.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474171 target range: 531.378845 and range: 536.30 m.
2025-06-18T18:18:40.762Z,1750270720.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516219
2025-06-18T18:18:41.013Z,1750270721.013 [DAT](INFO): DAT read: Rx Time:18:18:41.4093
2025-06-18T18:18:41.013Z,1750270721.013 [DAT](INFO): Rx dataTimestamp_ set to:1750270721.013045
2025-06-18T18:18:41.014Z,1750270721.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768178
2025-06-18T18:18:41.117Z,1750270721.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-18T18:18:41.120Z,1750270721.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 531.378845 m,
nav range: 532.621521 m,
bearing: 307.136924 deg,
approach rate: -0.681126 m/s,
LOS rate: -0.004820 deg/s,
cmd heading: 313.646904 deg,
new cmd heading: 313.639586 deg.
2025-06-18T18:18:41.121Z,1750270721.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474043 target range: 531.378845 and range: 536.30 m.
2025-06-18T18:18:41.265Z,1750270721.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019042
2025-06-18T18:18:41.525Z,1750270721.525 [DAT](INFO): DAT read: 18:18:41.4093 LVL= 18480, 21953, 17970, 30931, AGC= 73, IDX= 492, 0.10, 2.156, 0.470, 2.248, 1.424, PHS= 0.820,-0.907, 0.821, RAW= 150.0, -8.5, CAL= 155.9, -16.7, ROT= 354.1, 16.7
2025-06-18T18:18:41.528Z,1750270721.528 [DAT](INFO): got valid direction response:
18:18:41.4093 LVL= 18480, 21953, 17970, 30931, AGC= 73, IDX= 492, 0.10, 2.156, 0.470, 2.248, 1.424, PHS= 0.820,-0.907, 0.821, RAW= 150.0, -8.5, CAL= 155.9, -16.7, ROT= 354.1, 16.7
2025-06-18T18:18:41.529Z,1750270721.529 [DAT](INFO): DAT read: Bearing 354.1, 16.7 (Local)
2025-06-18T18:18:41.529Z,1750270721.529 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.1, 16.7 (Local)
2025-06-18T18:18:41.531Z,1750270721.531 [DAT](INFO): DAT read: Range 10 to 50 : 540.3 m (Round-trip 720.4 ms) speed 0.5 m/s
2025-06-18T18:18:41.536Z,1750270721.536 [DAT](INFO): DAT read: user:1093>
2025-06-18T18:18:41.537Z,1750270721.537 [DAT](INFO): DAT read: Tx time:18:18:42.4848
2025-06-18T18:18:41.537Z,1750270721.537 [DAT](INFO): Ping request sent.
2025-06-18T18:18:41.537Z,1750270721.537 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:18:41.538Z,1750270721.538 [DAT](INFO): DAT read: TxSync time:18:18:42.4840
2025-06-18T18:18:41.539Z,1750270721.539 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:18:41.564Z,1750270721.564 [DAT](INFO): direction in FSK: [0.952749,-0.098457,-0.287361]
2025-06-18T18:18:41.564Z,1750270721.564 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:41.564Z,1750270721.564 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:41.567Z,1750270721.567 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:41.572Z,1750270721.572 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:41.641Z,1750270721.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 540.299988 m,
deltaT: 4.283990 s,
deltaX: 4.000000 m,
approachRate: 0.933709 m/s,
rangeRepo size: 4
2025-06-18T18:18:41.643Z,1750270721.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 535.343384 m,
bearing: 308.308014 deg,
lat: 36.905599 deg,
lon: -122.115932 deg,
deltaT: 4.283990 s,
deltaX: 3.964539 m,
approachRate: 0.925431 m/s,
posRepo size: 4
2025-06-18T18:18:41.648Z,1750270721.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.34 m.
2025-06-18T18:18:41.651Z,1750270721.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 535.343384 m,
nav range: 517.825256 m,
bearing: 308.309916 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004820 deg/s,
cmd heading: 313.639582 deg,
new cmd heading: 313.632141 deg.
2025-06-18T18:18:41.660Z,1750270721.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473914 target range: 535.343384 and range: 540.30 m.
2025-06-18T18:18:42.100Z,1750270722.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.34 m.
2025-06-18T18:18:42.102Z,1750270722.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 535.343384 m,
nav range: 517.482605 m,
bearing: 308.308246 deg,
approach rate: -0.732972 m/s,
LOS rate: -0.003575 deg/s,
cmd heading: 313.632151 deg,
new cmd heading: 313.627137 deg.
2025-06-18T18:18:42.103Z,1750270722.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473826 target range: 535.343384 and range: 540.30 m.
2025-06-18T18:18:42.487Z,1750270722.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:42.498Z,1750270722.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.34 m.
2025-06-18T18:18:42.505Z,1750270722.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 535.343384 m,
nav range: 517.211304 m,
bearing: 308.307004 deg,
approach rate: -0.680839 m/s,
LOS rate: -0.003118 deg/s,
cmd heading: 313.627151 deg,
new cmd heading: 313.623424 deg.
2025-06-18T18:18:42.506Z,1750270722.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473762 target range: 535.343384 and range: 540.30 m.
2025-06-18T18:18:42.525Z,1750270722.525 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:42.525Z,1750270722.525 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:42.525Z,1750270722.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:42.779Z,1750270722.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241446
2025-06-18T18:18:42.947Z,1750270722.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.34 m.
2025-06-18T18:18:42.950Z,1750270722.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 535.343384 m,
nav range: 516.899841 m,
bearing: 308.305703 deg,
approach rate: -0.694166 m/s,
LOS rate: -0.002902 deg/s,
cmd heading: 313.623435 deg,
new cmd heading: 313.619529 deg.
2025-06-18T18:18:42.951Z,1750270722.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473693 target range: 535.343384 and range: 540.30 m.
2025-06-18T18:18:43.030Z,1750270723.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492267
2025-06-18T18:18:43.281Z,1750270723.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743390
2025-06-18T18:18:43.294Z,1750270723.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.34 m.
2025-06-18T18:18:43.297Z,1750270723.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 535.343384 m,
nav range: 516.659363 m,
bearing: 308.304659 deg,
approach rate: -0.692756 m/s,
LOS rate: -0.003008 deg/s,
cmd heading: 313.619528 deg,
new cmd heading: 313.616396 deg.
2025-06-18T18:18:43.298Z,1750270723.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473639 target range: 535.343384 and range: 540.30 m.
2025-06-18T18:18:43.533Z,1750270723.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995383
2025-06-18T18:18:43.697Z,1750270723.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.34 m.
2025-06-18T18:18:43.699Z,1750270723.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 535.343384 m,
nav range: 516.384216 m,
bearing: 308.303389 deg,
approach rate: -0.682768 m/s,
LOS rate: -0.003154 deg/s,
cmd heading: 313.616387 deg,
new cmd heading: 313.612573 deg.
2025-06-18T18:18:43.701Z,1750270723.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473572 target range: 535.343384 and range: 540.30 m.
2025-06-18T18:18:43.786Z,1750270723.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248532
2025-06-18T18:18:44.037Z,1750270724.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499290
2025-06-18T18:18:44.150Z,1750270724.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.34 m.
2025-06-18T18:18:44.169Z,1750270724.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 535.343384 m,
nav range: 516.076965 m,
bearing: 308.302246 deg,
approach rate: -0.678140 m/s,
LOS rate: -0.002524 deg/s,
cmd heading: 313.612562 deg,
new cmd heading: 313.609131 deg.
2025-06-18T18:18:44.170Z,1750270724.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473512 target range: 535.343384 and range: 540.30 m.
2025-06-18T18:18:44.289Z,1750270724.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751362
2025-06-18T18:18:44.528Z,1750270724.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:44.530Z,1750270724.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.34 m.
2025-06-18T18:18:44.537Z,1750270724.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 535.343384 m,
nav range: 515.828979 m,
bearing: 308.301287 deg,
approach rate: -0.651776 m/s,
LOS rate: -0.002522 deg/s,
cmd heading: 313.609119 deg,
new cmd heading: 313.606241 deg.
2025-06-18T18:18:44.538Z,1750270724.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473462 target range: 535.343384 and range: 540.30 m.
2025-06-18T18:18:44.541Z,1750270724.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003517
2025-06-18T18:18:44.793Z,1750270724.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255297
2025-06-18T18:18:44.957Z,1750270724.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.34 m.
2025-06-18T18:18:44.959Z,1750270724.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 535.343384 m,
nav range: 515.534729 m,
bearing: 308.299640 deg,
approach rate: -0.690233 m/s,
LOS rate: -0.003864 deg/s,
cmd heading: 313.606251 deg,
new cmd heading: 313.601308 deg.
2025-06-18T18:18:44.961Z,1750270724.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473375 target range: 535.343384 and range: 540.30 m.
2025-06-18T18:18:45.046Z,1750270725.046 [DAT](INFO): DAT read: Rx Time:18:18:45.6054
2025-06-18T18:18:45.047Z,1750270725.047 [DAT](INFO): Rx dataTimestamp_ set to:1750270725.046670
2025-06-18T18:18:45.047Z,1750270725.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510057
2025-06-18T18:18:45.297Z,1750270725.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759311
2025-06-18T18:18:45.365Z,1750270725.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.34 m.
2025-06-18T18:18:45.367Z,1750270725.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 535.343384 m,
nav range: 515.262024 m,
bearing: 308.298110 deg,
approach rate: -0.670002 m/s,
LOS rate: -0.003761 deg/s,
cmd heading: 313.601306 deg,
new cmd heading: 313.596713 deg.
2025-06-18T18:18:45.389Z,1750270725.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473295 target range: 535.343384 and range: 540.30 m.
2025-06-18T18:18:45.566Z,1750270725.566 [DAT](INFO): DAT read: 18:18:45.6054 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 405, 0.10, 1.927, 0.350, 1.877, 1.168, PHS= 0.847,-0.770, 0.707, RAW= 145.5, -10.1, CAL= 152.3, -18.9, ROT= 357.7, 18.9
2025-06-18T18:18:45.567Z,1750270725.567 [DAT](INFO): got valid direction response:
18:18:45.6054 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 405, 0.10, 1.927, 0.350, 1.877, 1.168, PHS= 0.847,-0.770, 0.707, RAW= 145.5, -10.1, CAL= 152.3, -18.9, ROT= 357.7, 18.9
2025-06-18T18:18:45.568Z,1750270725.568 [DAT](INFO): DAT read: Bearing 357.7, 18.9 (Local)
2025-06-18T18:18:45.569Z,1750270725.569 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.7, 18.9 (Local)
2025-06-18T18:18:45.570Z,1750270725.570 [DAT](INFO): DAT read: Range 10 to 50 : 537.3 m (Round-trip 716.5 ms) speed 0.5 m/s
2025-06-18T18:18:45.571Z,1750270725.571 [DAT](INFO): DAT read: user:1094>
2025-06-18T18:18:45.573Z,1750270725.573 [DAT](INFO): DAT read: Tx time:18:18:46.6848
2025-06-18T18:18:45.573Z,1750270725.573 [DAT](INFO): Ping request sent.
2025-06-18T18:18:45.573Z,1750270725.573 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:18:45.573Z,1750270725.573 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:18:45.574Z,1750270725.574 [DAT](INFO): direction in FSK: [0.945323,-0.037968,-0.323917]
2025-06-18T18:18:45.575Z,1750270725.575 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:45.575Z,1750270725.575 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:45.578Z,1750270725.578 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:45.578Z,1750270725.578 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:45.757Z,1750270725.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 537.299988 m,
deltaT: 4.033212 s,
deltaX: -3.000000 m,
approachRate: -0.743824 m/s,
rangeRepo size: 4
2025-06-18T18:18:45.759Z,1750270725.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 532.371155 m,
bearing: 312.215008 deg,
lat: 36.905599 deg,
lon: -122.115926 deg,
deltaT: 4.033212 s,
deltaX: -2.972229 m,
approachRate: -0.736938 m/s,
posRepo size: 4
2025-06-18T18:18:45.760Z,1750270725.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-06-18T18:18:45.763Z,1750270725.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 532.371155 m,
nav range: 514.570923 m,
bearing: 308.335671 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003761 deg/s,
cmd heading: 313.596716 deg,
new cmd heading: 313.592284 deg.
2025-06-18T18:18:45.764Z,1750270725.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473218 target range: 532.371155 and range: 537.30 m.
2025-06-18T18:18:45.801Z,1750270725.801 [DAT](INFO): DAT read: TxSync time:18:18:46.6840
2025-06-18T18:18:46.219Z,1750270726.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-06-18T18:18:46.222Z,1750270726.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 532.371155 m,
nav range: 514.245056 m,
bearing: 308.333491 deg,
approach rate: -0.704001 m/s,
LOS rate: -0.004714 deg/s,
cmd heading: 313.592290 deg,
new cmd heading: 313.585744 deg.
2025-06-18T18:18:46.223Z,1750270726.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473104 target range: 532.371155 and range: 537.30 m.
2025-06-18T18:18:46.599Z,1750270726.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:46.601Z,1750270726.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-06-18T18:18:46.604Z,1750270726.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 532.371155 m,
nav range: 513.987427 m,
bearing: 308.331812 deg,
approach rate: -0.674497 m/s,
LOS rate: -0.004398 deg/s,
cmd heading: 313.585733 deg,
new cmd heading: 313.580693 deg.
2025-06-18T18:18:46.605Z,1750270726.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473016 target range: 532.371155 and range: 537.30 m.
2025-06-18T18:18:46.809Z,1750270726.809 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:46.809Z,1750270726.809 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:46.809Z,1750270726.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:47.024Z,1750270727.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-06-18T18:18:47.026Z,1750270727.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 532.371155 m,
nav range: 513.698120 m,
bearing: 308.329286 deg,
approach rate: -0.685277 m/s,
LOS rate: -0.005986 deg/s,
cmd heading: 313.580706 deg,
new cmd heading: 313.573124 deg.
2025-06-18T18:18:47.027Z,1750270727.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472884 target range: 532.371155 and range: 537.30 m.
2025-06-18T18:18:47.061Z,1750270727.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488090
2025-06-18T18:18:47.313Z,1750270727.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739795
2025-06-18T18:18:47.407Z,1750270727.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-06-18T18:18:47.409Z,1750270727.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 532.371155 m,
nav range: 513.434937 m,
bearing: 308.326968 deg,
approach rate: -0.687187 m/s,
LOS rate: -0.006057 deg/s,
cmd heading: 313.573138 deg,
new cmd heading: 313.566179 deg.
2025-06-18T18:18:47.410Z,1750270727.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472762 target range: 532.371155 and range: 537.30 m.
2025-06-18T18:18:47.565Z,1750270727.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991871
2025-06-18T18:18:47.807Z,1750270727.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-06-18T18:18:47.810Z,1750270727.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 532.371155 m,
nav range: 513.160156 m,
bearing: 308.324529 deg,
approach rate: -0.685704 m/s,
LOS rate: -0.006090 deg/s,
cmd heading: 313.566171 deg,
new cmd heading: 313.558850 deg.
2025-06-18T18:18:47.811Z,1750270727.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472634 target range: 532.371155 and range: 537.30 m.
2025-06-18T18:18:47.817Z,1750270727.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243888
2025-06-18T18:18:48.071Z,1750270728.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497596
2025-06-18T18:18:48.242Z,1750270728.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-06-18T18:18:48.245Z,1750270728.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 532.371155 m,
nav range: 512.865967 m,
bearing: 308.321616 deg,
approach rate: -0.677052 m/s,
LOS rate: -0.006707 deg/s,
cmd heading: 313.558849 deg,
new cmd heading: 313.550107 deg.
2025-06-18T18:18:48.246Z,1750270728.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472482 target range: 532.371155 and range: 537.30 m.
2025-06-18T18:18:48.321Z,1750270728.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747959
2025-06-18T18:18:48.573Z,1750270728.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999791
2025-06-18T18:18:48.644Z,1750270728.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:48.646Z,1750270728.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-06-18T18:18:48.650Z,1750270728.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 532.371155 m,
nav range: 512.607849 m,
bearing: 308.319067 deg,
approach rate: -0.638106 m/s,
LOS rate: -0.006305 deg/s,
cmd heading: 313.550106 deg,
new cmd heading: 313.542455 deg.
2025-06-18T18:18:48.651Z,1750270728.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472348 target range: 532.371155 and range: 537.30 m.
2025-06-18T18:18:48.825Z,1750270728.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251820
2025-06-18T18:18:49.077Z,1750270729.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503925
2025-06-18T18:18:49.085Z,1750270729.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-06-18T18:18:49.092Z,1750270729.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 532.371155 m,
nav range: 512.319641 m,
bearing: 308.316520 deg,
approach rate: -0.656516 m/s,
LOS rate: -0.005805 deg/s,
cmd heading: 313.542457 deg,
new cmd heading: 313.534811 deg.
2025-06-18T18:18:49.093Z,1750270729.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472215 target range: 532.371155 and range: 537.30 m.
2025-06-18T18:18:49.329Z,1750270729.329 [DAT](INFO): DAT read: Rx Time:18:18:49.8125
2025-06-18T18:18:49.329Z,1750270729.329 [DAT](INFO): Rx dataTimestamp_ set to:1750270729.328967
2025-06-18T18:18:49.330Z,1750270729.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756824
2025-06-18T18:18:49.428Z,1750270729.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 532.37 m.
2025-06-18T18:18:49.431Z,1750270729.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 532.371155 m,
nav range: 512.059692 m,
bearing: 308.314237 deg,
approach rate: -0.758368 m/s,
LOS rate: -0.006664 deg/s,
cmd heading: 313.534807 deg,
new cmd heading: 313.527954 deg.
2025-06-18T18:18:49.432Z,1750270729.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472095 target range: 532.371155 and range: 537.30 m.
2025-06-18T18:18:49.581Z,1750270729.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.007785
2025-06-18T18:18:49.839Z,1750270729.839 [DAT](INFO): DAT read: 18:18:49.8125 LVL= 23280, 22321, 20722, 32755, AGC= 72, IDX= 507, 0.01,-2.578, 2.155,-2.472, 3.051, PHS= 0.742,-0.848, 0.757, RAW= 150.5, -8.2, CAL= 156.2, -16.3, ROT= 353.8, 16.3
2025-06-18T18:18:49.841Z,1750270729.841 [DAT](INFO): got valid direction response:
18:18:49.8125 LVL= 23280, 22321, 20722, 32755, AGC= 72, IDX= 507, 0.01,-2.578, 2.155,-2.472, 3.051, PHS= 0.742,-0.848, 0.757, RAW= 150.5, -8.2, CAL= 156.2, -16.3, ROT= 353.8, 16.3
2025-06-18T18:18:49.842Z,1750270729.842 [DAT](INFO): DAT read: Bearing 353.8, 16.3 (Local)
2025-06-18T18:18:49.842Z,1750270729.842 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.8, 16.3 (Local)
2025-06-18T18:18:49.844Z,1750270729.844 [DAT](INFO): DAT read: Range 10 to 50 : 542.5 m (Round-trip 723.4 ms) speed 0.5 m/s
2025-06-18T18:18:49.845Z,1750270729.845 [DAT](INFO): DAT read: user:1095>
2025-06-18T18:18:49.845Z,1750270729.845 [DAT](INFO): DAT read: Tx time:18:18:50.9349
2025-06-18T18:18:49.846Z,1750270729.846 [DAT](INFO): Ping request sent.
2025-06-18T18:18:49.846Z,1750270729.846 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:18:49.846Z,1750270729.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:18:49.847Z,1750270729.847 [DAT](INFO): direction in FSK: [0.954191,-0.103658,-0.280667]
2025-06-18T18:18:49.847Z,1750270729.847 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:49.856Z,1750270729.856 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:49.859Z,1750270729.859 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:49.859Z,1750270729.859 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:49.913Z,1750270729.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 542.500000 m,
deltaT: 4.282956 s,
deltaX: 5.200012 m,
approachRate: 1.214118 m/s,
rangeRepo size: 4
2025-06-18T18:18:49.930Z,1750270729.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 537.523621 m,
bearing: 307.620165 deg,
lat: 36.905588 deg,
lon: -122.115932 deg,
deltaT: 4.282956 s,
deltaX: 5.152466 m,
approachRate: 1.203016 m/s,
posRepo size: 4
2025-06-18T18:18:49.956Z,1750270729.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.52 m.
2025-06-18T18:18:49.959Z,1750270729.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.523621 m,
nav range: 511.450134 m,
bearing: 308.164660 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006664 deg/s,
cmd heading: 313.527949 deg,
new cmd heading: 313.518689 deg.
2025-06-18T18:18:49.970Z,1750270729.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471933 target range: 537.523621 and range: 542.50 m.
2025-06-18T18:18:50.085Z,1750270730.085 [DAT](INFO): DAT read: TxSync time:18:18:50.9341
2025-06-18T18:18:50.502Z,1750270730.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.52 m.
2025-06-18T18:18:50.509Z,1750270730.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.523621 m,
nav range: 511.019409 m,
bearing: 308.161384 deg,
approach rate: -0.704725 m/s,
LOS rate: -0.005364 deg/s,
cmd heading: 313.518688 deg,
new cmd heading: 313.508853 deg.
2025-06-18T18:18:50.510Z,1750270730.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471762 target range: 537.523621 and range: 542.50 m.
2025-06-18T18:18:51.031Z,1750270731.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:51.049Z,1750270731.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.52 m.
2025-06-18T18:18:51.056Z,1750270731.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.523621 m,
nav range: 510.643829 m,
bearing: 308.158911 deg,
approach rate: -0.686536 m/s,
LOS rate: -0.004524 deg/s,
cmd heading: 313.508852 deg,
new cmd heading: 313.501427 deg.
2025-06-18T18:18:51.057Z,1750270731.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471632 target range: 537.523621 and range: 542.50 m.
2025-06-18T18:18:51.093Z,1750270731.093 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:51.093Z,1750270731.093 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:51.093Z,1750270731.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:51.345Z,1750270731.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499472
2025-06-18T18:18:51.481Z,1750270731.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.52 m.
2025-06-18T18:18:51.483Z,1750270731.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.523621 m,
nav range: 510.336578 m,
bearing: 308.157138 deg,
approach rate: -0.712640 m/s,
LOS rate: -0.004115 deg/s,
cmd heading: 313.501421 deg,
new cmd heading: 313.496098 deg.
2025-06-18T18:18:51.485Z,1750270731.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471539 target range: 537.523621 and range: 542.50 m.
2025-06-18T18:18:51.597Z,1750270731.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751043
2025-06-18T18:18:51.849Z,1750270731.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003000
2025-06-18T18:18:51.881Z,1750270731.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.52 m.
2025-06-18T18:18:51.885Z,1750270731.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.523621 m,
nav range: 510.065033 m,
bearing: 308.155551 deg,
approach rate: -0.678401 m/s,
LOS rate: -0.003967 deg/s,
cmd heading: 313.496093 deg,
new cmd heading: 313.491329 deg.
2025-06-18T18:18:51.887Z,1750270731.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471456 target range: 537.523621 and range: 542.50 m.
2025-06-18T18:18:52.101Z,1750270732.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255043
2025-06-18T18:18:52.346Z,1750270732.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.52 m.
2025-06-18T18:18:52.349Z,1750270732.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.523621 m,
nav range: 509.744324 m,
bearing: 308.154204 deg,
approach rate: -0.689214 m/s,
LOS rate: -0.002895 deg/s,
cmd heading: 313.491340 deg,
new cmd heading: 313.487298 deg.
2025-06-18T18:18:52.350Z,1750270732.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471385 target range: 537.523621 and range: 542.50 m.
2025-06-18T18:18:52.353Z,1750270732.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507092
2025-06-18T18:18:52.605Z,1750270732.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759699
2025-06-18T18:18:52.687Z,1750270732.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.52 m.
2025-06-18T18:18:52.690Z,1750270732.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.523621 m,
nav range: 509.511749 m,
bearing: 308.153198 deg,
approach rate: -0.682964 m/s,
LOS rate: -0.002955 deg/s,
cmd heading: 313.487296 deg,
new cmd heading: 313.484277 deg.
2025-06-18T18:18:52.691Z,1750270732.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471333 target range: 537.523621 and range: 542.50 m.
2025-06-18T18:18:52.857Z,1750270732.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010984
2025-06-18T18:18:53.109Z,1750270733.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262974
2025-06-18T18:18:53.148Z,1750270733.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:53.150Z,1750270733.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.52 m.
2025-06-18T18:18:53.157Z,1750270733.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.523621 m,
nav range: 509.207733 m,
bearing: 308.152193 deg,
approach rate: -0.656006 m/s,
LOS rate: -0.002171 deg/s,
cmd heading: 313.484263 deg,
new cmd heading: 313.481245 deg.
2025-06-18T18:18:53.158Z,1750270733.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471280 target range: 537.523621 and range: 542.50 m.
2025-06-18T18:18:53.361Z,1750270733.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515041
2025-06-18T18:18:53.505Z,1750270733.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.52 m.
2025-06-18T18:18:53.507Z,1750270733.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.523621 m,
nav range: 508.952850 m,
bearing: 308.151334 deg,
approach rate: -0.718536 m/s,
LOS rate: -0.002421 deg/s,
cmd heading: 313.481258 deg,
new cmd heading: 313.478682 deg.
2025-06-18T18:18:53.509Z,1750270733.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471235 target range: 537.523621 and range: 542.50 m.
2025-06-18T18:18:53.613Z,1750270733.613 [DAT](INFO): DAT read: Rx Time:18:18:54.0578
2025-06-18T18:18:53.614Z,1750270733.614 [DAT](INFO): Rx dataTimestamp_ set to:1750270733.613334
2025-06-18T18:18:53.614Z,1750270733.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768395
2025-06-18T18:18:53.865Z,1750270733.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019044
2025-06-18T18:18:53.902Z,1750270733.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.52 m.
2025-06-18T18:18:53.906Z,1750270733.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.523621 m,
nav range: 508.686279 m,
bearing: 308.150428 deg,
approach rate: -0.672451 m/s,
LOS rate: -0.002287 deg/s,
cmd heading: 313.478690 deg,
new cmd heading: 313.475971 deg.
2025-06-18T18:18:53.907Z,1750270733.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471188 target range: 537.523621 and range: 542.50 m.
2025-06-18T18:18:54.126Z,1750270734.126 [DAT](INFO): DAT read: 18:18:54.0578 LVL= 19552, 19441, 18882, 24307, AGC= 70, IDX= 396,-0.08,-1.283,-2.787,-1.294,-1.982, PHS= 0.787,-0.758, 0.686, RAW= 146.6, -9.6, CAL= 153.2, -18.1, ROT= 356.8, 18.1
2025-06-18T18:18:54.127Z,1750270734.127 [DAT](INFO): got valid direction response:
18:18:54.0578 LVL= 19552, 19441, 18882, 24307, AGC= 70, IDX= 396,-0.08,-1.283,-2.787,-1.294,-1.982, PHS= 0.787,-0.758, 0.686, RAW= 146.6, -9.6, CAL= 153.2, -18.1, ROT= 356.8, 18.1
2025-06-18T18:18:54.129Z,1750270734.129 [DAT](INFO): DAT read: Bearing 356.8, 18.1 (Local)
2025-06-18T18:18:54.130Z,1750270734.130 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.8, 18.1 (Local)
2025-06-18T18:18:54.132Z,1750270734.132 [DAT](INFO): DAT read: Range 10 to 50 : 539.0 m (Round-trip 718.7 ms) speed 0.8 m/s
2025-06-18T18:18:54.134Z,1750270734.134 [DAT](INFO): DAT read: user:1096>
2025-06-18T18:18:54.135Z,1750270734.135 [DAT](INFO): DAT read: Tx time:18:18:55.1849
2025-06-18T18:18:54.135Z,1750270734.135 [DAT](INFO): Ping request sent.
2025-06-18T18:18:54.135Z,1750270734.135 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:18:54.136Z,1750270734.136 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:18:54.138Z,1750270734.138 [DAT](INFO): direction in FSK: [0.949034,-0.053059,-0.310676]
2025-06-18T18:18:54.138Z,1750270734.138 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:54.139Z,1750270734.139 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:54.145Z,1750270734.145 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:54.145Z,1750270734.145 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:54.369Z,1750270734.369 [DAT](INFO): DAT read: TxSync time:18:18:55.1841
2025-06-18T18:18:54.423Z,1750270734.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 539.000000 m,
deltaT: 4.284975 s,
deltaX: -3.500000 m,
approachRate: -0.816808 m/s,
rangeRepo size: 4
2025-06-18T18:18:54.425Z,1750270734.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 534.055481 m,
bearing: 310.553706 deg,
lat: 36.905599 deg,
lon: -122.115926 deg,
deltaT: 4.284975 s,
deltaX: -3.468140 m,
approachRate: -0.809372 m/s,
posRepo size: 4
2025-06-18T18:18:54.426Z,1750270734.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.06 m.
2025-06-18T18:18:54.429Z,1750270734.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 534.055481 m,
nav range: 508.648438 m,
bearing: 308.297368 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002287 deg/s,
cmd heading: 313.475958 deg,
new cmd heading: 313.472383 deg.
2025-06-18T18:18:54.430Z,1750270734.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471125 target range: 534.055481 and range: 539.00 m.
2025-06-18T18:18:54.804Z,1750270734.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.06 m.
2025-06-18T18:18:54.807Z,1750270734.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 534.055481 m,
nav range: 508.394348 m,
bearing: 308.296730 deg,
approach rate: -0.666448 m/s,
LOS rate: -0.001676 deg/s,
cmd heading: 313.472379 deg,
new cmd heading: 313.470462 deg.
2025-06-18T18:18:54.808Z,1750270734.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471092 target range: 534.055481 and range: 539.00 m.
2025-06-18T18:18:55.234Z,1750270735.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:55.237Z,1750270735.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.06 m.
2025-06-18T18:18:55.239Z,1750270735.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 534.055481 m,
nav range: 508.092255 m,
bearing: 308.296105 deg,
approach rate: -0.697982 m/s,
LOS rate: -0.001445 deg/s,
cmd heading: 313.470466 deg,
new cmd heading: 313.468590 deg.
2025-06-18T18:18:55.240Z,1750270735.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471059 target range: 534.055481 and range: 539.00 m.
2025-06-18T18:18:55.377Z,1750270735.377 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:55.377Z,1750270735.377 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:55.378Z,1750270735.378 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:55.620Z,1750270735.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.06 m.
2025-06-18T18:18:55.623Z,1750270735.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 534.055481 m,
nav range: 507.831390 m,
bearing: 308.295564 deg,
approach rate: -0.679729 m/s,
LOS rate: -0.001409 deg/s,
cmd heading: 313.468581 deg,
new cmd heading: 313.466960 deg.
2025-06-18T18:18:55.626Z,1750270735.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471031 target range: 534.055481 and range: 539.00 m.
2025-06-18T18:18:55.629Z,1750270735.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493422
2025-06-18T18:18:55.881Z,1750270735.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745786
2025-06-18T18:18:56.098Z,1750270736.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.06 m.
2025-06-18T18:18:56.105Z,1750270736.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 534.055481 m,
nav range: 507.514374 m,
bearing: 308.294590 deg,
approach rate: -0.664009 m/s,
LOS rate: -0.002042 deg/s,
cmd heading: 313.466969 deg,
new cmd heading: 313.464045 deg.
2025-06-18T18:18:56.106Z,1750270736.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470980 target range: 534.055481 and range: 539.00 m.
2025-06-18T18:18:56.133Z,1750270736.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997459
2025-06-18T18:18:56.385Z,1750270736.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249651
2025-06-18T18:18:56.415Z,1750270736.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.06 m.
2025-06-18T18:18:56.418Z,1750270736.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 534.055481 m,
nav range: 507.280334 m,
bearing: 308.293849 deg,
approach rate: -0.737269 m/s,
LOS rate: -0.002335 deg/s,
cmd heading: 313.464046 deg,
new cmd heading: 313.461822 deg.
2025-06-18T18:18:56.419Z,1750270736.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470941 target range: 534.055481 and range: 539.00 m.
2025-06-18T18:18:56.637Z,1750270736.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501856
2025-06-18T18:18:56.821Z,1750270736.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.06 m.
2025-06-18T18:18:56.823Z,1750270736.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 534.055481 m,
nav range: 506.999329 m,
bearing: 308.292968 deg,
approach rate: -0.693169 m/s,
LOS rate: -0.002176 deg/s,
cmd heading: 313.461833 deg,
new cmd heading: 313.459187 deg.
2025-06-18T18:18:56.824Z,1750270736.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470895 target range: 534.055481 and range: 539.00 m.
2025-06-18T18:18:56.890Z,1750270736.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754113
2025-06-18T18:18:57.141Z,1750270737.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005292
2025-06-18T18:18:57.255Z,1750270737.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:57.257Z,1750270737.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.06 m.
2025-06-18T18:18:57.260Z,1750270737.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 534.055481 m,
nav range: 506.702667 m,
bearing: 308.291511 deg,
approach rate: -0.679083 m/s,
LOS rate: -0.003337 deg/s,
cmd heading: 313.459183 deg,
new cmd heading: 313.454810 deg.
2025-06-18T18:18:57.261Z,1750270737.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470819 target range: 534.055481 and range: 539.00 m.
2025-06-18T18:18:57.393Z,1750270737.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257327
2025-06-18T18:18:57.641Z,1750270737.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.06 m.
2025-06-18T18:18:57.645Z,1750270737.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509750
2025-06-18T18:18:57.665Z,1750270737.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 534.055481 m,
nav range: 506.447632 m,
bearing: 308.290265 deg,
approach rate: -0.664009 m/s,
LOS rate: -0.003246 deg/s,
cmd heading: 313.454812 deg,
new cmd heading: 313.451072 deg.
2025-06-18T18:18:57.666Z,1750270737.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470753 target range: 534.055481 and range: 539.00 m.
2025-06-18T18:18:57.897Z,1750270737.897 [DAT](INFO): DAT read: Rx Time:18:18:58.2950
2025-06-18T18:18:57.898Z,1750270737.898 [DAT](INFO): Rx dataTimestamp_ set to:1750270737.897633
2025-06-18T18:18:57.899Z,1750270737.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763341
2025-06-18T18:18:58.026Z,1750270738.026 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:18:58.093Z,1750270738.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.06 m.
2025-06-18T18:18:58.096Z,1750270738.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 534.055481 m,
nav range: 506.134186 m,
bearing: 308.288750 deg,
approach rate: -0.693996 m/s,
LOS rate: -0.003356 deg/s,
cmd heading: 313.451069 deg,
new cmd heading: 313.446522 deg.
2025-06-18T18:18:58.097Z,1750270738.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470674 target range: 534.055481 and range: 539.00 m.
2025-06-18T18:18:58.150Z,1750270738.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.014704
2025-06-18T18:18:58.407Z,1750270738.407 [DAT](INFO): DAT read: 18:18:58.2950 LVL= 22944, 23153, 21074, 32755, AGC= 71, IDX= 414,-0.10,-2.253, 2.746,-2.201,-2.740, PHS= 0.575,-0.750, 0.536, RAW= 148.5, -5.6, CAL= 153.6, -14.1, ROT= 356.4, 14.1
2025-06-18T18:18:58.408Z,1750270738.408 [DAT](INFO): got valid direction response:
18:18:58.2950 LVL= 22944, 23153, 21074, 32755, AGC= 71, IDX= 414,-0.10,-2.253, 2.746,-2.201,-2.740, PHS= 0.575,-0.750, 0.536, RAW= 148.5, -5.6, CAL= 153.6, -14.1, ROT= 356.4, 14.1
2025-06-18T18:18:58.409Z,1750270738.409 [DAT](INFO): DAT read: Bearing 356.4, 14.1 (Local)
2025-06-18T18:18:58.409Z,1750270738.409 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.4, 14.1 (Local)
2025-06-18T18:18:58.411Z,1750270738.411 [DAT](INFO): DAT read: Range 10 to 50 : 529.4 m (Round-trip 705.9 ms) speed 0.4 m/s
2025-06-18T18:18:58.411Z,1750270738.411 [DAT](INFO): DAT read: user:1097>
2025-06-18T18:18:58.412Z,1750270738.412 [DAT](INFO): DAT read: Tx time:18:18:59.3849
2025-06-18T18:18:58.412Z,1750270738.412 [DAT](INFO): Ping request sent.
2025-06-18T18:18:58.413Z,1750270738.413 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:18:58.413Z,1750270738.413 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:18:58.414Z,1750270738.414 [DAT](INFO): direction in FSK: [0.967958,-0.060899,-0.243615]
2025-06-18T18:18:58.414Z,1750270738.414 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:58.415Z,1750270738.415 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:58.418Z,1750270738.418 [DAT](INFO): publishing transmit ping time
2025-06-18T18:18:58.418Z,1750270738.418 [DAT](INFO): publishing direction and range info
2025-06-18T18:18:58.597Z,1750270738.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 529.400024 m,
deltaT: 4.282727 s,
deltaX: -9.599976 m,
approachRate: -2.241557 m/s,
rangeRepo size: 4
2025-06-18T18:18:58.599Z,1750270738.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 524.544250 m,
bearing: 309.475466 deg,
lat: 36.905729 deg,
lon: -122.115932 deg,
deltaT: 4.282727 s,
deltaX: -9.511230 m,
approachRate: -2.220835 m/s,
posRepo size: 4
2025-06-18T18:18:58.604Z,1750270738.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:18:58.607Z,1750270738.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 515.285889 m,
bearing: 309.505240 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003356 deg/s,
cmd heading: 313.446533 deg,
new cmd heading: 313.441511 deg.
2025-06-18T18:18:58.612Z,1750270738.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470586 target range: 524.544250 and range: 529.40 m.
2025-06-18T18:18:58.654Z,1750270738.654 [DAT](INFO): DAT read: TxSync time:18:18:59.3841
2025-06-18T18:18:58.918Z,1750270738.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:18:58.925Z,1750270738.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 515.055054 m,
bearing: 309.504548 deg,
approach rate: -0.708172 m/s,
LOS rate: -0.002124 deg/s,
cmd heading: 313.441506 deg,
new cmd heading: 313.439430 deg.
2025-06-18T18:18:58.926Z,1750270738.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470550 target range: 524.544250 and range: 529.40 m.
2025-06-18T18:18:59.029Z,1750270739.029 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:18:59.301Z,1750270739.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:18:59.303Z,1750270739.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:18:59.322Z,1750270739.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 514.777527 m,
bearing: 309.503479 deg,
approach rate: -0.721439 m/s,
LOS rate: -0.002779 deg/s,
cmd heading: 313.439430 deg,
new cmd heading: 313.436222 deg.
2025-06-18T18:18:59.322Z,1750270739.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470494 target range: 524.544250 and range: 529.40 m.
2025-06-18T18:18:59.409Z,1750270739.409 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:18:59.409Z,1750270739.409 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:18:59.409Z,1750270739.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:18:59.661Z,1750270739.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248121
2025-06-18T18:18:59.704Z,1750270739.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:18:59.706Z,1750270739.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 514.497559 m,
bearing: 309.502412 deg,
approach rate: -0.698262 m/s,
LOS rate: -0.002663 deg/s,
cmd heading: 313.436234 deg,
new cmd heading: 313.433030 deg.
2025-06-18T18:18:59.707Z,1750270739.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470438 target range: 524.544250 and range: 529.40 m.
2025-06-18T18:18:59.913Z,1750270739.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500196
2025-06-18T18:19:00.165Z,1750270740.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752636
2025-06-18T18:19:00.180Z,1750270740.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:00.183Z,1750270740.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 514.185486 m,
bearing: 309.500699 deg,
approach rate: -0.660961 m/s,
LOS rate: -0.003630 deg/s,
cmd heading: 313.433037 deg,
new cmd heading: 313.427896 deg.
2025-06-18T18:19:00.189Z,1750270740.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470349 target range: 524.544250 and range: 529.40 m.
2025-06-18T18:19:00.418Z,1750270740.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005326
2025-06-18T18:19:00.511Z,1750270740.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:00.514Z,1750270740.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 513.939697 m,
bearing: 309.499268 deg,
approach rate: -0.733253 m/s,
LOS rate: -0.004274 deg/s,
cmd heading: 313.427901 deg,
new cmd heading: 313.423603 deg.
2025-06-18T18:19:00.515Z,1750270740.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470274 target range: 524.544250 and range: 529.40 m.
2025-06-18T18:19:00.669Z,1750270740.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256154
2025-06-18T18:19:00.913Z,1750270740.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:00.917Z,1750270740.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 513.662964 m,
bearing: 309.497626 deg,
approach rate: -0.688340 m/s,
LOS rate: -0.004087 deg/s,
cmd heading: 313.423611 deg,
new cmd heading: 313.418683 deg.
2025-06-18T18:19:00.918Z,1750270740.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470188 target range: 524.544250 and range: 529.40 m.
2025-06-18T18:19:00.921Z,1750270740.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508552
2025-06-18T18:19:01.174Z,1750270741.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760540
2025-06-18T18:19:01.325Z,1750270741.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:01.327Z,1750270741.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:01.333Z,1750270741.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 513.372925 m,
bearing: 309.495563 deg,
approach rate: -0.700853 m/s,
LOS rate: -0.004986 deg/s,
cmd heading: 313.418694 deg,
new cmd heading: 313.412504 deg.
2025-06-18T18:19:01.334Z,1750270741.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470080 target range: 524.544250 and range: 529.40 m.
2025-06-18T18:19:01.425Z,1750270741.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012419
2025-06-18T18:19:01.677Z,1750270741.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264431
2025-06-18T18:19:01.712Z,1750270741.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:01.715Z,1750270741.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 513.103577 m,
bearing: 309.493636 deg,
approach rate: -0.699920 m/s,
LOS rate: -0.005010 deg/s,
cmd heading: 313.412492 deg,
new cmd heading: 313.406707 deg.
2025-06-18T18:19:01.715Z,1750270741.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469979 target range: 524.544250 and range: 529.40 m.
2025-06-18T18:19:01.929Z,1750270741.929 [DAT](INFO): DAT read: Rx Time:18:19:02.4807
2025-06-18T18:19:01.929Z,1750270741.929 [DAT](INFO): Rx dataTimestamp_ set to:1750270741.929149
2025-06-18T18:19:01.930Z,1750270741.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517366
2025-06-18T18:19:02.181Z,1750270742.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768212
2025-06-18T18:19:02.193Z,1750270742.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:02.196Z,1750270742.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 512.770264 m,
bearing: 309.492116 deg,
approach rate: -0.692163 m/s,
LOS rate: -0.003158 deg/s,
cmd heading: 313.406700 deg,
new cmd heading: 313.402137 deg.
2025-06-18T18:19:02.197Z,1750270742.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469899 target range: 524.544250 and range: 529.40 m.
2025-06-18T18:19:02.434Z,1750270742.434 [DAT](INFO): DAT read: Range 10 to 50 : 518.7 m (Round-trip 691.6 ms) speed 0.4 m/s
2025-06-18T18:19:02.435Z,1750270742.435 [DAT](INFO): DAT read: user:1098>
2025-06-18T18:19:02.435Z,1750270742.435 [DAT](INFO): DAT read: Tx time:18:19:03.5849
2025-06-18T18:19:02.436Z,1750270742.436 [DAT](INFO): Ping request sent.
2025-06-18T18:19:02.436Z,1750270742.436 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:19:02.437Z,1750270742.437 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:19:02.437Z,1750270742.437 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:02.437Z,1750270742.437 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:02.593Z,1750270742.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 518.700012 m,
deltaT: 4.032080 s,
deltaX: -10.700012 m,
approachRate: -2.653720 m/s,
rangeRepo size: 4
2025-06-18T18:19:02.593Z,1750270742.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:02.596Z,1750270742.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 512.494629 m,
bearing: 309.490858 deg,
approach rate: -0.691988 m/s,
LOS rate: -0.003162 deg/s,
cmd heading: 313.402137 deg,
new cmd heading: 313.398359 deg.
2025-06-18T18:19:02.597Z,1750270742.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469833 target range: 524.544250 and range: 518.70 m.
2025-06-18T18:19:02.685Z,1750270742.685 [DAT](INFO): DAT read: TxSync time:18:19:03.5841
2025-06-18T18:19:02.963Z,1750270742.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:02.966Z,1750270742.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 512.237610 m,
bearing: 309.489692 deg,
approach rate: -0.692193 m/s,
LOS rate: -0.003141 deg/s,
cmd heading: 313.398367 deg,
new cmd heading: 313.394868 deg.
2025-06-18T18:19:02.967Z,1750270742.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469772 target range: 524.544250 and range: 518.70 m.
2025-06-18T18:19:03.381Z,1750270743.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:03.383Z,1750270743.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:03.386Z,1750270743.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 511.947815 m,
bearing: 309.488268 deg,
approach rate: -0.690034 m/s,
LOS rate: -0.003392 deg/s,
cmd heading: 313.394870 deg,
new cmd heading: 313.390596 deg.
2025-06-18T18:19:03.387Z,1750270743.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469698 target range: 524.544250 and range: 518.70 m.
2025-06-18T18:19:03.389Z,1750270743.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 58.156467 m.
2025-06-18T18:19:03.441Z,1750270743.441 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:19:03.441Z,1750270743.441 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:19:03.441Z,1750270743.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:03.693Z,1750270743.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256255
2025-06-18T18:19:03.748Z,1750270743.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:03.751Z,1750270743.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 511.695282 m,
bearing: 309.487030 deg,
approach rate: -0.691651 m/s,
LOS rate: -0.003394 deg/s,
cmd heading: 313.390608 deg,
new cmd heading: 313.386890 deg.
2025-06-18T18:19:03.752Z,1750270743.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469633 target range: 524.544250 and range: 518.70 m.
2025-06-18T18:19:03.945Z,1750270743.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508540
2025-06-18T18:19:04.197Z,1750270744.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760333
2025-06-18T18:19:04.235Z,1750270744.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:04.238Z,1750270744.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 511.358307 m,
bearing: 309.486509 deg,
approach rate: -0.691705 m/s,
LOS rate: -0.001069 deg/s,
cmd heading: 313.386892 deg,
new cmd heading: 313.385331 deg.
2025-06-18T18:19:04.239Z,1750270744.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469606 target range: 524.544250 and range: 518.70 m.
2025-06-18T18:19:04.449Z,1750270744.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012316
2025-06-18T18:19:04.611Z,1750270744.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:04.618Z,1750270744.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 511.109222 m,
bearing: 309.486086 deg,
approach rate: -0.662244 m/s,
LOS rate: -0.001127 deg/s,
cmd heading: 313.385335 deg,
new cmd heading: 313.384063 deg.
2025-06-18T18:19:04.619Z,1750270744.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469584 target range: 524.544250 and range: 518.70 m.
2025-06-18T18:19:04.702Z,1750270744.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264972
2025-06-18T18:19:04.953Z,1750270744.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516499
2025-06-18T18:19:04.956Z,1750270744.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:04.959Z,1750270744.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 510.860992 m,
bearing: 309.485642 deg,
approach rate: -0.720261 m/s,
LOS rate: -0.001288 deg/s,
cmd heading: 313.384051 deg,
new cmd heading: 313.382719 deg.
2025-06-18T18:19:04.960Z,1750270744.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469560 target range: 524.544250 and range: 518.70 m.
2025-06-18T18:19:05.205Z,1750270745.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768428
2025-06-18T18:19:05.413Z,1750270745.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:05.415Z,1750270745.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:05.422Z,1750270745.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 510.563019 m,
bearing: 309.485307 deg,
approach rate: -0.648957 m/s,
LOS rate: -0.000731 deg/s,
cmd heading: 313.382712 deg,
new cmd heading: 313.381705 deg.
2025-06-18T18:19:05.423Z,1750270745.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469543 target range: 524.544250 and range: 518.70 m.
2025-06-18T18:19:05.457Z,1750270745.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020492
2025-06-18T18:19:05.709Z,1750270745.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272480
2025-06-18T18:19:05.926Z,1750270745.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:05.933Z,1750270745.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 510.220001 m,
bearing: 309.484942 deg,
approach rate: -0.671346 m/s,
LOS rate: -0.000714 deg/s,
cmd heading: 313.381701 deg,
new cmd heading: 313.380606 deg.
2025-06-18T18:19:05.934Z,1750270745.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469523 target range: 524.544250 and range: 518.70 m.
2025-06-18T18:19:05.961Z,1750270745.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524563
2025-06-18T18:19:06.213Z,1750270746.213 [DAT](INFO): DAT read: Rx Time:18:19:06.6972
2025-06-18T18:19:06.214Z,1750270746.214 [DAT](INFO): Rx dataTimestamp_ set to:1750270746.213394
2025-06-18T18:19:06.214Z,1750270746.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777787
2025-06-18T18:19:06.322Z,1750270746.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.54 m.
2025-06-18T18:19:06.329Z,1750270746.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.544250 m,
nav range: 509.937622 m,
bearing: 309.485788 deg,
approach rate: -0.713664 m/s,
LOS rate: 0.002141 deg/s,
cmd heading: 313.380608 deg,
new cmd heading: 313.383150 deg.
2025-06-18T18:19:06.330Z,1750270746.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469568 target range: 524.544250 and range: 518.70 m.
2025-06-18T18:19:06.465Z,1750270746.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028399
2025-06-18T18:19:06.723Z,1750270746.723 [DAT](INFO): DAT read: 18:19:06.6972 LVL= 16576, 28737, 16882, 28435, AGC= 73, IDX= 94, 0.17,-0.656,-2.050,-0.634,-1.336, PHS= 0.768,-0.667, 0.699, RAW= 147.6, -11.4, CAL= 154.6, -19.7, ROT= 355.4, 19.7
2025-06-18T18:19:06.724Z,1750270746.724 [DAT](INFO): got valid direction response:
18:19:06.6972 LVL= 16576, 28737, 16882, 28435, AGC= 73, IDX= 94, 0.17,-0.656,-2.050,-0.634,-1.336, PHS= 0.768,-0.667, 0.699, RAW= 147.6, -11.4, CAL= 154.6, -19.7, ROT= 355.4, 19.7
2025-06-18T18:19:06.725Z,1750270746.725 [DAT](INFO): DAT read: Bearing 355.4, 19.7 (Local)
2025-06-18T18:19:06.725Z,1750270746.725 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.4, 19.7 (Local)
2025-06-18T18:19:06.727Z,1750270746.727 [DAT](INFO): DAT read: Range 10 to 50 : 531.0 m (Round-trip 708.1 ms) speed 0.6 m/s
2025-06-18T18:19:06.728Z,1750270746.728 [DAT](INFO): DAT read: user:1099>
2025-06-18T18:19:06.729Z,1750270746.729 [DAT](INFO): DAT read: Tx time:18:19:07.7850
2025-06-18T18:19:06.729Z,1750270746.729 [DAT](INFO): Ping request sent.
2025-06-18T18:19:06.729Z,1750270746.729 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:19:06.730Z,1750270746.730 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:19:06.731Z,1750270746.731 [DAT](INFO): direction in FSK: [0.938438,-0.075505,-0.337095]
2025-06-18T18:19:06.731Z,1750270746.731 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:06.731Z,1750270746.731 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:06.735Z,1750270746.735 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:06.735Z,1750270746.735 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:06.747Z,1750270746.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 531.000000 m,
deltaT: 4.284076 s,
deltaX: 12.299988 m,
approachRate: 2.871095 m/s,
rangeRepo size: 4
2025-06-18T18:19:06.749Z,1750270746.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 526.131348 m,
bearing: 308.879225 deg,
lat: 36.905729 deg,
lon: -122.115937 deg,
deltaT: 8.316156 s,
deltaX: 1.587097 m,
approachRate: 0.190845 m/s,
posRepo size: 4
2025-06-18T18:19:06.750Z,1750270746.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.13 m.
2025-06-18T18:19:06.753Z,1750270746.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.131348 m,
nav range: 509.969818 m,
bearing: 309.458424 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002141 deg/s,
cmd heading: 313.383149 deg,
new cmd heading: 313.385876 deg.
2025-06-18T18:19:06.754Z,1750270746.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469615 target range: 526.131348 and range: 531.00 m.
2025-06-18T18:19:06.970Z,1750270746.970 [DAT](INFO): DAT read: TxSync time:18:19:07.7842
2025-06-18T18:19:07.284Z,1750270747.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.13 m.
2025-06-18T18:19:07.287Z,1750270747.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.131348 m,
nav range: 509.582764 m,
bearing: 309.459830 deg,
approach rate: -0.719850 m/s,
LOS rate: 0.002617 deg/s,
cmd heading: 313.385881 deg,
new cmd heading: 313.390103 deg.
2025-06-18T18:19:07.288Z,1750270747.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469689 target range: 526.131348 and range: 531.00 m.
2025-06-18T18:19:07.669Z,1750270747.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:07.671Z,1750270747.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.13 m.
2025-06-18T18:19:07.674Z,1750270747.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.131348 m,
nav range: 509.320923 m,
bearing: 309.460854 deg,
approach rate: -0.675563 m/s,
LOS rate: 0.002643 deg/s,
cmd heading: 313.390116 deg,
new cmd heading: 313.393190 deg.
2025-06-18T18:19:07.675Z,1750270747.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469743 target range: 526.131348 and range: 531.00 m.
2025-06-18T18:19:07.725Z,1750270747.725 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:19:07.725Z,1750270747.725 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:19:07.726Z,1750270747.726 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:07.977Z,1750270747.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247258
2025-06-18T18:19:08.069Z,1750270748.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.13 m.
2025-06-18T18:19:08.072Z,1750270748.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.131348 m,
nav range: 509.052460 m,
bearing: 309.461916 deg,
approach rate: -0.675489 m/s,
LOS rate: 0.002674 deg/s,
cmd heading: 313.393176 deg,
new cmd heading: 313.396364 deg.
2025-06-18T18:19:08.073Z,1750270748.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469799 target range: 526.131348 and range: 531.00 m.
2025-06-18T18:19:08.229Z,1750270748.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499348
2025-06-18T18:19:08.481Z,1750270748.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751301
2025-06-18T18:19:08.511Z,1750270748.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.13 m.
2025-06-18T18:19:08.515Z,1750270748.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.131348 m,
nav range: 508.753113 m,
bearing: 309.463473 deg,
approach rate: -0.677121 m/s,
LOS rate: 0.003524 deg/s,
cmd heading: 313.396373 deg,
new cmd heading: 313.401046 deg.
2025-06-18T18:19:08.516Z,1750270748.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469880 target range: 526.131348 and range: 531.00 m.
2025-06-18T18:19:08.733Z,1750270748.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003231
2025-06-18T18:19:08.887Z,1750270748.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.13 m.
2025-06-18T18:19:08.894Z,1750270748.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.131348 m,
nav range: 508.501801 m,
bearing: 309.464673 deg,
approach rate: -0.668487 m/s,
LOS rate: 0.003192 deg/s,
cmd heading: 313.401044 deg,
new cmd heading: 313.404645 deg.
2025-06-18T18:19:08.896Z,1750270748.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469943 target range: 526.131348 and range: 531.00 m.
2025-06-18T18:19:08.990Z,1750270748.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260286
2025-06-18T18:19:09.239Z,1750270749.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509219
2025-06-18T18:19:09.309Z,1750270749.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.13 m.
2025-06-18T18:19:09.312Z,1750270749.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.131348 m,
nav range: 508.212708 m,
bearing: 309.465333 deg,
approach rate: -0.684691 m/s,
LOS rate: 0.001564 deg/s,
cmd heading: 313.404651 deg,
new cmd heading: 313.406632 deg.
2025-06-18T18:19:09.313Z,1750270749.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469978 target range: 526.131348 and range: 531.00 m.
2025-06-18T18:19:09.489Z,1750270749.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759225
2025-06-18T18:19:09.694Z,1750270749.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:09.696Z,1750270749.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.13 m.
2025-06-18T18:19:09.699Z,1750270749.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.131348 m,
nav range: 507.950775 m,
bearing: 309.465878 deg,
approach rate: -0.677370 m/s,
LOS rate: 0.001412 deg/s,
cmd heading: 313.406645 deg,
new cmd heading: 313.408283 deg.
2025-06-18T18:19:09.700Z,1750270749.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470006 target range: 526.131348 and range: 531.00 m.
2025-06-18T18:19:09.741Z,1750270749.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011128
2025-06-18T18:19:09.993Z,1750270749.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263440
2025-06-18T18:19:10.117Z,1750270750.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.13 m.
2025-06-18T18:19:10.124Z,1750270750.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.131348 m,
nav range: 507.675781 m,
bearing: 309.466414 deg,
approach rate: -0.652485 m/s,
LOS rate: 0.001272 deg/s,
cmd heading: 313.408284 deg,
new cmd heading: 313.409892 deg.
2025-06-18T18:19:10.125Z,1750270750.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470035 target range: 526.131348 and range: 531.00 m.
2025-06-18T18:19:10.247Z,1750270750.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517441
2025-06-18T18:19:10.497Z,1750270750.497 [DAT](INFO): DAT read: Rx Time:18:19:10.8931
2025-06-18T18:19:10.497Z,1750270750.497 [DAT](INFO): Rx dataTimestamp_ set to:1750270750.497077
2025-06-18T18:19:10.498Z,1750270750.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768367
2025-06-18T18:19:10.526Z,1750270750.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.13 m.
2025-06-18T18:19:10.549Z,1750270750.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.131348 m,
nav range: 507.384705 m,
bearing: 309.466952 deg,
approach rate: -0.712475 m/s,
LOS rate: 0.001318 deg/s,
cmd heading: 313.409896 deg,
new cmd heading: 313.411512 deg.
2025-06-18T18:19:10.550Z,1750270750.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470063 target range: 526.131348 and range: 531.00 m.
2025-06-18T18:19:10.750Z,1750270750.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020257
2025-06-18T18:19:10.975Z,1750270750.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.13 m.
2025-06-18T18:19:10.979Z,1750270750.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.131348 m,
nav range: 507.076660 m,
bearing: 309.467491 deg,
approach rate: -0.686507 m/s,
LOS rate: 0.001200 deg/s,
cmd heading: 313.411508 deg,
new cmd heading: 313.413124 deg.
2025-06-18T18:19:10.981Z,1750270750.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470091 target range: 526.131348 and range: 531.00 m.
2025-06-18T18:19:11.007Z,1750270751.007 [DAT](INFO): DAT read: 18:19:10.8931 LVL= 22960, 29745, 20402, 32419, AGC= 73, IDX= 404, 0.43, 1.295,-0.208, 1.384, 0.585, PHS= 0.798,-0.746, 0.795, RAW= 149.9, -11.0, CAL= 156.6, -18.8, ROT= 353.4, 18.8
2025-06-18T18:19:11.008Z,1750270751.008 [DAT](INFO): got valid direction response:
18:19:10.8931 LVL= 22960, 29745, 20402, 32419, AGC= 73, IDX= 404, 0.43, 1.295,-0.208, 1.384, 0.585, PHS= 0.798,-0.746, 0.795, RAW= 149.9, -11.0, CAL= 156.6, -18.8, ROT= 353.4, 18.8
2025-06-18T18:19:11.009Z,1750270751.009 [DAT](INFO): DAT read: Bearing 353.4, 18.8 (Local)
2025-06-18T18:19:11.009Z,1750270751.009 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.4, 18.8 (Local)
2025-06-18T18:19:11.011Z,1750270751.011 [DAT](INFO): DAT read: Range 10 to 50 : 528.0 m (Round-trip 704.0 ms) speed 0.3 m/s
2025-06-18T18:19:11.011Z,1750270751.011 [DAT](INFO): DAT read: user:1100>
2025-06-18T18:19:11.013Z,1750270751.013 [DAT](INFO): DAT read: Tx time:18:19:11.9850
2025-06-18T18:19:11.013Z,1750270751.013 [DAT](INFO): Ping request sent.
2025-06-18T18:19:11.014Z,1750270751.014 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:19:11.014Z,1750270751.014 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:19:11.015Z,1750270751.015 [DAT](INFO): direction in FSK: [0.940376,-0.108805,-0.322266]
2025-06-18T18:19:11.015Z,1750270751.015 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:11.015Z,1750270751.015 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:11.019Z,1750270751.019 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:11.019Z,1750270751.019 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:11.255Z,1750270751.255 [DAT](INFO): DAT read: TxSync time:18:19:11.9842
2025-06-18T18:19:11.407Z,1750270751.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 528.000000 m,
deltaT: 4.283843 s,
deltaX: -3.000000 m,
approachRate: -0.700306 m/s,
rangeRepo size: 4
2025-06-18T18:19:11.412Z,1750270751.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 523.159912 m,
bearing: 307.315087 deg,
lat: 36.905704 deg,
lon: -122.115991 deg,
deltaT: 4.283843 s,
deltaX: -2.971436 m,
approachRate: -0.693638 m/s,
posRepo size: 4
2025-06-18T18:19:11.413Z,1750270751.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.16 m.
2025-06-18T18:19:11.415Z,1750270751.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 523.159912 m,
nav range: 508.738342 m,
bearing: 308.886264 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001200 deg/s,
cmd heading: 313.413120 deg,
new cmd heading: 313.414674 deg.
2025-06-18T18:19:11.436Z,1750270751.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470118 target range: 523.159912 and range: 528.00 m.
2025-06-18T18:19:11.813Z,1750270751.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:11.815Z,1750270751.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.16 m.
2025-06-18T18:19:11.818Z,1750270751.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 523.159912 m,
nav range: 508.461304 m,
bearing: 308.885715 deg,
approach rate: -0.677777 m/s,
LOS rate: -0.001345 deg/s,
cmd heading: 313.414677 deg,
new cmd heading: 313.413028 deg.
2025-06-18T18:19:11.819Z,1750270751.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470089 target range: 523.159912 and range: 528.00 m.
2025-06-18T18:19:12.009Z,1750270752.009 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:19:12.009Z,1750270752.009 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:19:12.009Z,1750270752.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:12.190Z,1750270752.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.16 m.
2025-06-18T18:19:12.193Z,1750270752.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 523.159912 m,
nav range: 508.193115 m,
bearing: 308.885260 deg,
approach rate: -0.719203 m/s,
LOS rate: -0.001220 deg/s,
cmd heading: 313.413038 deg,
new cmd heading: 313.411673 deg.
2025-06-18T18:19:12.194Z,1750270752.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470066 target range: 523.159912 and range: 528.00 m.
2025-06-18T18:19:12.264Z,1750270752.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249695
2025-06-18T18:19:12.513Z,1750270752.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499208
2025-06-18T18:19:12.623Z,1750270752.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.16 m.
2025-06-18T18:19:12.630Z,1750270752.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 523.159912 m,
nav range: 507.902161 m,
bearing: 308.884112 deg,
approach rate: -0.668537 m/s,
LOS rate: -0.002640 deg/s,
cmd heading: 313.411672 deg,
new cmd heading: 313.408226 deg.
2025-06-18T18:19:12.631Z,1750270752.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470006 target range: 523.159912 and range: 528.00 m.
2025-06-18T18:19:12.765Z,1750270752.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751146
2025-06-18T18:19:12.984Z,1750270752.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.16 m.
2025-06-18T18:19:12.987Z,1750270752.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 523.159912 m,
nav range: 507.634583 m,
bearing: 308.883002 deg,
approach rate: -0.740932 m/s,
LOS rate: -0.003074 deg/s,
cmd heading: 313.408230 deg,
new cmd heading: 313.404899 deg.
2025-06-18T18:19:12.988Z,1750270752.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469947 target range: 523.159912 and range: 528.00 m.
2025-06-18T18:19:13.017Z,1750270753.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003251
2025-06-18T18:19:13.271Z,1750270753.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257314
2025-06-18T18:19:13.427Z,1750270753.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.16 m.
2025-06-18T18:19:13.452Z,1750270753.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 523.159912 m,
nav range: 507.332916 m,
bearing: 308.880933 deg,
approach rate: -0.681781 m/s,
LOS rate: -0.004681 deg/s,
cmd heading: 313.404897 deg,
new cmd heading: 313.398683 deg.
2025-06-18T18:19:13.453Z,1750270753.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469839 target range: 523.159912 and range: 528.00 m.
2025-06-18T18:19:13.522Z,1750270753.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508089
2025-06-18T18:19:13.773Z,1750270753.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759311
2025-06-18T18:19:13.794Z,1750270753.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.16 m.
2025-06-18T18:19:13.797Z,1750270753.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 523.159912 m,
nav range: 507.068176 m,
bearing: 308.879092 deg,
approach rate: -0.719545 m/s,
LOS rate: -0.005006 deg/s,
cmd heading: 313.398695 deg,
new cmd heading: 313.393169 deg.
2025-06-18T18:19:13.798Z,1750270753.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469743 target range: 523.159912 and range: 528.00 m.
2025-06-18T18:19:14.025Z,1750270754.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011290
2025-06-18T18:19:14.206Z,1750270754.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:14.208Z,1750270754.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.16 m.
2025-06-18T18:19:14.211Z,1750270754.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 523.159912 m,
nav range: 506.779358 m,
bearing: 308.877069 deg,
approach rate: -0.698902 m/s,
LOS rate: -0.004896 deg/s,
cmd heading: 313.393176 deg,
new cmd heading: 313.387106 deg.
2025-06-18T18:19:14.211Z,1750270754.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469637 target range: 523.159912 and range: 528.00 m.
2025-06-18T18:19:14.279Z,1750270754.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265307
2025-06-18T18:19:14.529Z,1750270754.529 [DAT](INFO): DAT read: Rx Time:18:19:15.0887
2025-06-18T18:19:14.529Z,1750270754.529 [DAT](INFO): Rx dataTimestamp_ set to:1750270754.529040
2025-06-18T18:19:14.530Z,1750270754.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516257
2025-06-18T18:19:14.707Z,1750270754.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.16 m.
2025-06-18T18:19:14.709Z,1750270754.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 523.159912 m,
nav range: 506.435211 m,
bearing: 308.873794 deg,
approach rate: -0.689799 m/s,
LOS rate: -0.006570 deg/s,
cmd heading: 313.387111 deg,
new cmd heading: 313.377277 deg.
2025-06-18T18:19:14.710Z,1750270754.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469465 target range: 523.159912 and range: 528.00 m.
2025-06-18T18:19:14.782Z,1750270754.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768221
2025-06-18T18:19:15.049Z,1750270755.049 [DAT](INFO): DAT read: 18:19:15.0887 LVL= 21664, 30609, 21810, 32755, AGC= 74, IDX= 391, 0.10,-0.066,-1.797,-0.050,-0.858, PHS= 0.880,-0.892, 0.805, RAW= 147.8, -9.2, CAL= 154.2, -17.6, ROT= 355.8, 17.6
2025-06-18T18:19:15.050Z,1750270755.050 [DAT](INFO): got valid direction response:
18:19:15.0887 LVL= 21664, 30609, 21810, 32755, AGC= 74, IDX= 391, 0.10,-0.066,-1.797,-0.050,-0.858, PHS= 0.880,-0.892, 0.805, RAW= 147.8, -9.2, CAL= 154.2, -17.6, ROT= 355.8, 17.6
2025-06-18T18:19:15.051Z,1750270755.051 [DAT](INFO): DAT read: Bearing 355.8, 17.6 (Local)
2025-06-18T18:19:15.052Z,1750270755.052 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.8, 17.6 (Local)
2025-06-18T18:19:15.053Z,1750270755.053 [DAT](INFO): DAT read: Range 10 to 50 : 524.7 m (Round-trip 699.6 ms) speed 0.4 m/s
2025-06-18T18:19:15.054Z,1750270755.054 [DAT](INFO): DAT read: user:1101>
2025-06-18T18:19:15.055Z,1750270755.055 [DAT](INFO): DAT read: Tx time:18:19:16.1850
2025-06-18T18:19:15.055Z,1750270755.055 [DAT](INFO): Ping request sent.
2025-06-18T18:19:15.055Z,1750270755.055 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:19:15.055Z,1750270755.055 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:19:15.057Z,1750270755.057 [DAT](INFO): direction in FSK: [0.950631,-0.069810,-0.302370]
2025-06-18T18:19:15.057Z,1750270755.057 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:15.057Z,1750270755.057 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:15.061Z,1750270755.061 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:15.062Z,1750270755.062 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:15.137Z,1750270755.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 524.700012 m,
deltaT: 4.033522 s,
deltaX: -3.299988 m,
approachRate: -0.818141 m/s,
rangeRepo size: 4
2025-06-18T18:19:15.139Z,1750270755.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 519.892395 m,
bearing: 309.633887 deg,
lat: 36.905717 deg,
lon: -122.115937 deg,
deltaT: 4.033522 s,
deltaX: -3.267517 m,
approachRate: -0.810090 m/s,
posRepo size: 4
2025-06-18T18:19:15.144Z,1750270755.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.89 m.
2025-06-18T18:19:15.147Z,1750270755.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 519.892395 m,
nav range: 503.379272 m,
bearing: 309.341156 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006570 deg/s,
cmd heading: 313.377275 deg,
new cmd heading: 313.368969 deg.
2025-06-18T18:19:15.152Z,1750270755.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469320 target range: 519.892395 and range: 524.70 m.
2025-06-18T18:19:15.287Z,1750270755.287 [DAT](INFO): DAT read: TxSync time:18:19:16.1842
2025-06-18T18:19:15.545Z,1750270755.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.89 m.
2025-06-18T18:19:15.552Z,1750270755.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 519.892395 m,
nav range: 503.084503 m,
bearing: 309.338304 deg,
approach rate: -0.706198 m/s,
LOS rate: -0.006838 deg/s,
cmd heading: 313.368970 deg,
new cmd heading: 313.360407 deg.
2025-06-18T18:19:15.553Z,1750270755.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469171 target range: 519.892395 and range: 524.70 m.
2025-06-18T18:19:15.864Z,1750270755.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.89 m.
2025-06-18T18:19:15.867Z,1750270755.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 519.892395 m,
nav range: 502.845673 m,
bearing: 309.336072 deg,
approach rate: -0.748589 m/s,
LOS rate: -0.007000 deg/s,
cmd heading: 313.360418 deg,
new cmd heading: 313.353719 deg.
2025-06-18T18:19:15.869Z,1750270755.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469054 target range: 519.892395 and range: 524.70 m.
2025-06-18T18:19:16.251Z,1750270756.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:16.254Z,1750270756.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.89 m.
2025-06-18T18:19:16.261Z,1750270756.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 519.892395 m,
nav range: 502.572876 m,
bearing: 309.333519 deg,
approach rate: -0.700778 m/s,
LOS rate: -0.006560 deg/s,
cmd heading: 313.353725 deg,
new cmd heading: 313.346064 deg.
2025-06-18T18:19:16.262Z,1750270756.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468921 target range: 519.892395 and range: 524.70 m.
2025-06-18T18:19:16.295Z,1750270756.295 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:19:16.295Z,1750270756.295 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:19:16.296Z,1750270756.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:16.545Z,1750270756.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489943
2025-06-18T18:19:16.698Z,1750270756.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.89 m.
2025-06-18T18:19:16.701Z,1750270756.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 519.892395 m,
nav range: 502.265289 m,
bearing: 309.330453 deg,
approach rate: -0.691854 m/s,
LOS rate: -0.006901 deg/s,
cmd heading: 313.346075 deg,
new cmd heading: 313.336870 deg.
2025-06-18T18:19:16.702Z,1750270756.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468760 target range: 519.892395 and range: 524.70 m.
2025-06-18T18:19:16.798Z,1750270756.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742918
2025-06-18T18:19:17.049Z,1750270757.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993615
2025-06-18T18:19:17.113Z,1750270757.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.89 m.
2025-06-18T18:19:17.116Z,1750270757.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 519.892395 m,
nav range: 501.978302 m,
bearing: 309.327553 deg,
approach rate: -0.691441 m/s,
LOS rate: -0.006992 deg/s,
cmd heading: 313.336868 deg,
new cmd heading: 313.328162 deg.
2025-06-18T18:19:17.117Z,1750270757.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468608 target range: 519.892395 and range: 524.70 m.
2025-06-18T18:19:17.304Z,1750270757.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248503
2025-06-18T18:19:17.500Z,1750270757.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.89 m.
2025-06-18T18:19:17.510Z,1750270757.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 519.892395 m,
nav range: 501.711975 m,
bearing: 309.325205 deg,
approach rate: -0.696587 m/s,
LOS rate: -0.006144 deg/s,
cmd heading: 313.328153 deg,
new cmd heading: 313.321105 deg.
2025-06-18T18:19:17.511Z,1750270757.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468485 target range: 519.892395 and range: 524.70 m.
2025-06-18T18:19:17.553Z,1750270757.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497717
2025-06-18T18:19:17.805Z,1750270757.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749618
2025-06-18T18:19:17.898Z,1750270757.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.89 m.
2025-06-18T18:19:17.906Z,1750270757.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 519.892395 m,
nav range: 501.446564 m,
bearing: 309.322748 deg,
approach rate: -0.660152 m/s,
LOS rate: -0.006114 deg/s,
cmd heading: 313.321104 deg,
new cmd heading: 313.313729 deg.
2025-06-18T18:19:17.907Z,1750270757.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468356 target range: 519.892395 and range: 524.70 m.
2025-06-18T18:19:18.057Z,1750270758.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001554
2025-06-18T18:19:18.272Z,1750270758.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:18.274Z,1750270758.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.89 m.
2025-06-18T18:19:18.277Z,1750270758.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 519.892395 m,
nav range: 501.170319 m,
bearing: 309.320065 deg,
approach rate: -0.733812 m/s,
LOS rate: -0.007132 deg/s,
cmd heading: 313.313727 deg,
new cmd heading: 313.305673 deg.
2025-06-18T18:19:18.278Z,1750270758.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468215 target range: 519.892395 and range: 524.70 m.
2025-06-18T18:19:18.311Z,1750270758.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255530
2025-06-18T18:19:18.561Z,1750270758.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505600
2025-06-18T18:19:18.712Z,1750270758.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.89 m.
2025-06-18T18:19:18.714Z,1750270758.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 519.892395 m,
nav range: 500.878479 m,
bearing: 309.317919 deg,
approach rate: -0.673346 m/s,
LOS rate: -0.004954 deg/s,
cmd heading: 313.305668 deg,
new cmd heading: 313.299226 deg.
2025-06-18T18:19:18.715Z,1750270758.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468103 target range: 519.892395 and range: 524.70 m.
2025-06-18T18:19:18.813Z,1750270758.813 [DAT](INFO): DAT read: Rx Time:18:19:19.2756
2025-06-18T18:19:18.814Z,1750270758.814 [DAT](INFO): Rx dataTimestamp_ set to:1750270758.813624
2025-06-18T18:19:18.815Z,1750270758.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759613
2025-06-18T18:19:19.065Z,1750270759.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010285
2025-06-18T18:19:19.125Z,1750270759.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.89 m.
2025-06-18T18:19:19.128Z,1750270759.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 519.892395 m,
nav range: 500.586792 m,
bearing: 309.315771 deg,
approach rate: -0.698904 m/s,
LOS rate: -0.005148 deg/s,
cmd heading: 313.299220 deg,
new cmd heading: 313.292775 deg.
2025-06-18T18:19:19.129Z,1750270759.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467990 target range: 519.892395 and range: 524.70 m.
2025-06-18T18:19:19.327Z,1750270759.327 [DAT](INFO): DAT read: 18:19:19.2756 LVL= 20640, 25185, 20562, 32659, AGC= 73, IDX= 306,-0.26,-2.136, 2.290,-2.099,-2.978, PHS= 0.931,-0.968, 0.877, RAW= 148.6, -9.0, CAL= 154.8, -17.3, ROT= 355.2, 17.3
2025-06-18T18:19:19.331Z,1750270759.331 [DAT](INFO): got valid direction response:
18:19:19.2756 LVL= 20640, 25185, 20562, 32659, AGC= 73, IDX= 306,-0.26,-2.136, 2.290,-2.099,-2.978, PHS= 0.931,-0.968, 0.877, RAW= 148.6, -9.0, CAL= 154.8, -17.3, ROT= 355.2, 17.3
2025-06-18T18:19:19.335Z,1750270759.335 [DAT](INFO): DAT read: Bearing 355.2, 17.3 (Local)
2025-06-18T18:19:19.337Z,1750270759.337 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.2, 17.3 (Local)
2025-06-18T18:19:19.342Z,1750270759.342 [DAT](INFO): DAT read: Range 10 to 50 : 514.8 m (Round-trip 686.5 ms) speed 0.6 m/s
2025-06-18T18:19:19.347Z,1750270759.347 [DAT](INFO): DAT read: user:1102>
2025-06-18T18:19:19.350Z,1750270759.350 [DAT](INFO): DAT read: Tx time:18:19:20.3850
2025-06-18T18:19:19.351Z,1750270759.351 [DAT](INFO): Ping request sent.
2025-06-18T18:19:19.404Z,1750270759.404 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:19:19.404Z,1750270759.404 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:19:19.405Z,1750270759.405 [DAT](INFO): direction in FSK: [0.951412,-0.079892,-0.297375]
2025-06-18T18:19:19.406Z,1750270759.406 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:19.406Z,1750270759.406 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:19.409Z,1750270759.409 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:19.409Z,1750270759.409 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:19.569Z,1750270759.569 [DAT](INFO): DAT read: TxSync time:18:19:20.3842
2025-06-18T18:19:19.587Z,1750270759.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 514.799988 m,
deltaT: 4.284290 s,
deltaX: -9.900024 m,
approachRate: -2.310774 m/s,
rangeRepo size: 4
2025-06-18T18:19:19.597Z,1750270759.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 510.083740 m,
bearing: 309.628517 deg,
lat: 36.905704 deg,
lon: -122.115937 deg,
deltaT: 4.284290 s,
deltaX: -9.808655 m,
approachRate: -2.289447 m/s,
posRepo size: 4
2025-06-18T18:19:19.598Z,1750270759.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.08 m.
2025-06-18T18:19:19.605Z,1750270759.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.083740 m,
nav range: 499.360016 m,
bearing: 309.184456 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005148 deg/s,
cmd heading: 313.292772 deg,
new cmd heading: 313.285645 deg.
2025-06-18T18:19:19.606Z,1750270759.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467866 target range: 510.083740 and range: 514.80 m.
2025-06-18T18:19:19.899Z,1750270759.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.08 m.
2025-06-18T18:19:19.920Z,1750270759.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.083740 m,
nav range: 499.135681 m,
bearing: 309.183080 deg,
approach rate: -0.717501 m/s,
LOS rate: -0.004403 deg/s,
cmd heading: 313.285642 deg,
new cmd heading: 313.281511 deg.
2025-06-18T18:19:19.921Z,1750270759.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467794 target range: 510.083740 and range: 514.80 m.
2025-06-18T18:19:20.462Z,1750270760.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:20.469Z,1750270760.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.08 m.
2025-06-18T18:19:20.471Z,1750270760.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.083740 m,
nav range: 498.764618 m,
bearing: 309.181738 deg,
approach rate: -0.651540 m/s,
LOS rate: -0.002359 deg/s,
cmd heading: 313.281516 deg,
new cmd heading: 313.277486 deg.
2025-06-18T18:19:20.480Z,1750270760.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467724 target range: 510.083740 and range: 514.80 m.
2025-06-18T18:19:20.577Z,1750270760.577 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:19:20.577Z,1750270760.577 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:19:20.577Z,1750270760.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:20.832Z,1750270760.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480883
2025-06-18T18:19:20.930Z,1750270760.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.08 m.
2025-06-18T18:19:20.933Z,1750270760.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.083740 m,
nav range: 498.439819 m,
bearing: 309.180580 deg,
approach rate: -0.703547 m/s,
LOS rate: -0.002510 deg/s,
cmd heading: 313.277500 deg,
new cmd heading: 313.274023 deg.
2025-06-18T18:19:20.934Z,1750270760.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467663 target range: 510.083740 and range: 514.80 m.
2025-06-18T18:19:21.081Z,1750270761.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729939
2025-06-18T18:19:21.334Z,1750270761.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982265
2025-06-18T18:19:21.351Z,1750270761.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.08 m.
2025-06-18T18:19:21.358Z,1750270761.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.083740 m,
nav range: 498.166077 m,
bearing: 309.179562 deg,
approach rate: -0.650338 m/s,
LOS rate: -0.002419 deg/s,
cmd heading: 313.274030 deg,
new cmd heading: 313.270975 deg.
2025-06-18T18:19:21.359Z,1750270761.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467610 target range: 510.083740 and range: 514.80 m.
2025-06-18T18:19:21.585Z,1750270761.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233399
2025-06-18T18:19:21.746Z,1750270761.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.08 m.
2025-06-18T18:19:21.749Z,1750270761.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.083740 m,
nav range: 497.874756 m,
bearing: 309.179325 deg,
approach rate: -0.737835 m/s,
LOS rate: -0.000599 deg/s,
cmd heading: 313.270970 deg,
new cmd heading: 313.270261 deg.
2025-06-18T18:19:21.750Z,1750270761.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467597 target range: 510.083740 and range: 514.80 m.
2025-06-18T18:19:21.838Z,1750270761.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486241
2025-06-18T18:19:22.089Z,1750270762.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737503
2025-06-18T18:19:22.132Z,1750270762.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.08 m.
2025-06-18T18:19:22.135Z,1750270762.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.083740 m,
nav range: 497.612000 m,
bearing: 309.179070 deg,
approach rate: -0.681191 m/s,
LOS rate: -0.000663 deg/s,
cmd heading: 313.270260 deg,
new cmd heading: 313.269493 deg.
2025-06-18T18:19:22.136Z,1750270762.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467584 target range: 510.083740 and range: 514.80 m.
2025-06-18T18:19:22.341Z,1750270762.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989458
2025-06-18T18:19:22.563Z,1750270762.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:22.565Z,1750270762.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.08 m.
2025-06-18T18:19:22.568Z,1750270762.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.083740 m,
nav range: 497.318237 m,
bearing: 309.178808 deg,
approach rate: -0.677699 m/s,
LOS rate: -0.000604 deg/s,
cmd heading: 313.269495 deg,
new cmd heading: 313.268710 deg.
2025-06-18T18:19:22.569Z,1750270762.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467570 target range: 510.083740 and range: 514.80 m.
2025-06-18T18:19:22.593Z,1750270762.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241427
2025-06-18T18:19:22.845Z,1750270762.845 [DAT](INFO): DAT read: Rx Time:18:19:23.4713
2025-06-18T18:19:22.845Z,1750270762.845 [DAT](INFO): Rx dataTimestamp_ set to:1750270762.845032
2025-06-18T18:19:22.846Z,1750270762.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494449
2025-06-18T18:19:22.947Z,1750270762.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.08 m.
2025-06-18T18:19:22.954Z,1750270762.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.083740 m,
nav range: 497.067261 m,
bearing: 309.178593 deg,
approach rate: -0.657125 m/s,
LOS rate: -0.000565 deg/s,
cmd heading: 313.268703 deg,
new cmd heading: 313.268055 deg.
2025-06-18T18:19:22.955Z,1750270762.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467559 target range: 510.083740 and range: 514.80 m.
2025-06-18T18:19:23.097Z,1750270763.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.745471
2025-06-18T18:19:23.339Z,1750270763.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.08 m.
2025-06-18T18:19:23.342Z,1750270763.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.083740 m,
nav range: 496.794006 m,
bearing: 309.178372 deg,
approach rate: -0.697590 m/s,
LOS rate: -0.000562 deg/s,
cmd heading: 313.268047 deg,
new cmd heading: 313.267386 deg.
2025-06-18T18:19:23.343Z,1750270763.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467547 target range: 510.083740 and range: 514.80 m.
2025-06-18T18:19:23.349Z,1750270763.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.997599
2025-06-18T18:19:23.607Z,1750270763.607 [DAT](INFO): DAT read: 18:19:23.4713 LVL= 21488, 22641, 20018, 27347, AGC= 71, IDX= 388, 0.21,-0.264,-2.150,-0.336,-1.243, PHS= 1.067,-0.860, 0.903, RAW= 145.6, -12.0, CAL= 152.7, -20.6, ROT= 357.3, 20.6
2025-06-18T18:19:23.608Z,1750270763.608 [DAT](INFO): got valid direction response:
18:19:23.4713 LVL= 21488, 22641, 20018, 27347, AGC= 71, IDX= 388, 0.21,-0.264,-2.150,-0.336,-1.243, PHS= 1.067,-0.860, 0.903, RAW= 145.6, -12.0, CAL= 152.7, -20.6, ROT= 357.3, 20.6
2025-06-18T18:19:23.609Z,1750270763.609 [DAT](INFO): DAT read: Bearing 357.3, 20.6 (Local)
2025-06-18T18:19:23.610Z,1750270763.610 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.3, 20.6 (Local)
2025-06-18T18:19:23.611Z,1750270763.611 [DAT](INFO): DAT read: Range 10 to 50 : 511.5 m (Round-trip 682.1 ms) speed 0.4 m/s
2025-06-18T18:19:23.612Z,1750270763.612 [DAT](INFO): DAT read: user:1103>
2025-06-18T18:19:23.613Z,1750270763.613 [DAT](INFO): DAT read: Tx time:18:19:24.5851
2025-06-18T18:19:23.613Z,1750270763.613 [DAT](INFO): Ping request sent.
2025-06-18T18:19:23.613Z,1750270763.613 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:19:23.613Z,1750270763.613 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:19:23.614Z,1750270763.614 [DAT](INFO): direction in FSK: [0.935020,-0.044095,-0.351842]
2025-06-18T18:19:23.615Z,1750270763.615 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:23.615Z,1750270763.615 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:23.618Z,1750270763.618 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:23.618Z,1750270763.618 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:23.842Z,1750270763.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 511.500000 m,
deltaT: 4.282620 s,
deltaX: -3.299988 m,
approachRate: -0.770553 m/s,
rangeRepo size: 4
2025-06-18T18:19:23.848Z,1750270763.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 506.813263 m,
bearing: 311.780689 deg,
lat: 36.905697 deg,
lon: -122.115891 deg,
deltaT: 4.282620 s,
deltaX: -3.270477 m,
approachRate: -0.763663 m/s,
posRepo size: 4
2025-06-18T18:19:23.849Z,1750270763.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.81 m.
2025-06-18T18:19:23.851Z,1750270763.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 506.813263 m,
nav range: 492.800079 m,
bearing: 309.400824 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000562 deg/s,
cmd heading: 313.267391 deg,
new cmd heading: 313.266544 deg.
2025-06-18T18:19:23.853Z,1750270763.853 [DAT](INFO): DAT read: TxSync time:18:19:24.5843
2025-06-18T18:19:23.857Z,1750270763.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467533 target range: 506.813263 and range: 511.50 m.
2025-06-18T18:19:24.154Z,1750270764.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.81 m.
2025-06-18T18:19:24.157Z,1750270764.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 506.813263 m,
nav range: 492.576752 m,
bearing: 309.401084 deg,
approach rate: -0.712583 m/s,
LOS rate: 0.000828 deg/s,
cmd heading: 313.266544 deg,
new cmd heading: 313.267323 deg.
2025-06-18T18:19:24.158Z,1750270764.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467546 target range: 506.813263 and range: 511.50 m.
2025-06-18T18:19:24.679Z,1750270764.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:24.682Z,1750270764.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.81 m.
2025-06-18T18:19:24.685Z,1750270764.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 506.813263 m,
nav range: 492.226654 m,
bearing: 309.401119 deg,
approach rate: -0.663829 m/s,
LOS rate: 0.000068 deg/s,
cmd heading: 313.267309 deg,
new cmd heading: 313.267416 deg.
2025-06-18T18:19:24.686Z,1750270764.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467548 target range: 506.813263 and range: 511.50 m.
2025-06-18T18:19:24.865Z,1750270764.865 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:19:24.865Z,1750270764.865 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:19:24.865Z,1750270764.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:25.010Z,1750270765.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.81 m.
2025-06-18T18:19:25.014Z,1750270765.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 506.813263 m,
nav range: 492.017670 m,
bearing: 309.401138 deg,
approach rate: -0.635764 m/s,
LOS rate: 0.000057 deg/s,
cmd heading: 313.267419 deg,
new cmd heading: 313.267475 deg.
2025-06-18T18:19:25.015Z,1750270765.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467549 target range: 506.813263 and range: 511.50 m.
2025-06-18T18:19:25.118Z,1750270765.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504674
2025-06-18T18:19:25.369Z,1750270765.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755717
2025-06-18T18:19:25.531Z,1750270765.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.81 m.
2025-06-18T18:19:25.536Z,1750270765.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 506.813263 m,
nav range: 491.660370 m,
bearing: 309.400356 deg,
approach rate: -0.686346 m/s,
LOS rate: -0.001504 deg/s,
cmd heading: 313.267473 deg,
new cmd heading: 313.265124 deg.
2025-06-18T18:19:25.537Z,1750270765.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467508 target range: 506.813263 and range: 511.50 m.
2025-06-18T18:19:25.622Z,1750270765.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008456
2025-06-18T18:19:25.815Z,1750270765.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.81 m.
2025-06-18T18:19:25.829Z,1750270765.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 506.813263 m,
nav range: 491.481567 m,
bearing: 309.399935 deg,
approach rate: -0.630801 m/s,
LOS rate: -0.001485 deg/s,
cmd heading: 313.265124 deg,
new cmd heading: 313.263861 deg.
2025-06-18T18:19:25.831Z,1750270765.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467486 target range: 506.813263 and range: 511.50 m.
2025-06-18T18:19:25.874Z,1750270765.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260615
2025-06-18T18:19:26.125Z,1750270766.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511678
2025-06-18T18:19:26.203Z,1750270766.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.81 m.
2025-06-18T18:19:26.206Z,1750270766.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 506.813263 m,
nav range: 491.211639 m,
bearing: 309.399277 deg,
approach rate: -0.694215 m/s,
LOS rate: -0.001693 deg/s,
cmd heading: 313.263867 deg,
new cmd heading: 313.261892 deg.
2025-06-18T18:19:26.207Z,1750270766.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467452 target range: 506.813263 and range: 511.50 m.
2025-06-18T18:19:26.377Z,1750270766.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763671
2025-06-18T18:19:26.629Z,1750270766.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015960
2025-06-18T18:19:26.692Z,1750270766.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:26.694Z,1750270766.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.81 m.
2025-06-18T18:19:26.697Z,1750270766.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 506.813263 m,
nav range: 490.881195 m,
bearing: 309.398136 deg,
approach rate: -0.673457 m/s,
LOS rate: -0.002328 deg/s,
cmd heading: 313.261900 deg,
new cmd heading: 313.258473 deg.
2025-06-18T18:19:26.698Z,1750270766.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467392 target range: 506.813263 and range: 511.50 m.
2025-06-18T18:19:26.882Z,1750270766.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268494
2025-06-18T18:19:27.018Z,1750270767.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.81 m.
2025-06-18T18:19:27.041Z,1750270767.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 506.813263 m,
nav range: 490.662262 m,
bearing: 309.397392 deg,
approach rate: -0.675236 m/s,
LOS rate: -0.002294 deg/s,
cmd heading: 313.258485 deg,
new cmd heading: 313.256254 deg.
2025-06-18T18:19:27.042Z,1750270767.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467353 target range: 506.813263 and range: 511.50 m.
2025-06-18T18:19:27.133Z,1750270767.133 [DAT](INFO): DAT read: Rx Time:18:19:27.6773
2025-06-18T18:19:27.133Z,1750270767.133 [DAT](INFO): Rx dataTimestamp_ set to:1750270767.133162
2025-06-18T18:19:27.134Z,1750270767.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520890
2025-06-18T18:19:27.385Z,1750270767.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771990
2025-06-18T18:19:27.469Z,1750270767.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.81 m.
2025-06-18T18:19:27.487Z,1750270767.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 506.813263 m,
nav range: 490.378357 m,
bearing: 309.396440 deg,
approach rate: -0.639148 m/s,
LOS rate: -0.002145 deg/s,
cmd heading: 313.256244 deg,
new cmd heading: 313.253387 deg.
2025-06-18T18:19:27.495Z,1750270767.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467303 target range: 506.813263 and range: 511.50 m.
2025-06-18T18:19:27.643Z,1750270767.643 [DAT](INFO): DAT read: 18:19:27.6773 LVL= 16784, 17553, 14162, 25891, AGC= 72, IDX= 497, 0.45, 1.529, 0.078, 1.477, 0.837, PHS= 0.780,-0.712, 0.637, RAW= 145.0, -9.9, CAL= 151.8, -18.8, ROT= 358.2, 18.8
2025-06-18T18:19:27.644Z,1750270767.644 [DAT](INFO): got valid direction response:
18:19:27.6773 LVL= 16784, 17553, 14162, 25891, AGC= 72, IDX= 497, 0.45, 1.529, 0.078, 1.477, 0.837, PHS= 0.780,-0.712, 0.637, RAW= 145.0, -9.9, CAL= 151.8, -18.8, ROT= 358.2, 18.8
2025-06-18T18:19:27.645Z,1750270767.645 [DAT](INFO): DAT read: Bearing 358.2, 18.8 (Local)
2025-06-18T18:19:27.645Z,1750270767.645 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.2, 18.8 (Local)
2025-06-18T18:19:27.647Z,1750270767.647 [DAT](INFO): DAT read: Range 10 to 50 : 516.0 m (Round-trip 688.0 ms) speed 0.7 m/s
2025-06-18T18:19:27.648Z,1750270767.648 [DAT](INFO): DAT read: user:1104>
2025-06-18T18:19:27.649Z,1750270767.649 [DAT](INFO): DAT read: Tx time:18:19:28.7851
2025-06-18T18:19:27.649Z,1750270767.649 [DAT](INFO): Ping request sent.
2025-06-18T18:19:27.649Z,1750270767.649 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:19:27.649Z,1750270767.649 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:19:27.650Z,1750270767.650 [DAT](INFO): direction in FSK: [0.946182,-0.029735,-0.322266]
2025-06-18T18:19:27.650Z,1750270767.650 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:27.651Z,1750270767.651 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:27.662Z,1750270767.662 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:27.662Z,1750270767.662 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:27.890Z,1750270767.890 [DAT](INFO): DAT read: TxSync time:18:19:28.7843
2025-06-18T18:19:27.924Z,1750270767.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 516.000000 m,
deltaT: 4.035725 s,
deltaX: 4.500000 m,
approachRate: 1.115041 m/s,
rangeRepo size: 4
2025-06-18T18:19:27.926Z,1750270767.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 511.271606 m,
bearing: 312.364227 deg,
lat: 36.905697 deg,
lon: -122.115791 deg,
deltaT: 4.035725 s,
deltaX: 4.458344 m,
approachRate: 1.104719 m/s,
posRepo size: 4
2025-06-18T18:19:27.927Z,1750270767.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.27 m.
2025-06-18T18:19:27.941Z,1750270767.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 511.271606 m,
nav range: 483.220734 m,
bearing: 310.064210 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002145 deg/s,
cmd heading: 313.253376 deg,
new cmd heading: 313.250439 deg.
2025-06-18T18:19:27.942Z,1750270767.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467251 target range: 511.271606 and range: 516.00 m.
2025-06-18T18:19:28.388Z,1750270768.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.27 m.
2025-06-18T18:19:28.390Z,1750270768.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 511.271606 m,
nav range: 482.891296 m,
bearing: 310.063309 deg,
approach rate: -0.709105 m/s,
LOS rate: -0.001939 deg/s,
cmd heading: 313.250425 deg,
new cmd heading: 313.247722 deg.
2025-06-18T18:19:28.391Z,1750270768.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467204 target range: 511.271606 and range: 516.00 m.
2025-06-18T18:19:28.800Z,1750270768.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:28.802Z,1750270768.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.27 m.
2025-06-18T18:19:28.805Z,1750270768.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 511.271606 m,
nav range: 482.581604 m,
bearing: 310.062529 deg,
approach rate: -0.739891 m/s,
LOS rate: -0.001866 deg/s,
cmd heading: 313.247720 deg,
new cmd heading: 313.245377 deg.
2025-06-18T18:19:28.806Z,1750270768.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467163 target range: 511.271606 and range: 516.00 m.
2025-06-18T18:19:28.897Z,1750270768.897 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:19:28.897Z,1750270768.897 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:19:28.898Z,1750270768.898 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:29.151Z,1750270769.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501541
2025-06-18T18:19:29.151Z,1750270769.151 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:19:29.287Z,1750270769.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.27 m.
2025-06-18T18:19:29.290Z,1750270769.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 511.271606 m,
nav range: 482.235077 m,
bearing: 310.061654 deg,
approach rate: -0.714216 m/s,
LOS rate: -0.001804 deg/s,
cmd heading: 313.245371 deg,
new cmd heading: 313.242746 deg.
2025-06-18T18:19:29.291Z,1750270769.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467117 target range: 511.271606 and range: 516.00 m.
2025-06-18T18:19:29.402Z,1750270769.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752699
2025-06-18T18:19:29.653Z,1750270769.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004049
2025-06-18T18:19:29.695Z,1750270769.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.27 m.
2025-06-18T18:19:29.702Z,1750270769.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 511.271606 m,
nav range: 481.965210 m,
bearing: 310.060775 deg,
approach rate: -0.661187 m/s,
LOS rate: -0.002157 deg/s,
cmd heading: 313.242748 deg,
new cmd heading: 313.240107 deg.
2025-06-18T18:19:29.703Z,1750270769.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467071 target range: 511.271606 and range: 516.00 m.
2025-06-18T18:19:29.909Z,1750270769.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259645
2025-06-18T18:19:30.047Z,1750270770.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.27 m.
2025-06-18T18:19:30.050Z,1750270770.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 511.271606 m,
nav range: 481.703735 m,
bearing: 310.059948 deg,
approach rate: -0.743041 m/s,
LOS rate: -0.002351 deg/s,
cmd heading: 313.240098 deg,
new cmd heading: 313.237616 deg.
2025-06-18T18:19:30.051Z,1750270770.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467028 target range: 511.271606 and range: 516.00 m.
2025-06-18T18:19:30.152Z,1750270770.152 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:19:30.157Z,1750270770.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508153
2025-06-18T18:19:30.409Z,1750270770.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759961
2025-06-18T18:19:30.440Z,1750270770.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.27 m.
2025-06-18T18:19:30.443Z,1750270770.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 511.271606 m,
nav range: 481.416534 m,
bearing: 310.059063 deg,
approach rate: -0.731314 m/s,
LOS rate: -0.002255 deg/s,
cmd heading: 313.237612 deg,
new cmd heading: 313.234955 deg.
2025-06-18T18:19:30.444Z,1750270770.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466981 target range: 511.271606 and range: 516.00 m.
2025-06-18T18:19:30.661Z,1750270770.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011874
2025-06-18T18:19:30.843Z,1750270770.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:30.845Z,1750270770.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.27 m.
2025-06-18T18:19:30.848Z,1750270770.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 511.271606 m,
nav range: 481.132172 m,
bearing: 310.057537 deg,
approach rate: -0.701760 m/s,
LOS rate: -0.003768 deg/s,
cmd heading: 313.234962 deg,
new cmd heading: 313.230381 deg.
2025-06-18T18:19:30.849Z,1750270770.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466901 target range: 511.271606 and range: 516.00 m.
2025-06-18T18:19:30.914Z,1750270770.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264476
2025-06-18T18:19:31.165Z,1750270771.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515764
2025-06-18T18:19:31.239Z,1750270771.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.27 m.
2025-06-18T18:19:31.243Z,1750270771.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 511.271606 m,
nav range: 480.855469 m,
bearing: 310.056036 deg,
approach rate: -0.702550 m/s,
LOS rate: -0.003814 deg/s,
cmd heading: 313.230372 deg,
new cmd heading: 313.225865 deg.
2025-06-18T18:19:31.244Z,1750270771.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466823 target range: 511.271606 and range: 516.00 m.
2025-06-18T18:19:31.417Z,1750270771.417 [DAT](INFO): DAT read: Rx Time:18:19:31.8735
2025-06-18T18:19:31.417Z,1750270771.417 [DAT](INFO): Rx dataTimestamp_ set to:1750270771.417085
2025-06-18T18:19:31.418Z,1750270771.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768953
2025-06-18T18:19:31.669Z,1750270771.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019915
2025-06-18T18:19:31.671Z,1750270771.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.27 m.
2025-06-18T18:19:31.674Z,1750270771.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 511.271606 m,
nav range: 480.556824 m,
bearing: 310.054142 deg,
approach rate: -0.691609 m/s,
LOS rate: -0.004389 deg/s,
cmd heading: 313.225864 deg,
new cmd heading: 313.220178 deg.
2025-06-18T18:19:31.675Z,1750270771.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466723 target range: 511.271606 and range: 516.00 m.
2025-06-18T18:19:31.927Z,1750270771.927 [DAT](INFO): DAT read: 18:19:31.8735 LVL= 17120, 17761, 17058, 25331, AGC= 70, IDX= 395,-0.40, 1.188,-0.506, 1.086, 0.439, PHS= 0.837,-0.899, 0.644, RAW= 144.2, -7.1, CAL= 150.2, -16.2, ROT= 359.8, 16.2
2025-06-18T18:19:31.928Z,1750270771.928 [DAT](INFO): got valid direction response:
18:19:31.8735 LVL= 17120, 17761, 17058, 25331, AGC= 70, IDX= 395,-0.40, 1.188,-0.506, 1.086, 0.439, PHS= 0.837,-0.899, 0.644, RAW= 144.2, -7.1, CAL= 150.2, -16.2, ROT= 359.8, 16.2
2025-06-18T18:19:31.929Z,1750270771.929 [DAT](INFO): DAT read: Bearing 359.8, 16.2 (Local)
2025-06-18T18:19:31.929Z,1750270771.929 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.8, 16.2 (Local)
2025-06-18T18:19:31.931Z,1750270771.931 [DAT](INFO): DAT read: Range 10 to 50 : 513.1 m (Round-trip 684.2 ms) speed 0.7 m/s
2025-06-18T18:19:31.932Z,1750270771.932 [DAT](INFO): DAT read: user:1105>
2025-06-18T18:19:31.933Z,1750270771.933 [DAT](INFO): DAT read: Tx time:18:19:32.9867
2025-06-18T18:19:31.933Z,1750270771.933 [DAT](INFO): Ping request sent.
2025-06-18T18:19:31.933Z,1750270771.933 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:19:31.933Z,1750270771.933 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:19:31.934Z,1750270771.934 [DAT](INFO): direction in FSK: [0.960288,-0.003352,-0.278991]
2025-06-18T18:19:31.935Z,1750270771.935 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:31.935Z,1750270771.935 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:31.943Z,1750270771.943 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:31.943Z,1750270771.943 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:32.079Z,1750270772.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 513.099976 m,
deltaT: 4.284239 s,
deltaX: -2.900024 m,
approachRate: -0.676905 m/s,
rangeRepo size: 4
2025-06-18T18:19:32.085Z,1750270772.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 508.398407 m,
bearing: 313.414116 deg,
lat: 36.905717 deg,
lon: -122.115607 deg,
deltaT: 4.284239 s,
deltaX: -2.873199 m,
approachRate: -0.670644 m/s,
posRepo size: 4
2025-06-18T18:19:32.086Z,1750270772.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m.
2025-06-18T18:19:32.093Z,1750270772.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 508.398407 m,
nav range: 469.411438 m,
bearing: 311.550975 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004389 deg/s,
cmd heading: 313.220181 deg,
new cmd heading: 313.214821 deg.
2025-06-18T18:19:32.094Z,1750270772.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466630 target range: 508.398407 and range: 513.10 m.
2025-06-18T18:19:32.173Z,1750270772.173 [DAT](INFO): DAT read: TxSync time:18:19:32.9859
2025-06-18T18:19:32.442Z,1750270772.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m.
2025-06-18T18:19:32.445Z,1750270772.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 508.398407 m,
nav range: 469.146881 m,
bearing: 311.550100 deg,
approach rate: -0.727174 m/s,
LOS rate: -0.002408 deg/s,
cmd heading: 313.214826 deg,
new cmd heading: 313.212198 deg.
2025-06-18T18:19:32.446Z,1750270772.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466584 target range: 508.398407 and range: 513.10 m.
2025-06-18T18:19:32.868Z,1750270772.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:32.871Z,1750270772.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m.
2025-06-18T18:19:32.875Z,1750270772.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 508.398407 m,
nav range: 468.849335 m,
bearing: 311.548618 deg,
approach rate: -0.693945 m/s,
LOS rate: -0.003458 deg/s,
cmd heading: 313.212203 deg,
new cmd heading: 313.207755 deg.
2025-06-18T18:19:32.877Z,1750270772.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466506 target range: 508.398407 and range: 513.10 m.
2025-06-18T18:19:32.929Z,1750270772.929 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:19:32.929Z,1750270772.929 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:19:32.929Z,1750270772.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:33.181Z,1750270773.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247707
2025-06-18T18:19:33.272Z,1750270773.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m.
2025-06-18T18:19:33.275Z,1750270773.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 508.398407 m,
nav range: 468.568909 m,
bearing: 311.547253 deg,
approach rate: -0.698015 m/s,
LOS rate: -0.003400 deg/s,
cmd heading: 313.207750 deg,
new cmd heading: 313.203652 deg.
2025-06-18T18:19:33.276Z,1750270773.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466435 target range: 508.398407 and range: 513.10 m.
2025-06-18T18:19:33.433Z,1750270773.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499872
2025-06-18T18:19:33.685Z,1750270773.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751874
2025-06-18T18:19:33.714Z,1750270773.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m.
2025-06-18T18:19:33.728Z,1750270773.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 508.398407 m,
nav range: 468.289764 m,
bearing: 311.546082 deg,
approach rate: -0.631984 m/s,
LOS rate: -0.002651 deg/s,
cmd heading: 313.203652 deg,
new cmd heading: 313.200139 deg.
2025-06-18T18:19:33.730Z,1750270773.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466373 target range: 508.398407 and range: 513.10 m.
2025-06-18T18:19:33.940Z,1750270773.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006836
2025-06-18T18:19:34.080Z,1750270774.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m.
2025-06-18T18:19:34.083Z,1750270774.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 508.398407 m,
nav range: 468.013702 m,
bearing: 311.544861 deg,
approach rate: -0.755062 m/s,
LOS rate: -0.003343 deg/s,
cmd heading: 313.200128 deg,
new cmd heading: 313.196461 deg.
2025-06-18T18:19:34.084Z,1750270774.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466310 target range: 508.398407 and range: 513.10 m.
2025-06-18T18:19:34.191Z,1750270774.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257995
2025-06-18T18:19:34.441Z,1750270774.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507851
2025-06-18T18:19:34.489Z,1750270774.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m.
2025-06-18T18:19:34.492Z,1750270774.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 508.398407 m,
nav range: 467.732330 m,
bearing: 311.543582 deg,
approach rate: -0.687269 m/s,
LOS rate: -0.003124 deg/s,
cmd heading: 313.196467 deg,
new cmd heading: 313.192629 deg.
2025-06-18T18:19:34.493Z,1750270774.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466243 target range: 508.398407 and range: 513.10 m.
2025-06-18T18:19:34.693Z,1750270774.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760329
2025-06-18T18:19:34.914Z,1750270774.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:34.916Z,1750270774.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m.
2025-06-18T18:19:34.919Z,1750270774.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 508.398407 m,
nav range: 467.434570 m,
bearing: 311.542397 deg,
approach rate: -0.697619 m/s,
LOS rate: -0.002780 deg/s,
cmd heading: 313.192642 deg,
new cmd heading: 313.189082 deg.
2025-06-18T18:19:34.920Z,1750270774.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466181 target range: 508.398407 and range: 513.10 m.
2025-06-18T18:19:34.945Z,1750270774.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011728
2025-06-18T18:19:35.197Z,1750270775.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263724
2025-06-18T18:19:35.284Z,1750270775.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m.
2025-06-18T18:19:35.287Z,1750270775.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 508.398407 m,
nav range: 467.188171 m,
bearing: 311.541431 deg,
approach rate: -0.677437 m/s,
LOS rate: -0.002657 deg/s,
cmd heading: 313.189090 deg,
new cmd heading: 313.186191 deg.
2025-06-18T18:19:35.287Z,1750270775.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466130 target range: 508.398407 and range: 513.10 m.
2025-06-18T18:19:35.450Z,1750270775.450 [DAT](INFO): DAT read: Rx Time:18:19:36.0717
2025-06-18T18:19:35.450Z,1750270775.450 [DAT](INFO): Rx dataTimestamp_ set to:1750270775.450062
2025-06-18T18:19:35.451Z,1750270775.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517857
2025-06-18T18:19:35.701Z,1750270775.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768150
2025-06-18T18:19:35.744Z,1750270775.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m.
2025-06-18T18:19:35.747Z,1750270775.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 508.398407 m,
nav range: 466.876068 m,
bearing: 311.540839 deg,
approach rate: -0.677996 m/s,
LOS rate: -0.001288 deg/s,
cmd heading: 313.186194 deg,
new cmd heading: 313.184416 deg.
2025-06-18T18:19:35.752Z,1750270775.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466099 target range: 508.398407 and range: 513.10 m.
2025-06-18T18:19:35.953Z,1750270775.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019878
2025-06-18T18:19:36.087Z,1750270776.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m.
2025-06-18T18:19:36.090Z,1750270776.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 508.398407 m,
nav range: 466.612305 m,
bearing: 311.540357 deg,
approach rate: -0.760675 m/s,
LOS rate: -0.001390 deg/s,
cmd heading: 313.184418 deg,
new cmd heading: 313.182973 deg.
2025-06-18T18:19:36.091Z,1750270776.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466074 target range: 508.398407 and range: 513.10 m.
2025-06-18T18:19:36.211Z,1750270776.211 [DAT](INFO): DAT read: 18:19:36.0717 LVL= 20560, 19873, 19826, 30195, AGC= 68, IDX= 409,-0.40,-2.576, 2.241,-2.595, 2.967, PHS= 0.828,-0.679, 0.718, RAW= 146.2, -11.9, CAL= 153.3, -20.4, ROT= 356.7, 20.4
2025-06-18T18:19:36.212Z,1750270776.212 [DAT](INFO): got valid direction response:
18:19:36.0717 LVL= 20560, 19873, 19826, 30195, AGC= 68, IDX= 409,-0.40,-2.576, 2.241,-2.595, 2.967, PHS= 0.828,-0.679, 0.718, RAW= 146.2, -11.9, CAL= 153.3, -20.4, ROT= 356.7, 20.4
2025-06-18T18:19:36.213Z,1750270776.213 [DAT](INFO): DAT read: Bearing 356.7, 20.4 (Local)
2025-06-18T18:19:36.213Z,1750270776.213 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.7, 20.4 (Local)
2025-06-18T18:19:36.215Z,1750270776.215 [DAT](INFO): DAT read: Range 10 to 50 : 510.6 m (Round-trip 680.9 ms) speed 0.8 m/s
2025-06-18T18:19:36.216Z,1750270776.216 [DAT](INFO): DAT read: user:1106>
2025-06-18T18:19:36.217Z,1750270776.217 [DAT](INFO): DAT read: Tx time:18:19:37.1851
2025-06-18T18:19:36.217Z,1750270776.217 [DAT](INFO): Ping request sent.
2025-06-18T18:19:36.217Z,1750270776.217 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:19:36.217Z,1750270776.217 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:19:36.218Z,1750270776.218 [DAT](INFO): direction in FSK: [0.935728,-0.053953,-0.348572]
2025-06-18T18:19:36.219Z,1750270776.219 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:36.219Z,1750270776.219 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:36.236Z,1750270776.236 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:36.236Z,1750270776.236 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:36.457Z,1750270776.457 [DAT](INFO): DAT read: TxSync time:18:19:37.1843
2025-06-18T18:19:36.505Z,1750270776.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 510.600006 m,
deltaT: 4.283706 s,
deltaX: -2.499969 m,
approachRate: -0.583600 m/s,
rangeRepo size: 4
2025-06-18T18:19:36.507Z,1750270776.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 505.920746 m,
bearing: 310.631719 deg,
lat: 36.905697 deg,
lon: -122.115607 deg,
deltaT: 4.283706 s,
deltaX: -2.477661 m,
approachRate: -0.578392 m/s,
posRepo size: 4
2025-06-18T18:19:36.508Z,1750270776.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m.
2025-06-18T18:19:36.511Z,1750270776.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 505.920746 m,
nav range: 464.801849 m,
bearing: 311.327892 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001390 deg/s,
cmd heading: 313.182970 deg,
new cmd heading: 313.181228 deg.
2025-06-18T18:19:36.512Z,1750270776.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466043 target range: 505.920746 and range: 510.60 m.
2025-06-18T18:19:36.920Z,1750270776.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:36.922Z,1750270776.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m.
2025-06-18T18:19:36.925Z,1750270776.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 505.920746 m,
nav range: 464.506653 m,
bearing: 311.328060 deg,
approach rate: -0.707056 m/s,
LOS rate: 0.000403 deg/s,
cmd heading: 313.181222 deg,
new cmd heading: 313.181726 deg.
2025-06-18T18:19:36.926Z,1750270776.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466052 target range: 505.920746 and range: 510.60 m.
2025-06-18T18:19:36.961Z,1750270776.961 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:19:36.961Z,1750270776.961 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:19:36.962Z,1750270776.962 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:37.213Z,1750270777.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995855
2025-06-18T18:19:37.295Z,1750270777.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m.
2025-06-18T18:19:37.298Z,1750270777.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 505.920746 m,
nav range: 464.245605 m,
bearing: 311.328278 deg,
approach rate: -0.700298 m/s,
LOS rate: 0.000585 deg/s,
cmd heading: 313.181713 deg,
new cmd heading: 313.182367 deg.
2025-06-18T18:19:37.299Z,1750270777.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466063 target range: 505.920746 and range: 510.60 m.
2025-06-18T18:19:37.465Z,1750270777.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247866
2025-06-18T18:19:37.717Z,1750270777.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499891
2025-06-18T18:19:37.736Z,1750270777.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m.
2025-06-18T18:19:37.739Z,1750270777.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 505.920746 m,
nav range: 463.941498 m,
bearing: 311.329178 deg,
approach rate: -0.689716 m/s,
LOS rate: 0.002042 deg/s,
cmd heading: 313.182369 deg,
new cmd heading: 313.185070 deg.
2025-06-18T18:19:37.740Z,1750270777.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466111 target range: 505.920746 and range: 510.60 m.
2025-06-18T18:19:37.969Z,1750270777.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752007
2025-06-18T18:19:38.112Z,1750270778.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m.
2025-06-18T18:19:38.115Z,1750270778.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 505.920746 m,
nav range: 463.693115 m,
bearing: 311.329860 deg,
approach rate: -0.689835 m/s,
LOS rate: 0.001895 deg/s,
cmd heading: 313.185074 deg,
new cmd heading: 313.187120 deg.
2025-06-18T18:19:38.116Z,1750270778.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466146 target range: 505.920746 and range: 510.60 m.
2025-06-18T18:19:38.222Z,1750270778.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004562
2025-06-18T18:19:38.473Z,1750270778.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255871
2025-06-18T18:19:38.507Z,1750270778.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m.
2025-06-18T18:19:38.510Z,1750270778.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 505.920746 m,
nav range: 463.409393 m,
bearing: 311.330584 deg,
approach rate: -0.689923 m/s,
LOS rate: 0.001761 deg/s,
cmd heading: 313.187123 deg,
new cmd heading: 313.189296 deg.
2025-06-18T18:19:38.511Z,1750270778.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466185 target range: 505.920746 and range: 510.60 m.
2025-06-18T18:19:38.726Z,1750270778.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508796
2025-06-18T18:19:38.938Z,1750270778.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:38.940Z,1750270778.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m.
2025-06-18T18:19:38.943Z,1750270778.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 505.920746 m,
nav range: 463.115173 m,
bearing: 311.331906 deg,
approach rate: -0.680035 m/s,
LOS rate: 0.003059 deg/s,
cmd heading: 313.189309 deg,
new cmd heading: 313.193278 deg.
2025-06-18T18:19:38.944Z,1750270778.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466254 target range: 505.920746 and range: 510.60 m.
2025-06-18T18:19:38.977Z,1750270778.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760414
2025-06-18T18:19:39.229Z,1750270779.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011737
2025-06-18T18:19:39.310Z,1750270779.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m.
2025-06-18T18:19:39.313Z,1750270779.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 505.920746 m,
nav range: 462.862732 m,
bearing: 311.333007 deg,
approach rate: -0.681977 m/s,
LOS rate: 0.002976 deg/s,
cmd heading: 313.193270 deg,
new cmd heading: 313.196575 deg.
2025-06-18T18:19:39.314Z,1750270779.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466311 target range: 505.920746 and range: 510.60 m.
2025-06-18T18:19:39.481Z,1750270779.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263912
2025-06-18T18:19:39.733Z,1750270779.733 [DAT](INFO): DAT read: Rx Time:18:19:40.2660
2025-06-18T18:19:39.733Z,1750270779.733 [DAT](INFO): Rx dataTimestamp_ set to:1750270779.733154
2025-06-18T18:19:39.734Z,1750270779.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517050
2025-06-18T18:19:39.781Z,1750270779.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m.
2025-06-18T18:19:39.788Z,1750270779.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 505.920746 m,
nav range: 462.565796 m,
bearing: 311.334516 deg,
approach rate: -0.631514 m/s,
LOS rate: 0.003211 deg/s,
cmd heading: 313.196576 deg,
new cmd heading: 313.201106 deg.
2025-06-18T18:19:39.789Z,1750270779.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466391 target range: 505.920746 and range: 510.60 m.
2025-06-18T18:19:39.985Z,1750270779.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767864
2025-06-18T18:19:40.117Z,1750270780.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m.
2025-06-18T18:19:40.119Z,1750270780.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 505.920746 m,
nav range: 462.323456 m,
bearing: 311.335719 deg,
approach rate: -0.719667 m/s,
LOS rate: 0.003574 deg/s,
cmd heading: 313.201111 deg,
new cmd heading: 313.204721 deg.
2025-06-18T18:19:40.137Z,1750270780.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466454 target range: 505.920746 and range: 510.60 m.
2025-06-18T18:19:40.243Z,1750270780.243 [DAT](INFO): DAT read: 18:19:40.2660 LVL= 14096, 16881, 14178, 22627, AGC= 72, IDX= 397,-0.10,-0.861,-2.530,-0.897,-1.645, PHS= 0.872,-0.839, 0.744, RAW= 146.2, -9.5, CAL= 152.7, -18.1, ROT= 357.3, 18.1
2025-06-18T18:19:40.246Z,1750270780.246 [DAT](INFO): got valid direction response:
18:19:40.2660 LVL= 14096, 16881, 14178, 22627, AGC= 72, IDX= 397,-0.10,-0.861,-2.530,-0.897,-1.645, PHS= 0.872,-0.839, 0.744, RAW= 146.2, -9.5, CAL= 152.7, -18.1, ROT= 357.3, 18.1
2025-06-18T18:19:40.247Z,1750270780.247 [DAT](INFO): DAT read: Bearing 357.3, 18.1 (Local)
2025-06-18T18:19:40.248Z,1750270780.248 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.3, 18.1 (Local)
2025-06-18T18:19:40.250Z,1750270780.250 [DAT](INFO): DAT read: Range 10 to 50 : 507.5 m (Round-trip 676.7 ms) speed 0.1 m/s
2025-06-18T18:19:40.251Z,1750270780.251 [DAT](INFO): DAT read: user:1107>
2025-06-18T18:19:40.253Z,1750270780.253 [DAT](INFO): DAT read: Tx time:18:19:41.3851
2025-06-18T18:19:40.253Z,1750270780.253 [DAT](INFO): Ping request sent.
2025-06-18T18:19:40.253Z,1750270780.253 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:19:40.254Z,1750270780.254 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:19:40.255Z,1750270780.255 [DAT](INFO): direction in FSK: [0.949461,-0.044776,-0.310676]
2025-06-18T18:19:40.255Z,1750270780.255 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:40.255Z,1750270780.255 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:40.267Z,1750270780.267 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:40.267Z,1750270780.267 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:40.491Z,1750270780.491 [DAT](INFO): DAT read: TxSync time:18:19:41.3843
2025-06-18T18:19:40.571Z,1750270780.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 507.500000 m,
deltaT: 4.032402 s,
deltaX: -3.100006 m,
approachRate: -0.768774 m/s,
rangeRepo size: 4
2025-06-18T18:19:40.577Z,1750270780.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 502.848297 m,
bearing: 311.211466 deg,
lat: 36.905760 deg,
lon: -122.115607 deg,
deltaT: 4.032402 s,
deltaX: -3.072449 m,
approachRate: -0.761940 m/s,
posRepo size: 4
2025-06-18T18:19:40.578Z,1750270780.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.85 m.
2025-06-18T18:19:40.585Z,1750270780.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 502.848297 m,
nav range: 466.732086 m,
bearing: 311.987620 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003574 deg/s,
cmd heading: 313.204717 deg,
new cmd heading: 313.209581 deg.
2025-06-18T18:19:40.586Z,1750270780.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466538 target range: 502.848297 and range: 507.50 m.
2025-06-18T18:19:41.013Z,1750270781.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:41.015Z,1750270781.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.85 m.
2025-06-18T18:19:41.043Z,1750270781.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 502.848297 m,
nav range: 466.429413 m,
bearing: 311.989450 deg,
approach rate: -0.680081 m/s,
LOS rate: 0.004113 deg/s,
cmd heading: 313.209581 deg,
new cmd heading: 313.215072 deg.
2025-06-18T18:19:41.048Z,1750270781.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466634 target range: 502.848297 and range: 507.50 m.
2025-06-18T18:19:41.245Z,1750270781.245 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:19:41.245Z,1750270781.245 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:19:41.245Z,1750270781.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:41.359Z,1750270781.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.85 m.
2025-06-18T18:19:41.366Z,1750270781.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 502.848297 m,
nav range: 466.214600 m,
bearing: 311.990812 deg,
approach rate: -0.624601 m/s,
LOS rate: 0.003964 deg/s,
cmd heading: 313.215072 deg,
new cmd heading: 313.219162 deg.
2025-06-18T18:19:41.367Z,1750270781.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466706 target range: 502.848297 and range: 507.50 m.
2025-06-18T18:19:41.497Z,1750270781.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243272
2025-06-18T18:19:41.752Z,1750270781.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498004
2025-06-18T18:19:41.839Z,1750270781.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.85 m.
2025-06-18T18:19:41.842Z,1750270781.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 502.848297 m,
nav range: 465.879272 m,
bearing: 311.992984 deg,
approach rate: -0.698563 m/s,
LOS rate: 0.004528 deg/s,
cmd heading: 313.219170 deg,
new cmd heading: 313.225691 deg.
2025-06-18T18:19:41.843Z,1750270781.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466820 target range: 502.848297 and range: 507.50 m.
2025-06-18T18:19:42.001Z,1750270782.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747799
2025-06-18T18:19:42.225Z,1750270782.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.85 m.
2025-06-18T18:19:42.227Z,1750270782.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 502.848297 m,
nav range: 465.632477 m,
bearing: 311.994539 deg,
approach rate: -0.640570 m/s,
LOS rate: 0.004037 deg/s,
cmd heading: 313.225700 deg,
new cmd heading: 313.230366 deg.
2025-06-18T18:19:42.229Z,1750270782.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466901 target range: 502.848297 and range: 507.50 m.
2025-06-18T18:19:42.253Z,1750270782.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999542
2025-06-18T18:19:42.505Z,1750270782.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251335
2025-06-18T18:19:42.695Z,1750270782.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.85 m.
2025-06-18T18:19:42.717Z,1750270782.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 502.848297 m,
nav range: 465.328308 m,
bearing: 311.996443 deg,
approach rate: -0.658301 m/s,
LOS rate: 0.004124 deg/s,
cmd heading: 313.230372 deg,
new cmd heading: 313.236088 deg.
2025-06-18T18:19:42.741Z,1750270782.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467001 target range: 502.848297 and range: 507.50 m.
2025-06-18T18:19:42.758Z,1750270782.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504515
2025-06-18T18:19:43.009Z,1750270783.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755349
2025-06-18T18:19:43.085Z,1750270783.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:43.087Z,1750270783.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.85 m.
2025-06-18T18:19:43.090Z,1750270783.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 502.848297 m,
nav range: 465.036560 m,
bearing: 311.997657 deg,
approach rate: -0.728935 m/s,
LOS rate: 0.003034 deg/s,
cmd heading: 313.236082 deg,
new cmd heading: 313.239725 deg.
2025-06-18T18:19:43.091Z,1750270783.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467064 target range: 502.848297 and range: 507.50 m.
2025-06-18T18:19:43.261Z,1750270783.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007284
2025-06-18T18:19:43.464Z,1750270783.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.85 m.
2025-06-18T18:19:43.467Z,1750270783.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 502.848297 m,
nav range: 464.776764 m,
bearing: 311.998759 deg,
approach rate: -0.689451 m/s,
LOS rate: 0.002928 deg/s,
cmd heading: 313.239715 deg,
new cmd heading: 313.243025 deg.
2025-06-18T18:19:43.468Z,1750270783.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467122 target range: 502.848297 and range: 507.50 m.
2025-06-18T18:19:43.514Z,1750270783.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260105
2025-06-18T18:19:43.765Z,1750270783.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511332
2025-06-18T18:19:43.916Z,1750270783.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.85 m.
2025-06-18T18:19:43.919Z,1750270783.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 502.848297 m,
nav range: 464.458191 m,
bearing: 312.000218 deg,
approach rate: -0.704932 m/s,
LOS rate: 0.003230 deg/s,
cmd heading: 313.243021 deg,
new cmd heading: 313.247401 deg.
2025-06-18T18:19:43.920Z,1750270783.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467198 target range: 502.848297 and range: 507.50 m.
2025-06-18T18:19:44.017Z,1750270784.017 [DAT](INFO): DAT read: Rx Time:18:19:44.4522
2025-06-18T18:19:44.018Z,1750270784.018 [DAT](INFO): Rx dataTimestamp_ set to:1750270784.017371
2025-06-18T18:19:44.018Z,1750270784.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764713
2025-06-18T18:19:44.269Z,1750270784.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015361
2025-06-18T18:19:44.279Z,1750270784.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.85 m.
2025-06-18T18:19:44.285Z,1750270784.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 502.848297 m,
nav range: 464.215302 m,
bearing: 312.001394 deg,
approach rate: -0.669427 m/s,
LOS rate: 0.003242 deg/s,
cmd heading: 313.247392 deg,
new cmd heading: 313.250922 deg.
2025-06-18T18:19:44.286Z,1750270784.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467260 target range: 502.848297 and range: 507.50 m.
2025-06-18T18:19:44.527Z,1750270784.527 [DAT](INFO): DAT read: 18:19:44.4522 LVL= 22768, 18897, 22306, 30195, AGC= 71, IDX= 303, 0.46,-1.990, 2.783,-2.053,-2.722, PHS= 0.819,-0.731, 0.665, RAW= 144.8, -10.2, CAL= 151.7, -19.1, ROT= 358.3, 19.1
2025-06-18T18:19:44.528Z,1750270784.528 [DAT](INFO): got valid direction response:
18:19:44.4522 LVL= 22768, 18897, 22306, 30195, AGC= 71, IDX= 303, 0.46,-1.990, 2.783,-2.053,-2.722, PHS= 0.819,-0.731, 0.665, RAW= 144.8, -10.2, CAL= 151.7, -19.1, ROT= 358.3, 19.1
2025-06-18T18:19:44.529Z,1750270784.529 [DAT](INFO): DAT read: Bearing 358.3, 19.1 (Local)
2025-06-18T18:19:44.529Z,1750270784.529 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.3, 19.1 (Local)
2025-06-18T18:19:44.530Z,1750270784.530 [DAT](INFO): DAT read: Range 10 to 50 : 497.1 m (Round-trip 662.8 ms) speed 0.3 m/s
2025-06-18T18:19:44.531Z,1750270784.531 [DAT](INFO): DAT read: user:1108>
2025-06-18T18:19:44.532Z,1750270784.532 [DAT](INFO): DAT read: Tx time:18:19:45.5352
2025-06-18T18:19:44.532Z,1750270784.532 [DAT](INFO): Ping request sent.
2025-06-18T18:19:44.532Z,1750270784.532 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:19:44.533Z,1750270784.533 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:19:44.534Z,1750270784.534 [DAT](INFO): direction in FSK: [0.944533,-0.028033,-0.327218]
2025-06-18T18:19:44.534Z,1750270784.534 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:44.534Z,1750270784.534 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:44.537Z,1750270784.537 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:44.538Z,1750270784.538 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:44.753Z,1750270784.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 497.100006 m,
deltaT: 4.283494 s,
deltaX: -10.399994 m,
approachRate: -2.427923 m/s,
rangeRepo size: 4
2025-06-18T18:19:44.763Z,1750270784.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 492.542969 m,
bearing: 312.016307 deg,
lat: 36.905760 deg,
lon: -122.115607 deg,
deltaT: 4.283494 s,
deltaX: -10.305328 m,
approachRate: -2.405823 m/s,
posRepo size: 4
2025-06-18T18:19:44.768Z,1750270784.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.54 m.
2025-06-18T18:19:44.771Z,1750270784.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.542969 m,
nav range: 463.912689 m,
bearing: 312.002903 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003242 deg/s,
cmd heading: 313.250917 deg,
new cmd heading: 313.255375 deg.
2025-06-18T18:19:44.773Z,1750270784.773 [DAT](INFO): DAT read: TxSync time:18:19:45.5344
2025-06-18T18:19:44.776Z,1750270784.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467338 target range: 492.542969 and range: 497.10 m.
2025-06-18T18:19:45.109Z,1750270785.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:45.111Z,1750270785.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.54 m.
2025-06-18T18:19:45.114Z,1750270785.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.542969 m,
nav range: 463.612823 m,
bearing: 312.003579 deg,
approach rate: -0.802359 m/s,
LOS rate: 0.001811 deg/s,
cmd heading: 313.255370 deg,
new cmd heading: 313.257400 deg.
2025-06-18T18:19:45.114Z,1750270785.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467373 target range: 492.542969 and range: 497.10 m.
2025-06-18T18:19:45.277Z,1750270785.277 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:19:45.277Z,1750270785.277 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:19:45.277Z,1750270785.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:45.484Z,1750270785.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.54 m.
2025-06-18T18:19:45.487Z,1750270785.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.542969 m,
nav range: 463.346497 m,
bearing: 312.004246 deg,
approach rate: -0.714097 m/s,
LOS rate: 0.001789 deg/s,
cmd heading: 313.257392 deg,
new cmd heading: 313.259394 deg.
2025-06-18T18:19:45.488Z,1750270785.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467408 target range: 492.542969 and range: 497.10 m.
2025-06-18T18:19:45.530Z,1750270785.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997151
2025-06-18T18:19:45.783Z,1750270785.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250320
2025-06-18T18:19:45.917Z,1750270785.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.54 m.
2025-06-18T18:19:45.920Z,1750270785.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.542969 m,
nav range: 463.040161 m,
bearing: 312.004998 deg,
approach rate: -0.706751 m/s,
LOS rate: 0.001736 deg/s,
cmd heading: 313.259386 deg,
new cmd heading: 313.261643 deg.
2025-06-18T18:19:45.921Z,1750270785.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467447 target range: 492.542969 and range: 497.10 m.
2025-06-18T18:19:46.033Z,1750270786.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500339
2025-06-18T18:19:46.285Z,1750270786.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752711
2025-06-18T18:19:46.298Z,1750270786.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.54 m.
2025-06-18T18:19:46.301Z,1750270786.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.542969 m,
nav range: 462.770660 m,
bearing: 312.005660 deg,
approach rate: -0.707397 m/s,
LOS rate: 0.001739 deg/s,
cmd heading: 313.261654 deg,
new cmd heading: 313.263642 deg.
2025-06-18T18:19:46.302Z,1750270786.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467482 target range: 492.542969 and range: 497.10 m.
2025-06-18T18:19:46.537Z,1750270786.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004388
2025-06-18T18:19:46.791Z,1750270786.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258283
2025-06-18T18:19:46.842Z,1750270786.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.54 m.
2025-06-18T18:19:46.845Z,1750270786.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.542969 m,
nav range: 462.391418 m,
bearing: 312.006720 deg,
approach rate: -0.696750 m/s,
LOS rate: 0.001949 deg/s,
cmd heading: 313.263648 deg,
new cmd heading: 313.266831 deg.
2025-06-18T18:19:46.846Z,1750270786.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467538 target range: 492.542969 and range: 497.10 m.
2025-06-18T18:19:47.042Z,1750270787.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509119
2025-06-18T18:19:47.123Z,1750270787.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:47.125Z,1750270787.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.54 m.
2025-06-18T18:19:47.128Z,1750270787.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.542969 m,
nav range: 462.194275 m,
bearing: 312.007260 deg,
approach rate: -0.696286 m/s,
LOS rate: 0.001906 deg/s,
cmd heading: 313.266845 deg,
new cmd heading: 313.268464 deg.
2025-06-18T18:19:47.129Z,1750270787.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467566 target range: 492.542969 and range: 497.10 m.
2025-06-18T18:19:47.293Z,1750270787.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760560
2025-06-18T18:19:47.538Z,1750270787.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.54 m.
2025-06-18T18:19:47.541Z,1750270787.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.542969 m,
nav range: 461.906281 m,
bearing: 312.008025 deg,
approach rate: -0.697527 m/s,
LOS rate: 0.001854 deg/s,
cmd heading: 313.268457 deg,
new cmd heading: 313.270753 deg.
2025-06-18T18:19:47.542Z,1750270787.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467606 target range: 492.542969 and range: 497.10 m.
2025-06-18T18:19:47.545Z,1750270787.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012523
2025-06-18T18:19:47.800Z,1750270787.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266683
2025-06-18T18:19:47.972Z,1750270787.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.54 m.
2025-06-18T18:19:47.978Z,1750270787.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.542969 m,
nav range: 461.609253 m,
bearing: 312.007701 deg,
approach rate: -0.684945 m/s,
LOS rate: -0.000747 deg/s,
cmd heading: 313.270752 deg,
new cmd heading: 313.269780 deg.
2025-06-18T18:19:47.980Z,1750270787.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467589 target range: 492.542969 and range: 497.10 m.
2025-06-18T18:19:48.050Z,1750270788.050 [DAT](INFO): DAT read: Rx Time:18:19:48.6083
2025-06-18T18:19:48.051Z,1750270788.051 [DAT](INFO): Rx dataTimestamp_ set to:1750270788.049944
2025-06-18T18:19:48.051Z,1750270788.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518650
2025-06-18T18:19:48.301Z,1750270788.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768186
2025-06-18T18:19:48.325Z,1750270788.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.54 m.
2025-06-18T18:19:48.329Z,1750270788.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.542969 m,
nav range: 461.367249 m,
bearing: 312.007420 deg,
approach rate: -0.685089 m/s,
LOS rate: -0.000798 deg/s,
cmd heading: 313.269768 deg,
new cmd heading: 313.268922 deg.
2025-06-18T18:19:48.330Z,1750270788.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467574 target range: 492.542969 and range: 497.10 m.
2025-06-18T18:19:48.564Z,1750270788.564 [DAT](INFO): DAT read: 18:19:48.6083 LVL= 17200, 19857, 15954, 25011, AGC= 72, IDX= 510, 0.10,-2.227, 2.333,-2.219,-3.067, PHS= 0.928,-0.836, 0.845, RAW= 147.6, -10.9, CAL= 154.5, -19.2, ROT= 355.5, 19.2
2025-06-18T18:19:48.565Z,1750270788.565 [DAT](INFO): got valid direction response:
18:19:48.6083 LVL= 17200, 19857, 15954, 25011, AGC= 72, IDX= 510, 0.10,-2.227, 2.333,-2.219,-3.067, PHS= 0.928,-0.836, 0.845, RAW= 147.6, -10.9, CAL= 154.5, -19.2, ROT= 355.5, 19.2
2025-06-18T18:19:48.566Z,1750270788.566 [DAT](INFO): DAT read: Bearing 355.5, 19.2 (Local)
2025-06-18T18:19:48.566Z,1750270788.566 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.5, 19.2 (Local)
2025-06-18T18:19:48.568Z,1750270788.568 [DAT](INFO): DAT read: Range 10 to 50 : 501.7 m (Round-trip 669.0 ms) speed 0.1 m/s
2025-06-18T18:19:48.568Z,1750270788.568 [DAT](INFO): DAT read: user:1109>
2025-06-18T18:19:48.569Z,1750270788.569 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:19:48.570Z,1750270788.570 [DAT](INFO): direction in FSK: [0.941465,-0.074095,-0.328867]
2025-06-18T18:19:48.570Z,1750270788.570 [DAT](INFO): publishing direction and range info
2025-06-18T18:19:48.574Z,1750270788.574 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:19:48.574Z,1750270788.574 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:19:48.574Z,1750270788.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:48.807Z,1750270788.807 [DAT](INFO): DAT read: Tx tm:81:49.7352
2025-06-18T18:19:48.809Z,1750270788.809 [DAT](INFO): unknown deviceResponse_: Tx tm:81:49.7352
2025-06-18T18:19:48.811Z,1750270788.811 [DAT](INFO): DAT read: TxSync time:18:19:49.7344
2025-06-18T18:19:48.814Z,1750270788.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280607
2025-06-18T18:19:48.829Z,1750270788.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 501.700012 m,
deltaT: 4.033785 s,
deltaX: 4.600006 m,
approachRate: 1.140370 m/s,
rangeRepo size: 4
2025-06-18T18:19:48.831Z,1750270788.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 497.101288 m,
bearing: 309.115616 deg,
lat: 36.905756 deg,
lon: -122.115683 deg,
deltaT: 4.033785 s,
deltaX: 4.558319 m,
approachRate: 1.130035 m/s,
posRepo size: 4
2025-06-18T18:19:48.836Z,1750270788.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:48.838Z,1750270788.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 465.783813 m,
bearing: 311.417342 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000798 deg/s,
cmd heading: 313.268921 deg,
new cmd heading: 313.267727 deg.
2025-06-18T18:19:48.839Z,1750270788.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467553 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:49.057Z,1750270789.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524224
2025-06-18T18:19:49.210Z,1750270789.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:49.213Z,1750270789.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:49.215Z,1750270789.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 465.454224 m,
bearing: 311.416578 deg,
approach rate: -0.850010 m/s,
LOS rate: -0.001970 deg/s,
cmd heading: 313.267719 deg,
new cmd heading: 313.265428 deg.
2025-06-18T18:19:49.217Z,1750270789.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467513 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:49.309Z,1750270789.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776681
2025-06-18T18:19:49.561Z,1750270789.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028244
2025-06-18T18:19:49.582Z,1750270789.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:49.585Z,1750270789.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 465.196564 m,
bearing: 311.415985 deg,
approach rate: -0.696484 m/s,
LOS rate: -0.001605 deg/s,
cmd heading: 313.265424 deg,
new cmd heading: 313.263642 deg.
2025-06-18T18:19:49.586Z,1750270789.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467482 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:49.815Z,1750270789.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.282342
2025-06-18T18:19:50.009Z,1750270790.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:50.012Z,1750270790.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 464.899719 m,
bearing: 311.415733 deg,
approach rate: -0.694229 m/s,
LOS rate: -0.000589 deg/s,
cmd heading: 313.263648 deg,
new cmd heading: 313.262892 deg.
2025-06-18T18:19:50.013Z,1750270790.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467469 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:50.066Z,1750270790.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533071
2025-06-18T18:19:50.317Z,1750270790.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784337
2025-06-18T18:19:50.393Z,1750270790.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:50.396Z,1750270790.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 464.632874 m,
bearing: 311.415531 deg,
approach rate: -0.695108 m/s,
LOS rate: -0.000527 deg/s,
cmd heading: 313.262883 deg,
new cmd heading: 313.262276 deg.
2025-06-18T18:19:50.397Z,1750270790.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467458 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:50.569Z,1750270790.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036275
2025-06-18T18:19:50.825Z,1750270790.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.291491
2025-06-18T18:19:50.859Z,1750270790.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:50.872Z,1750270790.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 464.322266 m,
bearing: 311.415237 deg,
approach rate: -0.666884 m/s,
LOS rate: -0.000631 deg/s,
cmd heading: 313.262282 deg,
new cmd heading: 313.261401 deg.
2025-06-18T18:19:50.874Z,1750270790.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467443 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:51.076Z,1750270791.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.543130
2025-06-18T18:19:51.246Z,1750270791.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:51.248Z,1750270791.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:51.250Z,1750270791.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 464.038971 m,
bearing: 311.414814 deg,
approach rate: -0.728822 m/s,
LOS rate: -0.001088 deg/s,
cmd heading: 313.261408 deg,
new cmd heading: 313.260139 deg.
2025-06-18T18:19:51.251Z,1750270791.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467421 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:51.325Z,1750270791.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792456
2025-06-18T18:19:51.577Z,1750270791.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044386
2025-06-18T18:19:51.602Z,1750270791.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:51.605Z,1750270791.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 463.790253 m,
bearing: 311.414425 deg,
approach rate: -0.702348 m/s,
LOS rate: -0.001099 deg/s,
cmd heading: 313.260151 deg,
new cmd heading: 313.258983 deg.
2025-06-18T18:19:51.606Z,1750270791.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467401 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:51.832Z,1750270791.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.298595
2025-06-18T18:19:52.051Z,1750270792.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:52.054Z,1750270792.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 463.471954 m,
bearing: 311.414404 deg,
approach rate: -0.708649 m/s,
LOS rate: -0.000047 deg/s,
cmd heading: 313.258976 deg,
new cmd heading: 313.258913 deg.
2025-06-18T18:19:52.055Z,1750270792.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467400 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:52.081Z,1750270792.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548397
2025-06-18T18:19:52.333Z,1750270792.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800293
2025-06-18T18:19:52.427Z,1750270792.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:52.430Z,1750270792.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 463.204651 m,
bearing: 311.414387 deg,
approach rate: -0.709803 m/s,
LOS rate: -0.000047 deg/s,
cmd heading: 313.258922 deg,
new cmd heading: 313.258869 deg.
2025-06-18T18:19:52.431Z,1750270792.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467399 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:52.585Z,1750270792.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052341
2025-06-18T18:19:52.841Z,1750270792.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308377
2025-06-18T18:19:52.906Z,1750270792.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:52.923Z,1750270792.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 462.915100 m,
bearing: 311.414378 deg,
approach rate: -0.613603 m/s,
LOS rate: -0.000018 deg/s,
cmd heading: 313.258867 deg,
new cmd heading: 313.258842 deg.
2025-06-18T18:19:52.928Z,1750270792.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467398 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:53.089Z,1750270793.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556504
2025-06-18T18:19:53.249Z,1750270793.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:53.251Z,1750270793.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:53.254Z,1750270793.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 462.626312 m,
bearing: 311.414909 deg,
approach rate: -0.821947 m/s,
LOS rate: 0.001513 deg/s,
cmd heading: 313.258840 deg,
new cmd heading: 313.260434 deg.
2025-06-18T18:19:53.255Z,1750270793.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467426 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:53.342Z,1750270793.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809875
2025-06-18T18:19:53.593Z,1750270793.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060917
2025-06-18T18:19:53.638Z,1750270793.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:53.646Z,1750270793.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 462.358612 m,
bearing: 311.415386 deg,
approach rate: -0.690330 m/s,
LOS rate: 0.001231 deg/s,
cmd heading: 313.260424 deg,
new cmd heading: 313.261856 deg.
2025-06-18T18:19:53.647Z,1750270793.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467451 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:53.847Z,1750270793.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314578
2025-06-18T18:19:54.097Z,1750270794.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564429
2025-06-18T18:19:54.126Z,1750270794.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:54.153Z,1750270794.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 462.034485 m,
bearing: 311.415823 deg,
approach rate: -0.673413 m/s,
LOS rate: 0.000908 deg/s,
cmd heading: 313.261845 deg,
new cmd heading: 313.263156 deg.
2025-06-18T18:19:54.154Z,1750270794.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467474 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:54.350Z,1750270794.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.817434
2025-06-18T18:19:54.566Z,1750270794.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:54.569Z,1750270794.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 461.715607 m,
bearing: 311.416239 deg,
approach rate: -0.715399 m/s,
LOS rate: 0.000933 deg/s,
cmd heading: 313.263157 deg,
new cmd heading: 313.264404 deg.
2025-06-18T18:19:54.570Z,1750270794.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467495 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:54.601Z,1750270794.601 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:54.601Z,1750270794.601 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:54.601Z,1750270794.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:54.854Z,1750270794.854 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:54.855Z,1750270794.855 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:54.857Z,1750270794.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:55.016Z,1750270795.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:55.019Z,1750270795.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 461.418976 m,
bearing: 311.416450 deg,
approach rate: -0.682902 m/s,
LOS rate: 0.000487 deg/s,
cmd heading: 313.264413 deg,
new cmd heading: 313.265048 deg.
2025-06-18T18:19:55.024Z,1750270795.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467506 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:55.105Z,1750270795.105 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:55.105Z,1750270795.105 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:55.105Z,1750270795.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:55.356Z,1750270795.356 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:55.357Z,1750270795.357 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:55.357Z,1750270795.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:55.397Z,1750270795.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:55.399Z,1750270795.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:55.406Z,1750270795.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 461.156799 m,
bearing: 311.416626 deg,
approach rate: -0.656321 m/s,
LOS rate: 0.000440 deg/s,
cmd heading: 313.265042 deg,
new cmd heading: 313.265569 deg.
2025-06-18T18:19:55.407Z,1750270795.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467515 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:55.608Z,1750270795.608 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:55.609Z,1750270795.609 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:55.609Z,1750270795.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:55.789Z,1750270795.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:55.792Z,1750270795.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 460.883057 m,
bearing: 311.416805 deg,
approach rate: -0.702603 m/s,
LOS rate: 0.000461 deg/s,
cmd heading: 313.265561 deg,
new cmd heading: 313.266100 deg.
2025-06-18T18:19:55.793Z,1750270795.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467525 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:55.861Z,1750270795.861 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:55.861Z,1750270795.861 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:55.862Z,1750270795.862 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:56.112Z,1750270796.112 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:56.113Z,1750270796.113 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:56.113Z,1750270796.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:56.213Z,1750270796.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:56.215Z,1750270796.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 460.595703 m,
bearing: 311.416860 deg,
approach rate: -0.678138 m/s,
LOS rate: 0.000128 deg/s,
cmd heading: 313.266107 deg,
new cmd heading: 313.266270 deg.
2025-06-18T18:19:56.217Z,1750270796.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467528 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:56.364Z,1750270796.364 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:56.365Z,1750270796.365 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:56.365Z,1750270796.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:56.600Z,1750270796.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:56.603Z,1750270796.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 460.335693 m,
bearing: 311.416901 deg,
approach rate: -0.671886 m/s,
LOS rate: 0.000108 deg/s,
cmd heading: 313.266271 deg,
new cmd heading: 313.266396 deg.
2025-06-18T18:19:56.617Z,1750270796.617 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:56.617Z,1750270796.617 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:56.617Z,1750270796.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:56.624Z,1750270796.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467530 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:56.869Z,1750270796.869 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:56.870Z,1750270796.870 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:56.870Z,1750270796.870 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:57.015Z,1750270797.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:57.034Z,1750270797.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 460.056702 m,
bearing: 311.416935 deg,
approach rate: -0.671648 m/s,
LOS rate: 0.000082 deg/s,
cmd heading: 313.266408 deg,
new cmd heading: 313.266509 deg.
2025-06-18T18:19:57.035Z,1750270797.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467532 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:57.122Z,1750270797.122 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:57.122Z,1750270797.122 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:57.122Z,1750270797.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:57.373Z,1750270797.373 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:57.373Z,1750270797.373 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:57.373Z,1750270797.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:57.405Z,1750270797.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:57.411Z,1750270797.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:57.431Z,1750270797.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 459.795380 m,
bearing: 311.416969 deg,
approach rate: -0.661933 m/s,
LOS rate: 0.000086 deg/s,
cmd heading: 313.266517 deg,
new cmd heading: 313.266618 deg.
2025-06-18T18:19:57.434Z,1750270797.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467534 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:57.624Z,1750270797.624 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:57.625Z,1750270797.625 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:57.625Z,1750270797.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:57.817Z,1750270797.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:57.820Z,1750270797.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 459.517883 m,
bearing: 311.417011 deg,
approach rate: -0.681315 m/s,
LOS rate: 0.000102 deg/s,
cmd heading: 313.266626 deg,
new cmd heading: 313.266751 deg.
2025-06-18T18:19:57.821Z,1750270797.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467536 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:57.877Z,1750270797.877 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:57.878Z,1750270797.878 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:57.878Z,1750270797.878 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:58.128Z,1750270798.128 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:58.129Z,1750270798.129 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:58.129Z,1750270798.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:58.237Z,1750270798.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:58.240Z,1750270798.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 459.230042 m,
bearing: 311.417258 deg,
approach rate: -0.685700 m/s,
LOS rate: 0.000590 deg/s,
cmd heading: 313.266763 deg,
new cmd heading: 313.267506 deg.
2025-06-18T18:19:58.241Z,1750270798.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467549 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:58.380Z,1750270798.380 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:58.381Z,1750270798.381 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:58.381Z,1750270798.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:58.620Z,1750270798.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:58.622Z,1750270798.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 458.967560 m,
bearing: 311.417497 deg,
approach rate: -0.685877 m/s,
LOS rate: 0.000623 deg/s,
cmd heading: 313.267501 deg,
new cmd heading: 313.268216 deg.
2025-06-18T18:19:58.623Z,1750270798.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467562 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:58.645Z,1750270798.645 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:58.645Z,1750270798.645 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:58.645Z,1750270798.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:58.897Z,1750270798.897 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:58.897Z,1750270798.897 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:58.897Z,1750270798.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:59.052Z,1750270799.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:59.055Z,1750270799.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 458.669891 m,
bearing: 311.417603 deg,
approach rate: -0.688913 m/s,
LOS rate: 0.000246 deg/s,
cmd heading: 313.268211 deg,
new cmd heading: 313.268530 deg.
2025-06-18T18:19:59.056Z,1750270799.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467567 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:59.149Z,1750270799.149 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:59.149Z,1750270799.149 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:59.149Z,1750270799.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:59.400Z,1750270799.400 [DAT](INFO): Reached modem response timeout
2025-06-18T18:19:59.401Z,1750270799.401 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:19:59.401Z,1750270799.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:19:59.423Z,1750270799.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:19:59.437Z,1750270799.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:19:59.444Z,1750270799.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 458.413513 m,
bearing: 311.417737 deg,
approach rate: -0.665601 m/s,
LOS rate: 0.000350 deg/s,
cmd heading: 313.268539 deg,
new cmd heading: 313.268943 deg.
2025-06-18T18:19:59.445Z,1750270799.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467575 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:19:59.654Z,1750270799.654 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:19:59.654Z,1750270799.654 [DAT](INFO): response not received
2025-06-18T18:19:59.654Z,1750270799.654 [DAT](INFO): DAT read: user:1110>
2025-06-18T18:19:59.655Z,1750270799.655 [DAT](INFO): DAT read: Tx time:18:20:00.6853
2025-06-18T18:19:59.655Z,1750270799.655 [DAT](INFO): Ping request sent.
2025-06-18T18:19:59.655Z,1750270799.655 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:19:59.656Z,1750270799.656 [DAT](INFO): publishing transmit ping time
2025-06-18T18:19:59.656Z,1750270799.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000879
2025-06-18T18:19:59.908Z,1750270799.908 [DAT](INFO): DAT read: TxSync time:18:20:00.6845
2025-06-18T18:19:59.909Z,1750270799.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253606
2025-06-18T18:19:59.991Z,1750270799.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:00.005Z,1750270800.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 458.053009 m,
bearing: 311.417948 deg,
approach rate: -0.652564 m/s,
LOS rate: 0.000382 deg/s,
cmd heading: 313.268949 deg,
new cmd heading: 313.269581 deg.
2025-06-18T18:20:00.006Z,1750270800.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467586 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:20:00.157Z,1750270800.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501379
2025-06-18T18:20:00.296Z,1750270800.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:20:00.332Z,1750270800.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:00.334Z,1750270800.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 457.789856 m,
bearing: 311.419154 deg,
approach rate: -0.778037 m/s,
LOS rate: 0.003568 deg/s,
cmd heading: 313.269577 deg,
new cmd heading: 313.273198 deg.
2025-06-18T18:20:00.335Z,1750270800.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467649 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:20:00.410Z,1750270800.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754190
2025-06-18T18:20:00.661Z,1750270800.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005611
2025-06-18T18:20:00.689Z,1750270800.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:00.694Z,1750270800.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 457.528351 m,
bearing: 311.420401 deg,
approach rate: -0.723283 m/s,
LOS rate: 0.003450 deg/s,
cmd heading: 313.273211 deg,
new cmd heading: 313.276953 deg.
2025-06-18T18:20:00.698Z,1750270800.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467714 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:20:00.913Z,1750270800.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257339
2025-06-18T18:20:01.125Z,1750270801.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:01.127Z,1750270801.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 457.223816 m,
bearing: 311.421435 deg,
approach rate: -0.699196 m/s,
LOS rate: 0.002375 deg/s,
cmd heading: 313.276954 deg,
new cmd heading: 313.280056 deg.
2025-06-18T18:20:01.129Z,1750270801.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467769 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:20:01.166Z,1750270801.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510989
2025-06-18T18:20:01.300Z,1750270801.300 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:20:01.417Z,1750270801.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761645
2025-06-18T18:20:01.491Z,1750270801.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:01.493Z,1750270801.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:01.496Z,1750270801.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 456.968811 m,
bearing: 311.422331 deg,
approach rate: -0.692214 m/s,
LOS rate: 0.002433 deg/s,
cmd heading: 313.280068 deg,
new cmd heading: 313.282757 deg.
2025-06-18T18:20:01.497Z,1750270801.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467815 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:20:01.669Z,1750270801.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013311
2025-06-18T18:20:01.918Z,1750270801.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:01.923Z,1750270801.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266786
2025-06-18T18:20:01.939Z,1750270801.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 456.677826 m,
bearing: 311.423368 deg,
approach rate: -0.685703 m/s,
LOS rate: 0.002446 deg/s,
cmd heading: 313.282746 deg,
new cmd heading: 313.285860 deg.
2025-06-18T18:20:01.946Z,1750270801.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467870 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:20:02.173Z,1750270802.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517610
2025-06-18T18:20:02.322Z,1750270802.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:02.340Z,1750270802.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 456.384064 m,
bearing: 311.424956 deg,
approach rate: -0.727003 m/s,
LOS rate: 0.003932 deg/s,
cmd heading: 313.285860 deg,
new cmd heading: 313.290627 deg.
2025-06-18T18:20:02.341Z,1750270802.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467953 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:20:02.425Z,1750270802.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769478
2025-06-18T18:20:02.677Z,1750270802.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021399
2025-06-18T18:20:02.699Z,1750270802.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:02.702Z,1750270802.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 456.113953 m,
bearing: 311.426446 deg,
approach rate: -0.715993 m/s,
LOS rate: 0.003951 deg/s,
cmd heading: 313.290614 deg,
new cmd heading: 313.295085 deg.
2025-06-18T18:20:02.703Z,1750270802.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468031 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:20:02.929Z,1750270802.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273703
2025-06-18T18:20:03.134Z,1750270803.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:03.137Z,1750270803.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 455.812714 m,
bearing: 311.427819 deg,
approach rate: -0.695262 m/s,
LOS rate: 0.003172 deg/s,
cmd heading: 313.295095 deg,
new cmd heading: 313.299218 deg.
2025-06-18T18:20:03.138Z,1750270803.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468103 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:20:03.182Z,1750270803.182 [DAT](INFO): DAT read: Rx Time:18:20:03.7479
2025-06-18T18:20:03.183Z,1750270803.183 [DAT](INFO): Rx dataTimestamp_ set to:1750270803.181919
2025-06-18T18:20:03.183Z,1750270803.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527661
2025-06-18T18:20:03.433Z,1750270803.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777304
2025-06-18T18:20:03.500Z,1750270803.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:03.502Z,1750270803.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:03.505Z,1750270803.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 455.550201 m,
bearing: 311.429033 deg,
approach rate: -0.709107 m/s,
LOS rate: 0.003280 deg/s,
cmd heading: 313.299220 deg,
new cmd heading: 313.302862 deg.
2025-06-18T18:20:03.506Z,1750270803.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468166 target range: 497.101288 and range: 501.70 m.
2025-06-18T18:20:03.689Z,1750270803.689 [DAT](INFO): DAT read: Range 10 to 50 : 493.8 m (Round-trip 658.4 ms) speed 0.4 m/s
2025-06-18T18:20:03.690Z,1750270803.690 [DAT](INFO): DAT read: user:1111>
2025-06-18T18:20:03.690Z,1750270803.690 [DAT](INFO): DAT read: Tx time:18:20:04.8353
2025-06-18T18:20:03.691Z,1750270803.691 [DAT](INFO): Ping request sent.
2025-06-18T18:20:03.691Z,1750270803.691 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:03.691Z,1750270803.691 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:20:03.691Z,1750270803.691 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:03.692Z,1750270803.692 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:03.930Z,1750270803.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 493.799988 m,
deltaT: 15.132473 s,
deltaX: -7.900024 m,
approachRate: -0.522058 m/s,
rangeRepo size: 4
2025-06-18T18:20:03.930Z,1750270803.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:03.934Z,1750270803.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 455.250275 m,
bearing: 311.430421 deg,
approach rate: -0.702610 m/s,
LOS rate: 0.003254 deg/s,
cmd heading: 313.302854 deg,
new cmd heading: 313.307021 deg.
2025-06-18T18:20:03.935Z,1750270803.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468239 target range: 497.101288 and range: 493.80 m.
2025-06-18T18:20:03.937Z,1750270803.937 [DAT](INFO): DAT read: TxSync time:18:20:04.8345
2025-06-18T18:20:04.351Z,1750270804.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:04.354Z,1750270804.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 454.963135 m,
bearing: 311.431381 deg,
approach rate: -0.680715 m/s,
LOS rate: 0.002278 deg/s,
cmd heading: 313.307034 deg,
new cmd heading: 313.309916 deg.
2025-06-18T18:20:04.355Z,1750270804.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468290 target range: 497.101288 and range: 493.80 m.
2025-06-18T18:20:04.711Z,1750270804.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:04.714Z,1750270804.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 454.710724 m,
bearing: 311.432190 deg,
approach rate: -0.701056 m/s,
LOS rate: 0.002248 deg/s,
cmd heading: 313.309930 deg,
new cmd heading: 313.312357 deg.
2025-06-18T18:20:04.715Z,1750270804.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468332 target range: 497.101288 and range: 493.80 m.
2025-06-18T18:20:05.137Z,1750270805.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:05.139Z,1750270805.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 454.417450 m,
bearing: 311.433385 deg,
approach rate: -0.688846 m/s,
LOS rate: 0.002808 deg/s,
cmd heading: 313.312361 deg,
new cmd heading: 313.315948 deg.
2025-06-18T18:20:05.141Z,1750270805.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468395 target range: 497.101288 and range: 493.80 m.
2025-06-18T18:20:05.514Z,1750270805.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:05.517Z,1750270805.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:05.519Z,1750270805.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 454.156006 m,
bearing: 311.434404 deg,
approach rate: -0.688291 m/s,
LOS rate: 0.002684 deg/s,
cmd heading: 313.315940 deg,
new cmd heading: 313.318999 deg.
2025-06-18T18:20:05.520Z,1750270805.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468448 target range: 497.101288 and range: 493.80 m.
2025-06-18T18:20:05.700Z,1750270805.700 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:05.701Z,1750270805.701 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:05.701Z,1750270805.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:05.928Z,1750270805.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:05.931Z,1750270805.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 453.871704 m,
bearing: 311.435472 deg,
approach rate: -0.690266 m/s,
LOS rate: 0.002596 deg/s,
cmd heading: 313.319000 deg,
new cmd heading: 313.322208 deg.
2025-06-18T18:20:05.932Z,1750270805.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468504 target range: 497.101288 and range: 493.80 m.
2025-06-18T18:20:05.953Z,1750270805.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262150
2025-06-18T18:20:06.205Z,1750270806.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514073
2025-06-18T18:20:06.359Z,1750270806.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:06.362Z,1750270806.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 453.572388 m,
bearing: 311.437119 deg,
approach rate: -0.695202 m/s,
LOS rate: 0.003828 deg/s,
cmd heading: 313.322197 deg,
new cmd heading: 313.327141 deg.
2025-06-18T18:20:06.363Z,1750270806.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468590 target range: 497.101288 and range: 493.80 m.
2025-06-18T18:20:06.458Z,1750270806.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767272
2025-06-18T18:20:06.709Z,1750270806.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018174
2025-06-18T18:20:06.749Z,1750270806.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:06.752Z,1750270806.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 453.311401 m,
bearing: 311.438554 deg,
approach rate: -0.668525 m/s,
LOS rate: 0.003678 deg/s,
cmd heading: 313.327142 deg,
new cmd heading: 313.331449 deg.
2025-06-18T18:20:06.753Z,1750270806.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468666 target range: 497.101288 and range: 493.80 m.
2025-06-18T18:20:06.965Z,1750270806.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274522
2025-06-18T18:20:07.207Z,1750270807.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:07.210Z,1750270807.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 452.980438 m,
bearing: 311.440019 deg,
approach rate: -0.723097 m/s,
LOS rate: 0.003203 deg/s,
cmd heading: 313.331458 deg,
new cmd heading: 313.335857 deg.
2025-06-18T18:20:07.211Z,1750270807.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468742 target range: 497.101288 and range: 493.80 m.
2025-06-18T18:20:07.213Z,1750270807.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522186
2025-06-18T18:20:07.465Z,1750270807.465 [DAT](INFO): DAT read: Rx Time:18:20:07.8923
2025-06-18T18:20:07.465Z,1750270807.465 [DAT](INFO): Rx dataTimestamp_ set to:1750270807.465179
2025-06-18T18:20:07.466Z,1750270807.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775328
2025-06-18T18:20:07.587Z,1750270807.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:07.590Z,1750270807.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:07.608Z,1750270807.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 452.725800 m,
bearing: 311.441146 deg,
approach rate: -0.665849 m/s,
LOS rate: 0.002947 deg/s,
cmd heading: 313.335857 deg,
new cmd heading: 313.339238 deg.
2025-06-18T18:20:07.609Z,1750270807.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468801 target range: 497.101288 and range: 493.80 m.
2025-06-18T18:20:07.717Z,1750270807.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026494
2025-06-18T18:20:07.975Z,1750270807.975 [DAT](INFO): DAT read: 18:20:07.8923 LVL= 32752, 32753, 27458, 32755, AGC= 70, IDX= 377, 0.27,-2.436, 2.548,-2.381,-3.052, PHS= 0.704,-0.636, 0.668, RAW= 148.6, -11.1, CAL= 155.5, -19.2, ROT= 354.5, 19.2
2025-06-18T18:20:07.997Z,1750270807.997 [DAT](INFO): got valid direction response:
18:20:07.8923 LVL= 32752, 32753, 27458, 32755, AGC= 70, IDX= 377, 0.27,-2.436, 2.548,-2.381,-3.052, PHS= 0.704,-0.636, 0.668, RAW= 148.6, -11.1, CAL= 155.5, -19.2, ROT= 354.5, 19.2
2025-06-18T18:20:07.998Z,1750270807.997 [DAT](INFO): DAT read: Bearing 354.5, 19.2 (Local)
2025-06-18T18:20:07.998Z,1750270807.998 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.5, 19.2 (Local)
2025-06-18T18:20:07.999Z,1750270807.999 [DAT](INFO): DAT read: Range 10 to 50 : 489.6 m (Round-trip 652.9 ms) speed 0.3 m/s
2025-06-18T18:20:08.000Z,1750270808.000 [DAT](INFO): DAT read: user:1112>
2025-06-18T18:20:08.001Z,1750270808.001 [DAT](INFO): DAT read: Tx time:18:20:08.9853
2025-06-18T18:20:08.001Z,1750270808.001 [DAT](INFO): Ping request sent.
2025-06-18T18:20:08.001Z,1750270808.001 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:08.002Z,1750270808.002 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:20:08.003Z,1750270808.003 [DAT](INFO): direction in FSK: [0.940029,-0.090515,-0.328867]
2025-06-18T18:20:08.003Z,1750270808.003 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:08.003Z,1750270808.003 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:08.012Z,1750270808.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.10 m.
2025-06-18T18:20:08.015Z,1750270808.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 497.101288 m,
nav range: 452.446228 m,
bearing: 311.442406 deg,
approach rate: -0.668830 m/s,
LOS rate: 0.003017 deg/s,
cmd heading: 313.339245 deg,
new cmd heading: 313.343029 deg.
2025-06-18T18:20:08.018Z,1750270808.018 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:08.019Z,1750270808.019 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:08.032Z,1750270808.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468868 target range: 497.101288 and range: 493.80 m.
2025-06-18T18:20:08.221Z,1750270808.221 [DAT](INFO): DAT read: TxSync time:18:20:08.9845
2025-06-18T18:20:08.459Z,1750270808.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 489.600006 m,
deltaT: 4.281937 s,
deltaX: -4.199982 m,
approachRate: -0.980860 m/s,
rangeRepo size: 4
2025-06-18T18:20:08.465Z,1750270808.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 485.113983 m,
bearing: 308.166560 deg,
lat: 36.905681 deg,
lon: -122.115715 deg,
deltaT: 19.414410 s,
deltaX: -11.987305 m,
approachRate: -0.617444 m/s,
posRepo size: 4
2025-06-18T18:20:08.466Z,1750270808.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.11 m.
2025-06-18T18:20:08.474Z,1750270808.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.113983 m,
nav range: 448.858643 m,
bearing: 310.403359 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003017 deg/s,
cmd heading: 313.343042 deg,
new cmd heading: 313.347125 deg.
2025-06-18T18:20:08.475Z,1750270808.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468939 target range: 485.113983 and range: 489.60 m.
2025-06-18T18:20:08.805Z,1750270808.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.11 m.
2025-06-18T18:20:08.816Z,1750270808.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.113983 m,
nav range: 448.622009 m,
bearing: 310.403528 deg,
approach rate: -0.682318 m/s,
LOS rate: 0.000489 deg/s,
cmd heading: 313.347113 deg,
new cmd heading: 313.347622 deg.
2025-06-18T18:20:08.817Z,1750270808.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468948 target range: 485.113983 and range: 489.60 m.
2025-06-18T18:20:09.242Z,1750270809.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.11 m.
2025-06-18T18:20:09.249Z,1750270809.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.113983 m,
nav range: 448.305847 m,
bearing: 310.403386 deg,
approach rate: -0.724611 m/s,
LOS rate: -0.000327 deg/s,
cmd heading: 313.347632 deg,
new cmd heading: 313.347204 deg.
2025-06-18T18:20:09.250Z,1750270809.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468940 target range: 485.113983 and range: 489.60 m.
2025-06-18T18:20:09.600Z,1750270809.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:09.602Z,1750270809.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.11 m.
2025-06-18T18:20:09.605Z,1750270809.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.113983 m,
nav range: 448.054626 m,
bearing: 310.403272 deg,
approach rate: -0.696305 m/s,
LOS rate: -0.000315 deg/s,
cmd heading: 313.347195 deg,
new cmd heading: 313.346855 deg.
2025-06-18T18:20:09.606Z,1750270809.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468935 target range: 485.113983 and range: 489.60 m.
2025-06-18T18:20:09.733Z,1750270809.733 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:09.733Z,1750270809.733 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:09.733Z,1750270809.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:09.985Z,1750270809.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983506
2025-06-18T18:20:09.988Z,1750270809.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.11 m.
2025-06-18T18:20:09.991Z,1750270809.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.113983 m,
nav range: 447.786835 m,
bearing: 310.403158 deg,
approach rate: -0.694637 m/s,
LOS rate: -0.000296 deg/s,
cmd heading: 313.346867 deg,
new cmd heading: 313.346525 deg.
2025-06-18T18:20:09.992Z,1750270809.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468928 target range: 485.113983 and range: 489.60 m.
2025-06-18T18:20:10.238Z,1750270810.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235899
2025-06-18T18:20:10.411Z,1750270810.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.11 m.
2025-06-18T18:20:10.413Z,1750270810.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.113983 m,
nav range: 447.494202 m,
bearing: 310.402952 deg,
approach rate: -0.692516 m/s,
LOS rate: -0.000488 deg/s,
cmd heading: 313.346512 deg,
new cmd heading: 313.345894 deg.
2025-06-18T18:20:10.414Z,1750270810.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468917 target range: 485.113983 and range: 489.60 m.
2025-06-18T18:20:10.490Z,1750270810.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488467
2025-06-18T18:20:10.741Z,1750270810.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739381
2025-06-18T18:20:10.796Z,1750270810.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.11 m.
2025-06-18T18:20:10.798Z,1750270810.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.113983 m,
nav range: 447.226105 m,
bearing: 310.402771 deg,
approach rate: -0.696137 m/s,
LOS rate: -0.000472 deg/s,
cmd heading: 313.345884 deg,
new cmd heading: 313.345339 deg.
2025-06-18T18:20:10.799Z,1750270810.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468908 target range: 485.113983 and range: 489.60 m.
2025-06-18T18:20:10.993Z,1750270810.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991433
2025-06-18T18:20:11.223Z,1750270811.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.11 m.
2025-06-18T18:20:11.226Z,1750270811.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.113983 m,
nav range: 446.931976 m,
bearing: 310.402431 deg,
approach rate: -0.688651 m/s,
LOS rate: -0.000795 deg/s,
cmd heading: 313.345337 deg,
new cmd heading: 313.344318 deg.
2025-06-18T18:20:11.227Z,1750270811.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468890 target range: 485.113983 and range: 489.60 m.
2025-06-18T18:20:11.262Z,1750270811.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260144
2025-06-18T18:20:11.513Z,1750270811.513 [DAT](INFO): DAT read: Rx Time:18:20:12.0286
2025-06-18T18:20:11.513Z,1750270811.513 [DAT](INFO): Rx dataTimestamp_ set to:1750270811.513065
2025-06-18T18:20:11.514Z,1750270811.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512511
2025-06-18T18:20:11.601Z,1750270811.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.11 m.
2025-06-18T18:20:11.604Z,1750270811.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.113983 m,
nav range: 446.667877 m,
bearing: 310.402131 deg,
approach rate: -0.697680 m/s,
LOS rate: -0.000794 deg/s,
cmd heading: 313.344327 deg,
new cmd heading: 313.343425 deg.
2025-06-18T18:20:11.605Z,1750270811.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468874 target range: 485.113983 and range: 489.60 m.
2025-06-18T18:20:11.765Z,1750270811.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763509
2025-06-18T18:20:12.025Z,1750270812.025 [DAT](INFO): DAT read: 18:20:12.0286 LVL= 28496, 30513, 24274, 32755, AGC= 72, IDX= 300, 0.19, 1.523, 0.229, 1.551, 0.803, PHS= 0.808,-0.527, 0.745, RAW= 147.6, -15.5, CAL= 153.9, -23.3, ROT= 356.1, 23.3
2025-06-18T18:20:12.026Z,1750270812.026 [DAT](INFO): got valid direction response:
18:20:12.0286 LVL= 28496, 30513, 24274, 32755, AGC= 72, IDX= 300, 0.19, 1.523, 0.229, 1.551, 0.803, PHS= 0.808,-0.527, 0.745, RAW= 147.6, -15.5, CAL= 153.9, -23.3, ROT= 356.1, 23.3
2025-06-18T18:20:12.027Z,1750270812.027 [DAT](INFO): DAT read: Bearing 356.1, 23.3 (Local)
2025-06-18T18:20:12.027Z,1750270812.027 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.1, 23.3 (Local)
2025-06-18T18:20:12.029Z,1750270812.029 [DAT](INFO): DAT read: Range 10 to 50 : 479.3 m (Round-trip 639.1 ms) speed 0.4 m/s
2025-06-18T18:20:12.030Z,1750270812.030 [DAT](INFO): DAT read: user:1113>
2025-06-18T18:20:12.030Z,1750270812.030 [DAT](INFO): DAT read: Tx time:18:20:13.1353
2025-06-18T18:20:12.031Z,1750270812.031 [DAT](INFO): Ping request sent.
2025-06-18T18:20:12.031Z,1750270812.031 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:12.031Z,1750270812.031 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:20:12.032Z,1750270812.032 [DAT](INFO): direction in FSK: [0.916320,-0.062468,-0.395545]
2025-06-18T18:20:12.032Z,1750270812.032 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:12.033Z,1750270812.033 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:12.044Z,1750270812.044 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:12.044Z,1750270812.044 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:12.049Z,1750270812.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 479.299988 m,
deltaT: 4.047969 s,
deltaX: -10.300018 m,
approachRate: -2.544490 m/s,
rangeRepo size: 4
2025-06-18T18:20:12.051Z,1750270812.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 474.909180 m,
bearing: 309.952958 deg,
lat: 36.905697 deg,
lon: -122.115799 deg,
deltaT: 4.047969 s,
deltaX: -10.204803 m,
approachRate: -2.520969 m/s,
posRepo size: 4
2025-06-18T18:20:12.089Z,1750270812.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.91 m.
2025-06-18T18:20:12.105Z,1750270812.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.909180 m,
nav range: 453.155701 m,
bearing: 309.954613 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000794 deg/s,
cmd heading: 313.343425 deg,
new cmd heading: 313.342371 deg.
2025-06-18T18:20:12.106Z,1750270812.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468856 target range: 474.909180 and range: 479.30 m.
2025-06-18T18:20:12.269Z,1750270812.269 [DAT](INFO): DAT read: TxSync time:18:20:13.1346
2025-06-18T18:20:12.556Z,1750270812.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.91 m.
2025-06-18T18:20:12.559Z,1750270812.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.909180 m,
nav range: 452.808777 m,
bearing: 309.953070 deg,
approach rate: -0.676602 m/s,
LOS rate: -0.003010 deg/s,
cmd heading: 313.342359 deg,
new cmd heading: 313.337729 deg.
2025-06-18T18:20:12.569Z,1750270812.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468775 target range: 474.909180 and range: 479.30 m.
2025-06-18T18:20:12.839Z,1750270812.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:12.841Z,1750270812.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.91 m.
2025-06-18T18:20:12.868Z,1750270812.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.909180 m,
nav range: 452.591736 m,
bearing: 309.952100 deg,
approach rate: -0.761700 m/s,
LOS rate: -0.003407 deg/s,
cmd heading: 313.337742 deg,
new cmd heading: 313.334830 deg.
2025-06-18T18:20:12.870Z,1750270812.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468724 target range: 474.909180 and range: 479.30 m.
2025-06-18T18:20:13.025Z,1750270813.025 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:13.025Z,1750270813.025 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:13.025Z,1750270813.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:13.277Z,1750270813.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246153
2025-06-18T18:20:13.363Z,1750270813.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.91 m.
2025-06-18T18:20:13.370Z,1750270813.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.909180 m,
nav range: 452.238281 m,
bearing: 309.950587 deg,
approach rate: -0.677254 m/s,
LOS rate: -0.002903 deg/s,
cmd heading: 313.334819 deg,
new cmd heading: 313.330274 deg.
2025-06-18T18:20:13.371Z,1750270813.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468645 target range: 474.909180 and range: 479.30 m.
2025-06-18T18:20:13.529Z,1750270813.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498181
2025-06-18T18:20:13.761Z,1750270813.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.91 m.
2025-06-18T18:20:13.764Z,1750270813.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.909180 m,
nav range: 451.968079 m,
bearing: 309.949428 deg,
approach rate: -0.678934 m/s,
LOS rate: -0.002913 deg/s,
cmd heading: 313.330284 deg,
new cmd heading: 313.326806 deg.
2025-06-18T18:20:13.765Z,1750270813.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468585 target range: 474.909180 and range: 479.30 m.
2025-06-18T18:20:13.783Z,1750270813.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752222
2025-06-18T18:20:14.033Z,1750270814.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002181
2025-06-18T18:20:14.085Z,1750270814.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.91 m.
2025-06-18T18:20:14.088Z,1750270814.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.909180 m,
nav range: 451.736298 m,
bearing: 309.948433 deg,
approach rate: -0.715778 m/s,
LOS rate: -0.003074 deg/s,
cmd heading: 313.326814 deg,
new cmd heading: 313.323827 deg.
2025-06-18T18:20:14.089Z,1750270814.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468533 target range: 474.909180 and range: 479.30 m.
2025-06-18T18:20:14.285Z,1750270814.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254047
2025-06-18T18:20:14.498Z,1750270814.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.91 m.
2025-06-18T18:20:14.501Z,1750270814.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.909180 m,
nav range: 451.448822 m,
bearing: 309.947483 deg,
approach rate: -0.695984 m/s,
LOS rate: -0.002301 deg/s,
cmd heading: 313.323836 deg,
new cmd heading: 313.320985 deg.
2025-06-18T18:20:14.502Z,1750270814.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468483 target range: 474.909180 and range: 479.30 m.
2025-06-18T18:20:14.541Z,1750270814.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509904
2025-06-18T18:20:14.789Z,1750270814.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758099
2025-06-18T18:20:14.865Z,1750270814.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:14.867Z,1750270814.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.91 m.
2025-06-18T18:20:14.900Z,1750270814.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.909180 m,
nav range: 451.192413 m,
bearing: 309.946638 deg,
approach rate: -0.695466 m/s,
LOS rate: -0.002294 deg/s,
cmd heading: 313.320995 deg,
new cmd heading: 313.318457 deg.
2025-06-18T18:20:14.908Z,1750270814.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468439 target range: 474.909180 and range: 479.30 m.
2025-06-18T18:20:15.041Z,1750270815.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010147
2025-06-18T18:20:15.293Z,1750270815.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262462
2025-06-18T18:20:15.487Z,1750270815.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.91 m.
2025-06-18T18:20:15.505Z,1750270815.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.909180 m,
nav range: 450.854309 m,
bearing: 309.945762 deg,
approach rate: -0.545211 m/s,
LOS rate: -0.001413 deg/s,
cmd heading: 313.318454 deg,
new cmd heading: 313.315825 deg.
2025-06-18T18:20:15.506Z,1750270815.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468393 target range: 474.909180 and range: 479.30 m.
2025-06-18T18:20:15.546Z,1750270815.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514459
2025-06-18T18:20:15.780Z,1750270815.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.91 m.
2025-06-18T18:20:15.782Z,1750270815.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.909180 m,
nav range: 450.551392 m,
bearing: 309.944969 deg,
approach rate: -1.035138 m/s,
LOS rate: -0.002713 deg/s,
cmd heading: 313.315831 deg,
new cmd heading: 313.313449 deg.
2025-06-18T18:20:15.783Z,1750270815.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468351 target range: 474.909180 and range: 479.30 m.
2025-06-18T18:20:15.797Z,1750270815.797 [DAT](INFO): DAT read: Rx Time:18:20:16.1853
2025-06-18T18:20:15.797Z,1750270815.797 [DAT](INFO): Rx dataTimestamp_ set to:1750270815.797109
2025-06-18T18:20:15.798Z,1750270815.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767230
2025-06-18T18:20:16.049Z,1750270816.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018078
2025-06-18T18:20:16.255Z,1750270816.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.91 m.
2025-06-18T18:20:16.262Z,1750270816.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.909180 m,
nav range: 450.239105 m,
bearing: 309.944149 deg,
approach rate: -0.656899 m/s,
LOS rate: -0.001724 deg/s,
cmd heading: 313.313454 deg,
new cmd heading: 313.310995 deg.
2025-06-18T18:20:16.263Z,1750270816.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468308 target range: 474.909180 and range: 479.30 m.
2025-06-18T18:20:16.307Z,1750270816.307 [DAT](INFO): DAT read: 18:20:16.1853 LVL= 31184, 31601, 26610, 32755, AGC= 69, IDX= 498,-0.39, 1.432, 0.065, 1.553, 0.800, PHS= 0.720,-0.688, 0.750, RAW= 151.0, -11.0, CAL= 157.6, -18.7, ROT= 352.4, 18.7
2025-06-18T18:20:16.308Z,1750270816.308 [DAT](INFO): got valid direction response:
18:20:16.1853 LVL= 31184, 31601, 26610, 32755, AGC= 69, IDX= 498,-0.39, 1.432, 0.065, 1.553, 0.800, PHS= 0.720,-0.688, 0.750, RAW= 151.0, -11.0, CAL= 157.6, -18.7, ROT= 352.4, 18.7
2025-06-18T18:20:16.309Z,1750270816.309 [DAT](INFO): DAT read: Bearing 352.4, 18.7 (Local)
2025-06-18T18:20:16.309Z,1750270816.309 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.4, 18.7 (Local)
2025-06-18T18:20:16.311Z,1750270816.311 [DAT](INFO): DAT read: Range 10 to 50 : 484.3 m (Round-trip 645.8 ms) speed 0.4 m/s
2025-06-18T18:20:16.313Z,1750270816.313 [DAT](INFO): DAT read: user:1114>
2025-06-18T18:20:16.313Z,1750270816.313 [DAT](INFO): DAT read: Tx time:18:20:17.2854
2025-06-18T18:20:16.314Z,1750270816.314 [DAT](INFO): Ping request sent.
2025-06-18T18:20:16.314Z,1750270816.314 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:16.314Z,1750270816.314 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:20:16.315Z,1750270816.315 [DAT](INFO): direction in FSK: [0.938890,-0.125275,-0.320613]
2025-06-18T18:20:16.315Z,1750270816.315 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:16.316Z,1750270816.316 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:16.334Z,1750270816.334 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:16.334Z,1750270816.334 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:16.553Z,1750270816.553 [DAT](INFO): DAT read: TxSync time:18:20:17.2846
2025-06-18T18:20:16.655Z,1750270816.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 484.299988 m,
deltaT: 4.284070 s,
deltaX: 5.000000 m,
approachRate: 1.167114 m/s,
rangeRepo size: 4
2025-06-18T18:20:16.661Z,1750270816.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 479.864868 m,
bearing: 306.089318 deg,
lat: 36.905672 deg,
lon: -122.115849 deg,
deltaT: 4.284070 s,
deltaX: 4.955688 m,
approachRate: 1.156771 m/s,
posRepo size: 4
2025-06-18T18:20:16.662Z,1750270816.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.86 m.
2025-06-18T18:20:16.669Z,1750270816.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 479.864868 m,
nav range: 451.680786 m,
bearing: 309.313670 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001724 deg/s,
cmd heading: 313.310995 deg,
new cmd heading: 313.308931 deg.
2025-06-18T18:20:16.670Z,1750270816.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468272 target range: 479.864868 and range: 484.30 m.
2025-06-18T18:20:17.003Z,1750270817.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:17.009Z,1750270817.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.86 m.
2025-06-18T18:20:17.017Z,1750270817.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 479.864868 m,
nav range: 451.419128 m,
bearing: 309.313007 deg,
approach rate: -0.736386 m/s,
LOS rate: -0.001869 deg/s,
cmd heading: 313.308919 deg,
new cmd heading: 313.306927 deg.
2025-06-18T18:20:17.018Z,1750270817.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468237 target range: 479.864868 and range: 484.30 m.
2025-06-18T18:20:17.057Z,1750270817.057 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:17.057Z,1750270817.057 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:17.057Z,1750270817.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:17.309Z,1750270817.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994943
2025-06-18T18:20:17.426Z,1750270817.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.86 m.
2025-06-18T18:20:17.429Z,1750270817.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 479.864868 m,
nav range: 451.119873 m,
bearing: 309.312782 deg,
approach rate: -0.717720 m/s,
LOS rate: -0.000539 deg/s,
cmd heading: 313.306924 deg,
new cmd heading: 313.306250 deg.
2025-06-18T18:20:17.430Z,1750270817.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468225 target range: 479.864868 and range: 484.30 m.
2025-06-18T18:20:17.561Z,1750270817.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246925
2025-06-18T18:20:17.798Z,1750270817.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.86 m.
2025-06-18T18:20:17.801Z,1750270817.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 479.864868 m,
nav range: 450.855530 m,
bearing: 309.312586 deg,
approach rate: -0.710636 m/s,
LOS rate: -0.000526 deg/s,
cmd heading: 313.306241 deg,
new cmd heading: 313.305654 deg.
2025-06-18T18:20:17.802Z,1750270817.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468215 target range: 479.864868 and range: 484.30 m.
2025-06-18T18:20:17.813Z,1750270817.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499149
2025-06-18T18:20:18.066Z,1750270818.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751745
2025-06-18T18:20:18.251Z,1750270818.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.86 m.
2025-06-18T18:20:18.277Z,1750270818.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 479.864868 m,
nav range: 450.564911 m,
bearing: 309.312355 deg,
approach rate: -0.643453 m/s,
LOS rate: -0.000512 deg/s,
cmd heading: 313.305640 deg,
new cmd heading: 313.304946 deg.
2025-06-18T18:20:18.278Z,1750270818.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468203 target range: 479.864868 and range: 484.30 m.
2025-06-18T18:20:18.317Z,1750270818.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003387
2025-06-18T18:20:18.569Z,1750270818.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255039
2025-06-18T18:20:18.633Z,1750270818.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.86 m.
2025-06-18T18:20:18.636Z,1750270818.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 479.864868 m,
nav range: 450.265625 m,
bearing: 309.312739 deg,
approach rate: -0.780936 m/s,
LOS rate: 0.001003 deg/s,
cmd heading: 313.304957 deg,
new cmd heading: 313.306110 deg.
2025-06-18T18:20:18.637Z,1750270818.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468223 target range: 479.864868 and range: 484.30 m.
2025-06-18T18:20:18.824Z,1750270818.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509880
2025-06-18T18:20:19.021Z,1750270819.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:19.023Z,1750270819.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.86 m.
2025-06-18T18:20:19.026Z,1750270819.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 479.864868 m,
nav range: 449.991913 m,
bearing: 309.313100 deg,
approach rate: -0.702675 m/s,
LOS rate: 0.000926 deg/s,
cmd heading: 313.306105 deg,
new cmd heading: 313.307187 deg.
2025-06-18T18:20:19.027Z,1750270819.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468242 target range: 479.864868 and range: 484.30 m.
2025-06-18T18:20:19.074Z,1750270819.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759857
2025-06-18T18:20:19.325Z,1750270819.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011393
2025-06-18T18:20:19.453Z,1750270819.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.86 m.
2025-06-18T18:20:19.455Z,1750270819.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 479.864868 m,
nav range: 449.693573 m,
bearing: 309.313706 deg,
approach rate: -0.693818 m/s,
LOS rate: 0.001410 deg/s,
cmd heading: 313.307198 deg,
new cmd heading: 313.309016 deg.
2025-06-18T18:20:19.457Z,1750270819.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468274 target range: 479.864868 and range: 484.30 m.
2025-06-18T18:20:19.577Z,1750270819.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262953
2025-06-18T18:20:19.827Z,1750270819.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.86 m.
2025-06-18T18:20:19.829Z,1750270819.829 [DAT](INFO): DAT read: Rx Time:18:20:20.3311
2025-06-18T18:20:19.829Z,1750270819.829 [DAT](INFO): Rx dataTimestamp_ set to:1750270819.829160
2025-06-18T18:20:19.830Z,1750270819.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516209
2025-06-18T18:20:19.833Z,1750270819.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 479.864868 m,
nav range: 449.441223 m,
bearing: 309.314216 deg,
approach rate: -0.673828 m/s,
LOS rate: 0.001363 deg/s,
cmd heading: 313.309028 deg,
new cmd heading: 313.310559 deg.
2025-06-18T18:20:19.834Z,1750270819.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468301 target range: 479.864868 and range: 484.30 m.
2025-06-18T18:20:20.081Z,1750270820.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767031
2025-06-18T18:20:20.307Z,1750270820.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.86 m.
2025-06-18T18:20:20.314Z,1750270820.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 479.864868 m,
nav range: 449.130341 m,
bearing: 309.314836 deg,
approach rate: -0.647383 m/s,
LOS rate: 0.001293 deg/s,
cmd heading: 313.310558 deg,
new cmd heading: 313.312420 deg.
2025-06-18T18:20:20.315Z,1750270820.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468333 target range: 479.864868 and range: 484.30 m.
2025-06-18T18:20:20.339Z,1750270820.339 [DAT](INFO): DAT read: 18:20:20.3311 LVL= 24432, 21777, 22098, 27939, AGC= 72, IDX= 405, 0.09,-3.111, 1.706,-3.064, 2.498, PHS= 0.762,-0.745, 0.718, RAW= 148.5, -9.9, CAL= 155.0, -18.1, ROT= 355.0, 18.1
2025-06-18T18:20:20.340Z,1750270820.340 [DAT](INFO): got valid direction response:
18:20:20.3311 LVL= 24432, 21777, 22098, 27939, AGC= 72, IDX= 405, 0.09,-3.111, 1.706,-3.064, 2.498, PHS= 0.762,-0.745, 0.718, RAW= 148.5, -9.9, CAL= 155.0, -18.1, ROT= 355.0, 18.1
2025-06-18T18:20:20.341Z,1750270820.341 [DAT](INFO): DAT read: Bearing 355.0, 18.1 (Local)
2025-06-18T18:20:20.341Z,1750270820.341 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.0, 18.1 (Local)
2025-06-18T18:20:20.343Z,1750270820.343 [DAT](INFO): DAT read: Range 10 to 50 : 481.2 m (Round-trip 641.6 ms) speed 0.3 m/s
2025-06-18T18:20:20.344Z,1750270820.344 [DAT](INFO): DAT read: user:1115>
2025-06-18T18:20:20.345Z,1750270820.345 [DAT](INFO): DAT read: Tx time:18:20:21.4354
2025-06-18T18:20:20.345Z,1750270820.345 [DAT](INFO): Ping request sent.
2025-06-18T18:20:20.345Z,1750270820.345 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:20.346Z,1750270820.346 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:20:20.347Z,1750270820.347 [DAT](INFO): direction in FSK: [0.946899,-0.082843,-0.310676]
2025-06-18T18:20:20.347Z,1750270820.347 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:20.347Z,1750270820.347 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:20.350Z,1750270820.350 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:20.351Z,1750270820.351 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:20.586Z,1750270820.586 [DAT](INFO): DAT read: TxSync time:18:20:21.4346
2025-06-18T18:20:20.673Z,1750270820.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 481.200012 m,
deltaT: 4.031938 s,
deltaX: -3.099976 m,
approachRate: -0.768855 m/s,
rangeRepo size: 4
2025-06-18T18:20:20.675Z,1750270820.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 476.794891 m,
bearing: 308.538676 deg,
lat: 36.905697 deg,
lon: -122.116019 deg,
deltaT: 4.031938 s,
deltaX: -3.069977 m,
approachRate: -0.761415 m/s,
posRepo size: 4
2025-06-18T18:20:20.692Z,1750270820.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.79 m.
2025-06-18T18:20:20.695Z,1750270820.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.794891 m,
nav range: 462.304718 m,
bearing: 308.390629 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001293 deg/s,
cmd heading: 313.312416 deg,
new cmd heading: 313.313831 deg.
2025-06-18T18:20:20.700Z,1750270820.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468358 target range: 476.794891 and range: 481.20 m.
2025-06-18T18:20:21.034Z,1750270821.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:21.049Z,1750270821.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.79 m.
2025-06-18T18:20:21.051Z,1750270821.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.794891 m,
nav range: 462.051941 m,
bearing: 308.390628 deg,
approach rate: -0.672015 m/s,
LOS rate: -0.000003 deg/s,
cmd heading: 313.313837 deg,
new cmd heading: 313.313834 deg.
2025-06-18T18:20:21.056Z,1750270821.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468358 target range: 476.794891 and range: 481.20 m.
2025-06-18T18:20:21.090Z,1750270821.090 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:21.090Z,1750270821.090 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:21.091Z,1750270821.091 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:21.341Z,1750270821.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995236
2025-06-18T18:20:21.472Z,1750270821.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.79 m.
2025-06-18T18:20:21.475Z,1750270821.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.794891 m,
nav range: 461.758728 m,
bearing: 308.390215 deg,
approach rate: -0.692765 m/s,
LOS rate: -0.000977 deg/s,
cmd heading: 313.313837 deg,
new cmd heading: 313.312596 deg.
2025-06-18T18:20:21.476Z,1750270821.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468337 target range: 476.794891 and range: 481.20 m.
2025-06-18T18:20:21.593Z,1750270821.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247368
2025-06-18T18:20:21.845Z,1750270821.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499137
2025-06-18T18:20:21.862Z,1750270821.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.79 m.
2025-06-18T18:20:21.865Z,1750270821.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.794891 m,
nav range: 461.496155 m,
bearing: 308.389876 deg,
approach rate: -0.673232 m/s,
LOS rate: -0.000868 deg/s,
cmd heading: 313.312607 deg,
new cmd heading: 313.311592 deg.
2025-06-18T18:20:21.866Z,1750270821.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468319 target range: 476.794891 and range: 481.20 m.
2025-06-18T18:20:22.097Z,1750270822.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751564
2025-06-18T18:20:22.333Z,1750270822.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.79 m.
2025-06-18T18:20:22.340Z,1750270822.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.794891 m,
nav range: 461.223480 m,
bearing: 308.389495 deg,
approach rate: -0.578775 m/s,
LOS rate: -0.000809 deg/s,
cmd heading: 313.311596 deg,
new cmd heading: 313.310453 deg.
2025-06-18T18:20:22.341Z,1750270822.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468299 target range: 476.794891 and range: 481.20 m.
2025-06-18T18:20:22.349Z,1750270822.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003432
2025-06-18T18:20:22.601Z,1750270822.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255329
2025-06-18T18:20:22.684Z,1750270822.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.79 m.
2025-06-18T18:20:22.687Z,1750270822.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.794891 m,
nav range: 460.941650 m,
bearing: 308.388140 deg,
approach rate: -0.802845 m/s,
LOS rate: -0.003863 deg/s,
cmd heading: 313.310449 deg,
new cmd heading: 313.306380 deg.
2025-06-18T18:20:22.688Z,1750270822.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468228 target range: 476.794891 and range: 481.20 m.
2025-06-18T18:20:22.853Z,1750270822.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507517
2025-06-18T18:20:23.056Z,1750270823.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:23.058Z,1750270823.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.79 m.
2025-06-18T18:20:23.061Z,1750270823.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.794891 m,
nav range: 460.689056 m,
bearing: 308.386922 deg,
approach rate: -0.675466 m/s,
LOS rate: -0.003259 deg/s,
cmd heading: 313.306378 deg,
new cmd heading: 313.302721 deg.
2025-06-18T18:20:23.062Z,1750270823.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468164 target range: 476.794891 and range: 481.20 m.
2025-06-18T18:20:23.105Z,1750270823.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759559
2025-06-18T18:20:23.358Z,1750270823.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011924
2025-06-18T18:20:23.500Z,1750270823.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.79 m.
2025-06-18T18:20:23.503Z,1750270823.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.794891 m,
nav range: 460.387177 m,
bearing: 308.385770 deg,
approach rate: -0.683181 m/s,
LOS rate: -0.002608 deg/s,
cmd heading: 313.302717 deg,
new cmd heading: 313.299260 deg.
2025-06-18T18:20:23.507Z,1750270823.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468103 target range: 476.794891 and range: 481.20 m.
2025-06-18T18:20:23.609Z,1750270823.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263346
2025-06-18T18:20:23.861Z,1750270823.861 [DAT](INFO): DAT read: Rx Time:18:20:24.4663
2025-06-18T18:20:23.861Z,1750270823.861 [DAT](INFO): Rx dataTimestamp_ set to:1750270823.861199
2025-06-18T18:20:23.862Z,1750270823.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516522
2025-06-18T18:20:23.876Z,1750270823.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.79 m.
2025-06-18T18:20:23.880Z,1750270823.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.794891 m,
nav range: 460.132935 m,
bearing: 308.384786 deg,
approach rate: -0.677247 m/s,
LOS rate: -0.002625 deg/s,
cmd heading: 313.299247 deg,
new cmd heading: 313.296291 deg.
2025-06-18T18:20:23.882Z,1750270823.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468052 target range: 476.794891 and range: 481.20 m.
2025-06-18T18:20:24.113Z,1750270824.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767211
2025-06-18T18:20:24.292Z,1750270824.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.79 m.
2025-06-18T18:20:24.300Z,1750270824.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.794891 m,
nav range: 459.857544 m,
bearing: 308.383720 deg,
approach rate: -0.661069 m/s,
LOS rate: -0.002560 deg/s,
cmd heading: 313.296297 deg,
new cmd heading: 313.293097 deg.
2025-06-18T18:20:24.303Z,1750270824.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467996 target range: 476.794891 and range: 481.20 m.
2025-06-18T18:20:24.370Z,1750270824.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023382
2025-06-18T18:20:24.629Z,1750270824.629 [DAT](INFO): DAT read: 18:20:24.4663 LVL= 25712, 28945, 21458, 32755, AGC= 69, IDX= 399,-0.05,-0.523,-1.841,-0.494,-1.101, PHS= 0.666,-0.693, 0.604, RAW= 147.7, -8.7, CAL= 153.9, -17.2, ROT= 356.1, 17.2
2025-06-18T18:20:24.630Z,1750270824.630 [DAT](INFO): got valid direction response:
18:20:24.4663 LVL= 25712, 28945, 21458, 32755, AGC= 69, IDX= 399,-0.05,-0.523,-1.841,-0.494,-1.101, PHS= 0.666,-0.693, 0.604, RAW= 147.7, -8.7, CAL= 153.9, -17.2, ROT= 356.1, 17.2
2025-06-18T18:20:24.631Z,1750270824.631 [DAT](INFO): DAT read: Bearing 356.1, 17.2 (Local)
2025-06-18T18:20:24.631Z,1750270824.631 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.1, 17.2 (Local)
2025-06-18T18:20:24.638Z,1750270824.638 [DAT](INFO): DAT read: Range 10 to 50 : 470.0 m (Round-trip 626.7 ms) speed 0.5 m/s
2025-06-18T18:20:24.639Z,1750270824.639 [DAT](INFO): DAT read: user:1116>
2025-06-18T18:20:24.639Z,1750270824.639 [DAT](INFO): DAT read: Tx time:18:20:25.5854
2025-06-18T18:20:24.641Z,1750270824.641 [DAT](INFO): Ping request sent.
2025-06-18T18:20:24.641Z,1750270824.641 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:24.641Z,1750270824.641 [DAT](INFO): DAT read: TxSync time:18:20:25.5846
2025-06-18T18:20:24.642Z,1750270824.642 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:20:24.643Z,1750270824.643 [DAT](INFO): direction in FSK: [0.953066,-0.064974,-0.295708]
2025-06-18T18:20:24.643Z,1750270824.643 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:24.644Z,1750270824.644 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:24.649Z,1750270824.649 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:24.649Z,1750270824.649 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:24.841Z,1750270824.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 470.000000 m,
deltaT: 4.284035 s,
deltaX: -11.200012 m,
approachRate: -2.614361 m/s,
rangeRepo size: 4
2025-06-18T18:20:24.843Z,1750270824.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 465.699158 m,
bearing: 309.572172 deg,
lat: 36.905701 deg,
lon: -122.115960 deg,
deltaT: 4.284035 s,
deltaX: -11.095734 m,
approachRate: -2.590019 m/s,
posRepo size: 4
2025-06-18T18:20:24.856Z,1750270824.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.70 m.
2025-06-18T18:20:24.859Z,1750270824.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.699158 m,
nav range: 455.698456 m,
bearing: 308.843492 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002560 deg/s,
cmd heading: 313.293100 deg,
new cmd heading: 313.288885 deg.
2025-06-18T18:20:24.864Z,1750270824.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467923 target range: 465.699158 and range: 470.00 m.
2025-06-18T18:20:25.180Z,1750270825.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:25.182Z,1750270825.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.70 m.
2025-06-18T18:20:25.189Z,1750270825.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.699158 m,
nav range: 455.462311 m,
bearing: 308.842535 deg,
approach rate: -0.691368 m/s,
LOS rate: -0.002805 deg/s,
cmd heading: 313.288893 deg,
new cmd heading: 313.286019 deg.
2025-06-18T18:20:25.190Z,1750270825.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467873 target range: 465.699158 and range: 470.00 m.
2025-06-18T18:20:25.373Z,1750270825.373 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:25.373Z,1750270825.373 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:25.373Z,1750270825.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:25.595Z,1750270825.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.70 m.
2025-06-18T18:20:25.598Z,1750270825.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.699158 m,
nav range: 455.158234 m,
bearing: 308.841280 deg,
approach rate: -0.737373 m/s,
LOS rate: -0.003044 deg/s,
cmd heading: 313.286024 deg,
new cmd heading: 313.282259 deg.
2025-06-18T18:20:25.598Z,1750270825.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467807 target range: 465.699158 and range: 470.00 m.
2025-06-18T18:20:25.626Z,1750270825.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984783
2025-06-18T18:20:25.878Z,1750270825.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236498
2025-06-18T18:20:25.990Z,1750270825.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.70 m.
2025-06-18T18:20:25.997Z,1750270825.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.699158 m,
nav range: 454.892029 m,
bearing: 308.840200 deg,
approach rate: -0.673369 m/s,
LOS rate: -0.002734 deg/s,
cmd heading: 313.282254 deg,
new cmd heading: 313.279012 deg.
2025-06-18T18:20:25.998Z,1750270825.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467750 target range: 465.699158 and range: 470.00 m.
2025-06-18T18:20:26.129Z,1750270826.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488051
2025-06-18T18:20:26.383Z,1750270826.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742062
2025-06-18T18:20:26.504Z,1750270826.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.70 m.
2025-06-18T18:20:26.507Z,1750270826.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.699158 m,
nav range: 454.526001 m,
bearing: 308.839206 deg,
approach rate: -0.712067 m/s,
LOS rate: -0.001935 deg/s,
cmd heading: 313.279003 deg,
new cmd heading: 313.276018 deg.
2025-06-18T18:20:26.508Z,1750270826.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467698 target range: 465.699158 and range: 470.00 m.
2025-06-18T18:20:26.633Z,1750270826.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992018
2025-06-18T18:20:26.798Z,1750270826.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.70 m.
2025-06-18T18:20:26.801Z,1750270826.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.699158 m,
nav range: 454.323120 m,
bearing: 308.838653 deg,
approach rate: -0.690179 m/s,
LOS rate: -0.001882 deg/s,
cmd heading: 313.276025 deg,
new cmd heading: 313.274365 deg.
2025-06-18T18:20:26.802Z,1750270826.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467669 target range: 465.699158 and range: 470.00 m.
2025-06-18T18:20:26.886Z,1750270826.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245231
2025-06-18T18:20:27.137Z,1750270827.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495966
2025-06-18T18:20:27.203Z,1750270827.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:27.205Z,1750270827.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.70 m.
2025-06-18T18:20:27.208Z,1750270827.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.699158 m,
nav range: 454.042297 m,
bearing: 308.837875 deg,
approach rate: -0.689249 m/s,
LOS rate: -0.001911 deg/s,
cmd heading: 313.274358 deg,
new cmd heading: 313.272022 deg.
2025-06-18T18:20:27.209Z,1750270827.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467628 target range: 465.699158 and range: 470.00 m.
2025-06-18T18:20:27.394Z,1750270827.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752873
2025-06-18T18:20:27.630Z,1750270827.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.70 m.
2025-06-18T18:20:27.633Z,1750270827.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.699158 m,
nav range: 453.747894 m,
bearing: 308.837043 deg,
approach rate: -0.693312 m/s,
LOS rate: -0.001961 deg/s,
cmd heading: 313.272036 deg,
new cmd heading: 313.269538 deg.
2025-06-18T18:20:27.634Z,1750270827.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467585 target range: 465.699158 and range: 470.00 m.
2025-06-18T18:20:27.641Z,1750270827.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000163
2025-06-18T18:20:27.893Z,1750270827.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252601
2025-06-18T18:20:27.998Z,1750270827.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.70 m.
2025-06-18T18:20:28.001Z,1750270828.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.699158 m,
nav range: 453.492737 m,
bearing: 308.836319 deg,
approach rate: -0.693314 m/s,
LOS rate: -0.001968 deg/s,
cmd heading: 313.269550 deg,
new cmd heading: 313.267377 deg.
2025-06-18T18:20:28.002Z,1750270828.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467547 target range: 465.699158 and range: 470.00 m.
2025-06-18T18:20:28.145Z,1750270828.145 [DAT](INFO): DAT read: Rx Time:18:20:28.6122
2025-06-18T18:20:28.145Z,1750270828.145 [DAT](INFO): Rx dataTimestamp_ set to:1750270828.145029
2025-06-18T18:20:28.146Z,1750270828.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505090
2025-06-18T18:20:28.399Z,1750270828.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758069
2025-06-18T18:20:28.470Z,1750270828.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.70 m.
2025-06-18T18:20:28.473Z,1750270828.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.699158 m,
nav range: 453.167999 m,
bearing: 308.834585 deg,
approach rate: -0.687579 m/s,
LOS rate: -0.003675 deg/s,
cmd heading: 313.267364 deg,
new cmd heading: 313.262158 deg.
2025-06-18T18:20:28.474Z,1750270828.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467456 target range: 465.699158 and range: 470.00 m.
2025-06-18T18:20:28.655Z,1750270828.655 [DAT](INFO): DAT read: 18:20:28.6123 LVL= 25360, 26017, 22322, 32755, AGC= 71, IDX= 403,-0.13,-2.458, 2.528,-2.386,-3.090, PHS= 0.720,-0.619, 0.701, RAW= 149.3, -12.0, CAL= 156.4, -19.9, ROT= 353.6, 19.9
2025-06-18T18:20:28.657Z,1750270828.657 [DAT](INFO): got valid direction response:
18:20:28.6123 LVL= 25360, 26017, 22322, 32755, AGC= 71, IDX= 403,-0.13,-2.458, 2.528,-2.386,-3.090, PHS= 0.720,-0.619, 0.701, RAW= 149.3, -12.0, CAL= 156.4, -19.9, ROT= 353.6, 19.9
2025-06-18T18:20:28.658Z,1750270828.658 [DAT](INFO): DAT read: Bearing 353.6, 19.9 (Local)
2025-06-18T18:20:28.658Z,1750270828.658 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.6, 19.9 (Local)
2025-06-18T18:20:28.660Z,1750270828.660 [DAT](INFO): DAT read: Range 10 to 50 : 466.9 m (Round-trip 622.6 ms) speed 0.3 m/s
2025-06-18T18:20:28.661Z,1750270828.661 [DAT](INFO): DAT read: user:1117>
2025-06-18T18:20:28.661Z,1750270828.661 [DAT](INFO): DAT read: Tx time:18:20:29.7355
2025-06-18T18:20:28.662Z,1750270828.662 [DAT](INFO): Ping request sent.
2025-06-18T18:20:28.662Z,1750270828.662 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:28.662Z,1750270828.662 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:20:28.663Z,1750270828.663 [DAT](INFO): direction in FSK: [0.934428,-0.104813,-0.340380]
2025-06-18T18:20:28.663Z,1750270828.663 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:28.668Z,1750270828.668 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:28.671Z,1750270828.671 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:28.671Z,1750270828.671 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:28.850Z,1750270828.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 466.899994 m,
deltaT: 4.031947 s,
deltaX: -3.100006 m,
approachRate: -0.768861 m/s,
rangeRepo size: 4
2025-06-18T18:20:28.861Z,1750270828.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 462.629425 m,
bearing: 307.484616 deg,
lat: 36.905701 deg,
lon: -122.116044 deg,
deltaT: 4.031947 s,
deltaX: -3.069733 m,
approachRate: -0.761352 m/s,
posRepo size: 4
2025-06-18T18:20:28.862Z,1750270828.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:28.870Z,1750270828.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 458.777527 m,
bearing: 308.246624 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003675 deg/s,
cmd heading: 313.262146 deg,
new cmd heading: 313.257964 deg.
2025-06-18T18:20:28.871Z,1750270828.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467383 target range: 462.629425 and range: 466.90 m.
2025-06-18T18:20:28.902Z,1750270828.902 [DAT](INFO): DAT read: TxSync time:18:20:29.7347
2025-06-18T18:20:29.231Z,1750270829.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:29.233Z,1750270829.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:29.236Z,1750270829.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 458.503693 m,
bearing: 308.244873 deg,
approach rate: -0.713770 m/s,
LOS rate: -0.004567 deg/s,
cmd heading: 313.257966 deg,
new cmd heading: 313.252709 deg.
2025-06-18T18:20:29.237Z,1750270829.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467291 target range: 462.629425 and range: 466.90 m.
2025-06-18T18:20:29.406Z,1750270829.406 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:29.407Z,1750270829.407 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:29.407Z,1750270829.407 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:29.628Z,1750270829.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:29.631Z,1750270829.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 458.230682 m,
bearing: 308.243338 deg,
approach rate: -0.691768 m/s,
LOS rate: -0.003891 deg/s,
cmd heading: 313.252720 deg,
new cmd heading: 313.248113 deg.
2025-06-18T18:20:29.632Z,1750270829.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467211 target range: 462.629425 and range: 466.90 m.
2025-06-18T18:20:29.657Z,1750270829.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995166
2025-06-18T18:20:29.909Z,1750270829.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247153
2025-06-18T18:20:30.012Z,1750270830.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:30.015Z,1750270830.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 457.966125 m,
bearing: 308.241891 deg,
approach rate: -0.688785 m/s,
LOS rate: -0.003772 deg/s,
cmd heading: 313.248103 deg,
new cmd heading: 313.243757 deg.
2025-06-18T18:20:30.028Z,1750270830.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467135 target range: 462.629425 and range: 466.90 m.
2025-06-18T18:20:30.161Z,1750270830.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498965
2025-06-18T18:20:30.415Z,1750270830.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753326
2025-06-18T18:20:30.498Z,1750270830.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:30.501Z,1750270830.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 457.635742 m,
bearing: 308.240047 deg,
approach rate: -0.679871 m/s,
LOS rate: -0.003796 deg/s,
cmd heading: 313.243759 deg,
new cmd heading: 313.238224 deg.
2025-06-18T18:20:30.502Z,1750270830.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467038 target range: 462.629425 and range: 466.90 m.
2025-06-18T18:20:30.665Z,1750270830.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003097
2025-06-18T18:20:30.823Z,1750270830.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:30.826Z,1750270830.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 457.414764 m,
bearing: 308.238800 deg,
approach rate: -0.680005 m/s,
LOS rate: -0.003840 deg/s,
cmd heading: 313.238213 deg,
new cmd heading: 313.234469 deg.
2025-06-18T18:20:30.827Z,1750270830.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466973 target range: 462.629425 and range: 466.90 m.
2025-06-18T18:20:30.917Z,1750270830.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255132
2025-06-18T18:20:31.169Z,1750270831.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507257
2025-06-18T18:20:31.235Z,1750270831.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:31.243Z,1750270831.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:31.257Z,1750270831.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 457.141357 m,
bearing: 308.237290 deg,
approach rate: -0.651695 m/s,
LOS rate: -0.003601 deg/s,
cmd heading: 313.234470 deg,
new cmd heading: 313.229938 deg.
2025-06-18T18:20:31.259Z,1750270831.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466894 target range: 462.629425 and range: 466.90 m.
2025-06-18T18:20:31.423Z,1750270831.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761096
2025-06-18T18:20:31.426Z,1750270831.426 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:20:31.665Z,1750270831.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:31.668Z,1750270831.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 456.836792 m,
bearing: 308.236439 deg,
approach rate: -0.720294 m/s,
LOS rate: -0.002015 deg/s,
cmd heading: 313.229935 deg,
new cmd heading: 313.227379 deg.
2025-06-18T18:20:31.669Z,1750270831.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466849 target range: 462.629425 and range: 466.90 m.
2025-06-18T18:20:31.673Z,1750270831.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011146
2025-06-18T18:20:31.925Z,1750270831.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263051
2025-06-18T18:20:32.049Z,1750270832.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:32.051Z,1750270832.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 456.571686 m,
bearing: 308.235697 deg,
approach rate: -0.691741 m/s,
LOS rate: -0.001937 deg/s,
cmd heading: 313.227366 deg,
new cmd heading: 313.225139 deg.
2025-06-18T18:20:32.052Z,1750270832.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466810 target range: 462.629425 and range: 466.90 m.
2025-06-18T18:20:32.177Z,1750270832.177 [DAT](INFO): DAT read: Rx Time:18:20:32.7703
2025-06-18T18:20:32.177Z,1750270832.177 [DAT](INFO): Rx dataTimestamp_ set to:1750270832.177041
2025-06-18T18:20:32.178Z,1750270832.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516148
2025-06-18T18:20:32.432Z,1750270832.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769424
2025-06-18T18:20:32.435Z,1750270832.435 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:20:32.533Z,1750270832.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:32.535Z,1750270832.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 456.239960 m,
bearing: 308.235339 deg,
approach rate: -0.686296 m/s,
LOS rate: -0.000740 deg/s,
cmd heading: 313.225126 deg,
new cmd heading: 313.224053 deg.
2025-06-18T18:20:32.536Z,1750270832.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466791 target range: 462.629425 and range: 466.90 m.
2025-06-18T18:20:32.682Z,1750270832.682 [DAT](INFO): DAT read: Range 10 to 50 : 472.9 m (Round-trip 63speed 0.4 m/s
2025-06-18T18:20:32.683Z,1750270832.683 [DAT](INFO): DAT read: user:1118>
2025-06-18T18:20:32.683Z,1750270832.683 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:20:32.684Z,1750270832.684 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:32.684Z,1750270832.684 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:32.684Z,1750270832.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:32.933Z,1750270832.933 [DAT](INFO): DAT read: Tx time:18:20:33.8855
2025-06-18T18:20:32.933Z,1750270832.933 [DAT](INFO): Ping request sent.
2025-06-18T18:20:32.933Z,1750270832.933 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:32.934Z,1750270832.934 [DAT](INFO): DAT read: TxSync time:18:20:33.8847
2025-06-18T18:20:32.934Z,1750270832.934 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:32.935Z,1750270832.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001598
2025-06-18T18:20:32.973Z,1750270832.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 472.899994 m,
deltaT: 4.032242 s,
deltaX: 6.000000 m,
approachRate: 1.488006 m/s,
rangeRepo size: 4
2025-06-18T18:20:32.974Z,1750270832.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:32.977Z,1750270832.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 455.938385 m,
bearing: 308.235039 deg,
approach rate: -0.684656 m/s,
LOS rate: -0.000682 deg/s,
cmd heading: 313.224061 deg,
new cmd heading: 313.223160 deg.
2025-06-18T18:20:32.978Z,1750270832.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466775 target range: 462.629425 and range: 472.90 m.
2025-06-18T18:20:33.186Z,1750270833.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252306
2025-06-18T18:20:33.368Z,1750270833.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:33.370Z,1750270833.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:33.373Z,1750270833.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 455.665131 m,
bearing: 308.234782 deg,
approach rate: -0.686895 m/s,
LOS rate: -0.000647 deg/s,
cmd heading: 313.223159 deg,
new cmd heading: 313.222387 deg.
2025-06-18T18:20:33.374Z,1750270833.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466762 target range: 462.629425 and range: 472.90 m.
2025-06-18T18:20:33.443Z,1750270833.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508786
2025-06-18T18:20:33.693Z,1750270833.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759304
2025-06-18T18:20:33.808Z,1750270833.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:33.811Z,1750270833.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 455.363525 m,
bearing: 308.234764 deg,
approach rate: -0.688868 m/s,
LOS rate: -0.000041 deg/s,
cmd heading: 313.222394 deg,
new cmd heading: 313.222340 deg.
2025-06-18T18:20:33.812Z,1750270833.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466761 target range: 462.629425 and range: 472.90 m.
2025-06-18T18:20:33.945Z,1750270833.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011276
2025-06-18T18:20:34.197Z,1750270834.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263395
2025-06-18T18:20:34.199Z,1750270834.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:34.202Z,1750270834.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 455.094757 m,
bearing: 308.234855 deg,
approach rate: -0.687281 m/s,
LOS rate: 0.000232 deg/s,
cmd heading: 313.222339 deg,
new cmd heading: 313.222611 deg.
2025-06-18T18:20:34.203Z,1750270834.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466766 target range: 462.629425 and range: 472.90 m.
2025-06-18T18:20:34.451Z,1750270834.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517266
2025-06-18T18:20:34.607Z,1750270834.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:34.611Z,1750270834.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 454.814362 m,
bearing: 308.234915 deg,
approach rate: -0.686688 m/s,
LOS rate: 0.000148 deg/s,
cmd heading: 313.222613 deg,
new cmd heading: 313.222794 deg.
2025-06-18T18:20:34.612Z,1750270834.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466769 target range: 462.629425 and range: 472.90 m.
2025-06-18T18:20:34.702Z,1750270834.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768355
2025-06-18T18:20:34.953Z,1750270834.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019347
2025-06-18T18:20:34.986Z,1750270834.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:35.001Z,1750270835.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 454.555511 m,
bearing: 308.234862 deg,
approach rate: -0.683765 m/s,
LOS rate: -0.000140 deg/s,
cmd heading: 313.222804 deg,
new cmd heading: 313.222645 deg.
2025-06-18T18:20:35.002Z,1750270835.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466766 target range: 462.629425 and range: 472.90 m.
2025-06-18T18:20:35.206Z,1750270835.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271921
2025-06-18T18:20:35.385Z,1750270835.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:35.387Z,1750270835.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:35.390Z,1750270835.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 454.281158 m,
bearing: 308.234725 deg,
approach rate: -0.683950 m/s,
LOS rate: -0.000342 deg/s,
cmd heading: 313.222640 deg,
new cmd heading: 313.222228 deg.
2025-06-18T18:20:35.391Z,1750270835.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466759 target range: 462.629425 and range: 472.90 m.
2025-06-18T18:20:35.460Z,1750270835.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526004
2025-06-18T18:20:35.709Z,1750270835.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775535
2025-06-18T18:20:35.832Z,1750270835.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:35.835Z,1750270835.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 453.984009 m,
bearing: 308.234445 deg,
approach rate: -0.668520 m/s,
LOS rate: -0.000631 deg/s,
cmd heading: 313.222230 deg,
new cmd heading: 313.221389 deg.
2025-06-18T18:20:35.836Z,1750270835.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466744 target range: 462.629425 and range: 472.90 m.
2025-06-18T18:20:35.961Z,1750270835.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027328
2025-06-18T18:20:36.204Z,1750270836.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:36.207Z,1750270836.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 453.737244 m,
bearing: 308.234172 deg,
approach rate: -0.662991 m/s,
LOS rate: -0.000733 deg/s,
cmd heading: 313.221383 deg,
new cmd heading: 313.220565 deg.
2025-06-18T18:20:36.213Z,1750270836.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279358
2025-06-18T18:20:36.213Z,1750270836.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466730 target range: 462.629425 and range: 472.90 m.
2025-06-18T18:20:36.465Z,1750270836.465 [DAT](INFO): DAT read: Rx Time:18:20:36.9165
2025-06-18T18:20:36.466Z,1750270836.466 [DAT](INFO): Rx dataTimestamp_ set to:1750270836.465252
2025-06-18T18:20:36.466Z,1750270836.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532593
2025-06-18T18:20:36.642Z,1750270836.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.63 m.
2025-06-18T18:20:36.645Z,1750270836.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 462.629425 m,
nav range: 453.430359 m,
bearing: 308.233501 deg,
approach rate: -0.700525 m/s,
LOS rate: -0.001532 deg/s,
cmd heading: 313.220563 deg,
new cmd heading: 313.218550 deg.
2025-06-18T18:20:36.646Z,1750270836.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466695 target range: 462.629425 and range: 472.90 m.
2025-06-18T18:20:36.718Z,1750270836.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784431
2025-06-18T18:20:36.975Z,1750270836.975 [DAT](INFO): DAT read: 18:20:36.9165 LVL= 25568, 23697, 22498, 32755, AGC= 71, IDX= 398,-0.05,-2.062, 2.917,-2.004,-2.733, PHS= 0.760,-0.586, 0.726, RAW= 148.8, -13.5, CAL= 155.6, -21.3, ROT= 354.4, 21.3
2025-06-18T18:20:36.976Z,1750270836.976 [DAT](INFO): got valid direction response:
18:20:36.9165 LVL= 25568, 23697, 22498, 32755, AGC= 71, IDX= 398,-0.05,-2.062, 2.917,-2.004,-2.733, PHS= 0.760,-0.586, 0.726, RAW= 148.8, -13.5, CAL= 155.6, -21.3, ROT= 354.4, 21.3
2025-06-18T18:20:36.977Z,1750270836.977 [DAT](INFO): DAT read: Bearing 354.4, 21.3 (Local)
2025-06-18T18:20:36.977Z,1750270836.977 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.4, 21.3 (Local)
2025-06-18T18:20:36.979Z,1750270836.979 [DAT](INFO): DAT read: Range 10 to 50 : 470.1 m (Round-trip 626.8 ms) speed 0.5 m/s
2025-06-18T18:20:36.979Z,1750270836.979 [DAT](INFO): DAT read: user:1119>
2025-06-18T18:20:36.980Z,1750270836.980 [DAT](INFO): DAT read: Tx time:18:20:38.0355
2025-06-18T18:20:36.980Z,1750270836.980 [DAT](INFO): Ping request sent.
2025-06-18T18:20:36.981Z,1750270836.981 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:36.981Z,1750270836.981 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:20:36.982Z,1750270836.982 [DAT](INFO): direction in FSK: [0.927245,-0.090917,-0.363251]
2025-06-18T18:20:36.982Z,1750270836.982 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:36.982Z,1750270836.982 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:36.985Z,1750270836.985 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:36.986Z,1750270836.986 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:37.150Z,1750270837.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 470.100006 m,
deltaT: 4.287607 s,
deltaX: -2.799988 m,
approachRate: -0.653042 m/s,
rangeRepo size: 4
2025-06-18T18:20:37.156Z,1750270837.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 465.804993 m,
bearing: 308.500073 deg,
lat: 36.905741 deg,
lon: -122.116067 deg,
deltaT: 8.319849 s,
deltaX: 3.175568 m,
approachRate: 0.381686 m/s,
posRepo size: 4
2025-06-18T18:20:37.157Z,1750270837.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m.
2025-06-18T18:20:37.164Z,1750270837.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.804993 m,
nav range: 457.430634 m,
bearing: 308.501752 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001532 deg/s,
cmd heading: 313.218542 deg,
new cmd heading: 313.216209 deg.
2025-06-18T18:20:37.165Z,1750270837.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466654 target range: 465.804993 and range: 470.10 m.
2025-06-18T18:20:37.222Z,1750270837.222 [DAT](INFO): DAT read: TxSync time:18:20:38.0347
2025-06-18T18:20:37.451Z,1750270837.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:37.454Z,1750270837.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m.
2025-06-18T18:20:37.461Z,1750270837.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.804993 m,
nav range: 457.204681 m,
bearing: 308.501418 deg,
approach rate: -0.740994 m/s,
LOS rate: -0.001094 deg/s,
cmd heading: 313.216219 deg,
new cmd heading: 313.215218 deg.
2025-06-18T18:20:37.462Z,1750270837.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466637 target range: 465.804993 and range: 470.10 m.
2025-06-18T18:20:37.473Z,1750270837.473 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:37.473Z,1750270837.473 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:37.474Z,1750270837.474 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:37.725Z,1750270837.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744238
2025-06-18T18:20:37.903Z,1750270837.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m.
2025-06-18T18:20:37.907Z,1750270837.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.804993 m,
nav range: 456.902557 m,
bearing: 308.501032 deg,
approach rate: -0.673479 m/s,
LOS rate: -0.000862 deg/s,
cmd heading: 313.215209 deg,
new cmd heading: 313.214049 deg.
2025-06-18T18:20:37.908Z,1750270837.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466617 target range: 465.804993 and range: 470.10 m.
2025-06-18T18:20:37.978Z,1750270837.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996729
2025-06-18T18:20:38.229Z,1750270838.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248175
2025-06-18T18:20:38.265Z,1750270838.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m.
2025-06-18T18:20:38.272Z,1750270838.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.804993 m,
nav range: 456.658569 m,
bearing: 308.500764 deg,
approach rate: -0.673475 m/s,
LOS rate: -0.000741 deg/s,
cmd heading: 313.214061 deg,
new cmd heading: 313.213256 deg.
2025-06-18T18:20:38.273Z,1750270838.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466603 target range: 465.804993 and range: 470.10 m.
2025-06-18T18:20:38.482Z,1750270838.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500622
2025-06-18T18:20:38.723Z,1750270838.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m.
2025-06-18T18:20:38.725Z,1750270838.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.804993 m,
nav range: 456.341431 m,
bearing: 308.500275 deg,
approach rate: -0.693430 m/s,
LOS rate: -0.001069 deg/s,
cmd heading: 313.213269 deg,
new cmd heading: 313.211802 deg.
2025-06-18T18:20:38.726Z,1750270838.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466577 target range: 465.804993 and range: 470.10 m.
2025-06-18T18:20:38.733Z,1750270838.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752331
2025-06-18T18:20:38.985Z,1750270838.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004867
2025-06-18T18:20:39.121Z,1750270839.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m.
2025-06-18T18:20:39.128Z,1750270839.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.804993 m,
nav range: 456.086273 m,
bearing: 308.499865 deg,
approach rate: -0.640525 m/s,
LOS rate: -0.001029 deg/s,
cmd heading: 313.211794 deg,
new cmd heading: 313.210564 deg.
2025-06-18T18:20:39.132Z,1750270839.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466556 target range: 465.804993 and range: 470.10 m.
2025-06-18T18:20:39.237Z,1750270839.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256298
2025-06-18T18:20:39.490Z,1750270839.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509758
2025-06-18T18:20:39.695Z,1750270839.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:39.698Z,1750270839.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m.
2025-06-18T18:20:39.700Z,1750270839.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.804993 m,
nav range: 455.675568 m,
bearing: 308.498604 deg,
approach rate: -0.712112 m/s,
LOS rate: -0.002189 deg/s,
cmd heading: 313.210564 deg,
new cmd heading: 313.206777 deg.
2025-06-18T18:20:39.701Z,1750270839.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466489 target range: 465.804993 and range: 470.10 m.
2025-06-18T18:20:39.741Z,1750270839.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760239
2025-06-18T18:20:39.993Z,1750270839.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012153
2025-06-18T18:20:40.117Z,1750270840.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m.
2025-06-18T18:20:40.119Z,1750270840.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.804993 m,
nav range: 455.402649 m,
bearing: 308.497763 deg,
approach rate: -0.651231 m/s,
LOS rate: -0.002009 deg/s,
cmd heading: 313.206767 deg,
new cmd heading: 313.204240 deg.
2025-06-18T18:20:40.125Z,1750270840.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466445 target range: 465.804993 and range: 470.10 m.
2025-06-18T18:20:40.245Z,1750270840.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264198
2025-06-18T18:20:40.497Z,1750270840.497 [DAT](INFO): DAT read: Rx Time:18:20:41.0630
2025-06-18T18:20:40.497Z,1750270840.497 [DAT](INFO): Rx dataTimestamp_ set to:1750270840.497055
2025-06-18T18:20:40.498Z,1750270840.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517314
2025-06-18T18:20:40.605Z,1750270840.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m.
2025-06-18T18:20:40.612Z,1750270840.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.804993 m,
nav range: 455.111786 m,
bearing: 308.496860 deg,
approach rate: -0.595809 m/s,
LOS rate: -0.001850 deg/s,
cmd heading: 313.204253 deg,
new cmd heading: 313.201543 deg.
2025-06-18T18:20:40.613Z,1750270840.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466398 target range: 465.804993 and range: 470.10 m.
2025-06-18T18:20:40.749Z,1750270840.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768186
2025-06-18T18:20:40.946Z,1750270840.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m.
2025-06-18T18:20:40.975Z,1750270840.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 465.804993 m,
nav range: 454.823578 m,
bearing: 308.496125 deg,
approach rate: -0.844135 m/s,
LOS rate: -0.002153 deg/s,
cmd heading: 313.201548 deg,
new cmd heading: 313.199343 deg.
2025-06-18T18:20:40.991Z,1750270840.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466360 target range: 465.804993 and range: 470.10 m.
2025-06-18T18:20:41.022Z,1750270841.022 [DAT](INFO): DAT read: 18:20:41.0630 LVL= 28464, 25169, 21442, 32755, AGC= 70, IDX= 411, 0.23,-2.088, 2.912,-2.085,-2.925, PHS= 0.925,-0.398, 0.838, RAW= 146.6, -20.6, CAL= 151.9, -27.8, ROT= 358.1, 27.8
2025-06-18T18:20:41.023Z,1750270841.023 [DAT](INFO): got valid direction response:
18:20:41.0630 LVL= 28464, 25169, 21442, 32755, AGC= 70, IDX= 411, 0.23,-2.088, 2.912,-2.085,-2.925, PHS= 0.925,-0.398, 0.838, RAW= 146.6, -20.6, CAL= 151.9, -27.8, ROT= 358.1, 27.8
2025-06-18T18:20:41.024Z,1750270841.024 [DAT](INFO): DAT read: Bearing 358.1, 27.8 (Local)
2025-06-18T18:20:41.024Z,1750270841.024 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.1, 27.8 (Local)
2025-06-18T18:20:41.026Z,1750270841.026 [DAT](INFO): DAT read: Range 10 to 50 : 467.5 m (Round-trip 623.4 ms) speed 0.7 m/s
2025-06-18T18:20:41.027Z,1750270841.027 [DAT](INFO): DAT read: user:1120>
2025-06-18T18:20:41.027Z,1750270841.027 [DAT](INFO): DAT read: Tx time:18:20:42.1855
2025-06-18T18:20:41.044Z,1750270841.044 [DAT](INFO): Ping request sent.
2025-06-18T18:20:41.044Z,1750270841.044 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:41.044Z,1750270841.044 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:20:41.045Z,1750270841.046 [DAT](INFO): direction in FSK: [0.884095,-0.029328,-0.466387]
2025-06-18T18:20:41.046Z,1750270841.046 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:41.046Z,1750270841.046 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:41.057Z,1750270841.057 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:41.058Z,1750270841.058 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:41.255Z,1750270841.255 [DAT](INFO): DAT read: TxSync time:18:20:42.1847
2025-06-18T18:20:41.371Z,1750270841.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 467.500000 m,
deltaT: 4.034001 s,
deltaX: -2.600006 m,
approachRate: -0.644523 m/s,
rangeRepo size: 4
2025-06-18T18:20:41.384Z,1750270841.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 463.231628 m,
bearing: 312.356024 deg,
lat: 36.905745 deg,
lon: -122.116044 deg,
deltaT: 4.034001 s,
deltaX: -2.573364 m,
approachRate: -0.637919 m/s,
posRepo size: 4
2025-06-18T18:20:41.385Z,1750270841.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.23 m.
2025-06-18T18:20:41.387Z,1750270841.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 463.231628 m,
nav range: 453.252441 m,
bearing: 308.708164 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002153 deg/s,
cmd heading: 313.199335 deg,
new cmd heading: 313.196596 deg.
2025-06-18T18:20:41.407Z,1750270841.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466312 target range: 463.231628 and range: 467.50 m.
2025-06-18T18:20:41.748Z,1750270841.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:41.751Z,1750270841.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.23 m.
2025-06-18T18:20:41.753Z,1750270841.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 463.231628 m,
nav range: 452.987000 m,
bearing: 308.707619 deg,
approach rate: -0.698430 m/s,
LOS rate: -0.001437 deg/s,
cmd heading: 313.196603 deg,
new cmd heading: 313.194965 deg.
2025-06-18T18:20:41.754Z,1750270841.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466283 target range: 463.231628 and range: 467.50 m.
2025-06-18T18:20:41.757Z,1750270841.757 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:41.757Z,1750270841.757 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:41.757Z,1750270841.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:42.009Z,1750270842.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.964762
2025-06-18T18:20:42.118Z,1750270842.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.23 m.
2025-06-18T18:20:42.121Z,1750270842.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 463.231628 m,
nav range: 452.737427 m,
bearing: 308.707146 deg,
approach rate: -0.679881 m/s,
LOS rate: -0.001288 deg/s,
cmd heading: 313.194964 deg,
new cmd heading: 313.193545 deg.
2025-06-18T18:20:42.122Z,1750270842.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466259 target range: 463.231628 and range: 467.50 m.
2025-06-18T18:20:42.261Z,1750270842.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216533
2025-06-18T18:20:42.513Z,1750270842.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468815
2025-06-18T18:20:42.562Z,1750270842.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.23 m.
2025-06-18T18:20:42.569Z,1750270842.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 463.231628 m,
nav range: 452.440247 m,
bearing: 308.706583 deg,
approach rate: -0.669326 m/s,
LOS rate: -0.001270 deg/s,
cmd heading: 313.193543 deg,
new cmd heading: 313.191852 deg.
2025-06-18T18:20:42.589Z,1750270842.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466229 target range: 463.231628 and range: 467.50 m.
2025-06-18T18:20:42.765Z,1750270842.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720658
2025-06-18T18:20:42.966Z,1750270842.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.23 m.
2025-06-18T18:20:42.969Z,1750270842.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 463.231628 m,
nav range: 452.166382 m,
bearing: 308.706351 deg,
approach rate: -0.677824 m/s,
LOS rate: -0.000575 deg/s,
cmd heading: 313.191849 deg,
new cmd heading: 313.191152 deg.
2025-06-18T18:20:42.970Z,1750270842.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466217 target range: 463.231628 and range: 467.50 m.
2025-06-18T18:20:43.019Z,1750270843.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974456
2025-06-18T18:20:43.269Z,1750270843.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224860
2025-06-18T18:20:43.348Z,1750270843.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.23 m.
2025-06-18T18:20:43.351Z,1750270843.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 463.231628 m,
nav range: 451.906372 m,
bearing: 308.706045 deg,
approach rate: -0.679810 m/s,
LOS rate: -0.000799 deg/s,
cmd heading: 313.191139 deg,
new cmd heading: 313.190223 deg.
2025-06-18T18:20:43.353Z,1750270843.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466200 target range: 463.231628 and range: 467.50 m.
2025-06-18T18:20:43.521Z,1750270843.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476640
2025-06-18T18:20:43.773Z,1750270843.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728699
2025-06-18T18:20:43.779Z,1750270843.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:43.781Z,1750270843.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.23 m.
2025-06-18T18:20:43.784Z,1750270843.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 463.231628 m,
nav range: 451.612762 m,
bearing: 308.706134 deg,
approach rate: -0.677970 m/s,
LOS rate: 0.000205 deg/s,
cmd heading: 313.190210 deg,
new cmd heading: 313.190476 deg.
2025-06-18T18:20:43.785Z,1750270843.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466205 target range: 463.231628 and range: 467.50 m.
2025-06-18T18:20:44.025Z,1750270844.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980701
2025-06-18T18:20:44.155Z,1750270844.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.23 m.
2025-06-18T18:20:44.158Z,1750270844.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 463.231628 m,
nav range: 451.356873 m,
bearing: 308.706183 deg,
approach rate: -0.684597 m/s,
LOS rate: 0.000130 deg/s,
cmd heading: 313.190483 deg,
new cmd heading: 313.190629 deg.
2025-06-18T18:20:44.159Z,1750270844.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466208 target range: 463.231628 and range: 467.50 m.
2025-06-18T18:20:44.278Z,1750270844.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233366
2025-06-18T18:20:44.529Z,1750270844.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484654
2025-06-18T18:20:44.583Z,1750270844.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.23 m.
2025-06-18T18:20:44.586Z,1750270844.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 463.231628 m,
nav range: 451.071014 m,
bearing: 308.706237 deg,
approach rate: -0.667078 m/s,
LOS rate: 0.000127 deg/s,
cmd heading: 313.190620 deg,
new cmd heading: 313.190783 deg.
2025-06-18T18:20:44.587Z,1750270844.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466210 target range: 463.231628 and range: 467.50 m.
2025-06-18T18:20:44.783Z,1750270844.783 [DAT](INFO): DAT read: Rx Time:18:20:45.2093
2025-06-18T18:20:44.784Z,1750270844.784 [DAT](INFO): Rx dataTimestamp_ set to:1750270844.783298
2025-06-18T18:20:44.784Z,1750270844.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740149
2025-06-18T18:20:44.975Z,1750270844.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.23 m.
2025-06-18T18:20:44.978Z,1750270844.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 463.231628 m,
nav range: 450.799347 m,
bearing: 308.706149 deg,
approach rate: -0.693831 m/s,
LOS rate: -0.000223 deg/s,
cmd heading: 313.190784 deg,
new cmd heading: 313.190521 deg.
2025-06-18T18:20:44.979Z,1750270844.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466206 target range: 463.231628 and range: 467.50 m.
2025-06-18T18:20:45.034Z,1750270845.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.989661
2025-06-18T18:20:45.291Z,1750270845.291 [DAT](INFO): DAT read: 18:20:45.2093 LVL= 29120, 32753, 28450, 32755, AGC= 70, IDX= 405, 0.19, 2.375, 1.043, 2.425, 1.580, PHS= 0.883,-0.490, 0.842, RAW= 148.5, -17.9, CAL= 154.3, -25.2, ROT= 355.7, 25.2
2025-06-18T18:20:45.292Z,1750270845.292 [DAT](INFO): got valid direction response:
18:20:45.2093 LVL= 29120, 32753, 28450, 32755, AGC= 70, IDX= 405, 0.19, 2.375, 1.043, 2.425, 1.580, PHS= 0.883,-0.490, 0.842, RAW= 148.5, -17.9, CAL= 154.3, -25.2, ROT= 355.7, 25.2
2025-06-18T18:20:45.293Z,1750270845.293 [DAT](INFO): DAT read: Bearing 355.7, 25.2 (Local)
2025-06-18T18:20:45.293Z,1750270845.293 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.7, 25.2 (Local)
2025-06-18T18:20:45.298Z,1750270845.298 [DAT](INFO): DAT read: Range 10 to 50 : 464.7 m (Round-trip 619.7 ms) speed 0.5 m/s
2025-06-18T18:20:45.301Z,1750270845.301 [DAT](INFO): DAT read: user:1121>
2025-06-18T18:20:45.301Z,1750270845.301 [DAT](INFO): DAT read: Tx time:18:20:46.3355
2025-06-18T18:20:45.302Z,1750270845.302 [DAT](INFO): Ping request sent.
2025-06-18T18:20:45.302Z,1750270845.302 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:45.302Z,1750270845.302 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:20:45.303Z,1750270845.303 [DAT](INFO): direction in FSK: [0.902280,-0.067842,-0.425779]
2025-06-18T18:20:45.303Z,1750270845.303 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:45.304Z,1750270845.304 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:45.307Z,1750270845.307 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:45.307Z,1750270845.307 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:45.445Z,1750270845.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 464.700012 m,
deltaT: 4.282036 s,
deltaX: -2.799988 m,
approachRate: -0.653892 m/s,
rangeRepo size: 4
2025-06-18T18:20:45.448Z,1750270845.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 460.459259 m,
bearing: 310.347043 deg,
lat: 36.905769 deg,
lon: -122.115960 deg,
deltaT: 4.282036 s,
deltaX: -2.772369 m,
approachRate: -0.647442 m/s,
posRepo size: 4
2025-06-18T18:20:45.452Z,1750270845.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:45.455Z,1750270845.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 446.371552 m,
bearing: 309.574459 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000223 deg/s,
cmd heading: 313.190511 deg,
new cmd heading: 313.190196 deg.
2025-06-18T18:20:45.461Z,1750270845.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466200 target range: 460.459259 and range: 464.70 m.
2025-06-18T18:20:45.537Z,1750270845.537 [DAT](INFO): DAT read: TxSync time:18:20:46.3347
2025-06-18T18:20:45.795Z,1750270845.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:45.798Z,1750270845.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:45.801Z,1750270845.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 446.117096 m,
bearing: 309.574991 deg,
approach rate: -0.721123 m/s,
LOS rate: 0.001509 deg/s,
cmd heading: 313.190183 deg,
new cmd heading: 313.191780 deg.
2025-06-18T18:20:45.801Z,1750270845.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466228 target range: 460.459259 and range: 464.70 m.
2025-06-18T18:20:46.041Z,1750270846.041 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:46.041Z,1750270846.041 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:46.041Z,1750270846.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:46.173Z,1750270846.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:46.175Z,1750270846.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 445.863586 m,
bearing: 309.575553 deg,
approach rate: -0.675786 m/s,
LOS rate: 0.001500 deg/s,
cmd heading: 313.191767 deg,
new cmd heading: 313.193455 deg.
2025-06-18T18:20:46.177Z,1750270846.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466257 target range: 460.459259 and range: 464.70 m.
2025-06-18T18:20:46.294Z,1750270846.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991871
2025-06-18T18:20:46.545Z,1750270846.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243174
2025-06-18T18:20:46.583Z,1750270846.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:46.587Z,1750270846.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 445.587524 m,
bearing: 309.576179 deg,
approach rate: -0.672436 m/s,
LOS rate: 0.001525 deg/s,
cmd heading: 313.193461 deg,
new cmd heading: 313.195339 deg.
2025-06-18T18:20:46.588Z,1750270846.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466290 target range: 460.459259 and range: 464.70 m.
2025-06-18T18:20:46.797Z,1750270846.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495068
2025-06-18T18:20:47.010Z,1750270847.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:47.017Z,1750270847.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 445.305237 m,
bearing: 309.576637 deg,
approach rate: -0.661886 m/s,
LOS rate: 0.001075 deg/s,
cmd heading: 313.195346 deg,
new cmd heading: 313.196722 deg.
2025-06-18T18:20:47.018Z,1750270847.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466314 target range: 460.459259 and range: 464.70 m.
2025-06-18T18:20:47.050Z,1750270847.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748121
2025-06-18T18:20:47.302Z,1750270847.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999532
2025-06-18T18:20:47.389Z,1750270847.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:47.391Z,1750270847.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 445.049286 m,
bearing: 309.576996 deg,
approach rate: -0.675687 m/s,
LOS rate: 0.000947 deg/s,
cmd heading: 313.196712 deg,
new cmd heading: 313.197789 deg.
2025-06-18T18:20:47.393Z,1750270847.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466332 target range: 460.459259 and range: 464.70 m.
2025-06-18T18:20:47.553Z,1750270847.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251004
2025-06-18T18:20:47.805Z,1750270847.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503399
2025-06-18T18:20:47.813Z,1750270847.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:47.815Z,1750270847.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:47.818Z,1750270847.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 444.765228 m,
bearing: 309.576455 deg,
approach rate: -0.666703 m/s,
LOS rate: -0.001271 deg/s,
cmd heading: 313.197778 deg,
new cmd heading: 313.196153 deg.
2025-06-18T18:20:47.818Z,1750270847.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466304 target range: 460.459259 and range: 464.70 m.
2025-06-18T18:20:48.058Z,1750270848.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755181
2025-06-18T18:20:48.221Z,1750270848.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:48.224Z,1750270848.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 444.506989 m,
bearing: 309.575954 deg,
approach rate: -0.635725 m/s,
LOS rate: -0.001233 deg/s,
cmd heading: 313.196166 deg,
new cmd heading: 313.194664 deg.
2025-06-18T18:20:48.225Z,1750270848.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466278 target range: 460.459259 and range: 464.70 m.
2025-06-18T18:20:48.310Z,1750270848.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007834
2025-06-18T18:20:48.561Z,1750270848.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259093
2025-06-18T18:20:48.595Z,1750270848.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:48.599Z,1750270848.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 444.244080 m,
bearing: 309.575448 deg,
approach rate: -0.702535 m/s,
LOS rate: -0.001353 deg/s,
cmd heading: 313.194663 deg,
new cmd heading: 313.193144 deg.
2025-06-18T18:20:48.600Z,1750270848.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466251 target range: 460.459259 and range: 464.70 m.
2025-06-18T18:20:48.813Z,1750270848.813 [DAT](INFO): DAT read: Rx Time:18:20:49.3564
2025-06-18T18:20:48.813Z,1750270848.813 [DAT](INFO): Rx dataTimestamp_ set to:1750270848.813133
2025-06-18T18:20:48.814Z,1750270848.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512230
2025-06-18T18:20:49.026Z,1750270849.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:49.029Z,1750270849.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 443.960358 m,
bearing: 309.575162 deg,
approach rate: -0.658821 m/s,
LOS rate: -0.000665 deg/s,
cmd heading: 313.193133 deg,
new cmd heading: 313.192274 deg.
2025-06-18T18:20:49.030Z,1750270849.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466237 target range: 460.459259 and range: 464.70 m.
2025-06-18T18:20:49.065Z,1750270849.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763077
2025-06-18T18:20:49.320Z,1750270849.320 [DAT](INFO): DAT read: Range 10 to 50 : 462.5 m (Round-trip 616.7 ms) speed 0.5 m/s
2025-06-18T18:20:49.320Z,1750270849.320 [DAT](INFO): DAT read: user:1122>
2025-06-18T18:20:49.321Z,1750270849.321 [DAT](INFO): DAT read: Tx time:18:20:50.4356
2025-06-18T18:20:49.321Z,1750270849.321 [DAT](INFO): Ping request sent.
2025-06-18T18:20:49.322Z,1750270849.322 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:49.322Z,1750270849.322 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:20:49.322Z,1750270849.322 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:49.323Z,1750270849.323 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:49.413Z,1750270849.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 462.500000 m,
deltaT: 4.032886 s,
deltaX: -2.200012 m,
approachRate: -0.545518 m/s,
rangeRepo size: 4
2025-06-18T18:20:49.414Z,1750270849.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:49.430Z,1750270849.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 443.705383 m,
bearing: 309.574921 deg,
approach rate: -0.658981 m/s,
LOS rate: -0.000622 deg/s,
cmd heading: 313.192287 deg,
new cmd heading: 313.191564 deg.
2025-06-18T18:20:49.430Z,1750270849.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466224 target range: 460.459259 and range: 462.50 m.
2025-06-18T18:20:49.570Z,1750270849.570 [DAT](INFO): DAT read: TxSync time:18:20:50.4348
2025-06-18T18:20:49.868Z,1750270849.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:49.871Z,1750270849.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:49.877Z,1750270849.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 443.401917 m,
bearing: 309.573603 deg,
approach rate: -0.662146 m/s,
LOS rate: -0.002878 deg/s,
cmd heading: 313.191576 deg,
new cmd heading: 313.187619 deg.
2025-06-18T18:20:49.879Z,1750270849.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466155 target range: 460.459259 and range: 462.50 m.
2025-06-18T18:20:50.073Z,1750270850.073 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:50.073Z,1750270850.073 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:50.073Z,1750270850.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:50.245Z,1750270850.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:50.265Z,1750270850.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 443.152435 m,
bearing: 309.572659 deg,
approach rate: -0.667078 m/s,
LOS rate: -0.002524 deg/s,
cmd heading: 313.187615 deg,
new cmd heading: 313.184782 deg.
2025-06-18T18:20:50.266Z,1750270850.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466105 target range: 460.459259 and range: 462.50 m.
2025-06-18T18:20:50.325Z,1750270850.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003175
2025-06-18T18:20:50.577Z,1750270850.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255810
2025-06-18T18:20:50.812Z,1750270850.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:50.815Z,1750270850.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 442.767670 m,
bearing: 309.571486 deg,
approach rate: -0.678900 m/s,
LOS rate: -0.002072 deg/s,
cmd heading: 313.184773 deg,
new cmd heading: 313.181251 deg.
2025-06-18T18:20:50.816Z,1750270850.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466044 target range: 460.459259 and range: 462.50 m.
2025-06-18T18:20:50.829Z,1750270850.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507246
2025-06-18T18:20:51.081Z,1750270851.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759219
2025-06-18T18:20:51.187Z,1750270851.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:51.190Z,1750270851.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 442.513184 m,
bearing: 309.570730 deg,
approach rate: -0.678724 m/s,
LOS rate: -0.002017 deg/s,
cmd heading: 313.181249 deg,
new cmd heading: 313.178980 deg.
2025-06-18T18:20:51.190Z,1750270851.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466004 target range: 460.459259 and range: 462.50 m.
2025-06-18T18:20:51.333Z,1750270851.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011106
2025-06-18T18:20:51.585Z,1750270851.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263293
2025-06-18T18:20:51.608Z,1750270851.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:51.618Z,1750270851.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 442.239136 m,
bearing: 309.569826 deg,
approach rate: -0.676531 m/s,
LOS rate: -0.002234 deg/s,
cmd heading: 313.178981 deg,
new cmd heading: 313.176267 deg.
2025-06-18T18:20:51.619Z,1750270851.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465957 target range: 460.459259 and range: 462.50 m.
2025-06-18T18:20:51.838Z,1750270851.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515794
2025-06-18T18:20:51.998Z,1750270851.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:52.020Z,1750270852.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:52.023Z,1750270852.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 441.960236 m,
bearing: 309.568700 deg,
approach rate: -0.683512 m/s,
LOS rate: -0.002761 deg/s,
cmd heading: 313.176277 deg,
new cmd heading: 313.172897 deg.
2025-06-18T18:20:52.028Z,1750270852.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465898 target range: 460.459259 and range: 462.50 m.
2025-06-18T18:20:52.090Z,1750270852.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768076
2025-06-18T18:20:52.341Z,1750270852.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019215
2025-06-18T18:20:52.384Z,1750270852.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:52.387Z,1750270852.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 441.697632 m,
bearing: 309.567531 deg,
approach rate: -0.682676 m/s,
LOS rate: -0.003042 deg/s,
cmd heading: 313.172889 deg,
new cmd heading: 313.169378 deg.
2025-06-18T18:20:52.403Z,1750270852.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465837 target range: 460.459259 and range: 462.50 m.
2025-06-18T18:20:52.593Z,1750270852.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271153
2025-06-18T18:20:52.845Z,1750270852.845 [DAT](INFO): DAT read: Rx Time:18:20:53.4532
2025-06-18T18:20:52.845Z,1750270852.845 [DAT](INFO): Rx dataTimestamp_ set to:1750270852.845042
2025-06-18T18:20:52.846Z,1750270852.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524275
2025-06-18T18:20:52.938Z,1750270852.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:52.941Z,1750270852.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 441.310516 m,
bearing: 309.566093 deg,
approach rate: -0.699164 m/s,
LOS rate: -0.002598 deg/s,
cmd heading: 313.169364 deg,
new cmd heading: 313.165049 deg.
2025-06-18T18:20:52.942Z,1750270852.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465761 target range: 460.459259 and range: 462.50 m.
2025-06-18T18:20:53.097Z,1750270853.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775433
2025-06-18T18:20:53.224Z,1750270853.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:53.227Z,1750270853.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 441.110779 m,
bearing: 309.565263 deg,
approach rate: -0.699359 m/s,
LOS rate: -0.002908 deg/s,
cmd heading: 313.165048 deg,
new cmd heading: 313.162556 deg.
2025-06-18T18:20:53.228Z,1750270853.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465718 target range: 460.459259 and range: 462.50 m.
2025-06-18T18:20:53.353Z,1750270853.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030057
2025-06-18T18:20:53.602Z,1750270853.602 [DAT](INFO): DAT read: Range 10 to 50 : 460.0 m (Round-trip 613.4 ms) speed 0.5 m/s
2025-06-18T18:20:53.603Z,1750270853.603 [DAT](INFO): DAT read: user:1123>
2025-06-18T18:20:53.604Z,1750270853.604 [DAT](INFO): DAT read: Tx time:18:20:54.5356
2025-06-18T18:20:53.604Z,1750270853.604 [DAT](INFO): Ping request sent.
2025-06-18T18:20:53.604Z,1750270853.604 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:53.605Z,1750270853.605 [DAT](INFO): DAT read: TxSync time:18:20:54.5348
2025-06-18T18:20:53.605Z,1750270853.605 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:20:53.605Z,1750270853.605 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:53.606Z,1750270853.606 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:53.665Z,1750270853.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 460.000000 m,
deltaT: 4.283168 s,
deltaX: -2.500000 m,
approachRate: -0.583680 m/s,
rangeRepo size: 4
2025-06-18T18:20:53.665Z,1750270853.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:53.672Z,1750270853.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 440.820221 m,
bearing: 309.563816 deg,
approach rate: -0.678664 m/s,
LOS rate: -0.003384 deg/s,
cmd heading: 313.162562 deg,
new cmd heading: 313.158215 deg.
2025-06-18T18:20:53.673Z,1750270853.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465642 target range: 460.459259 and range: 460.00 m.
2025-06-18T18:20:54.070Z,1750270854.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:54.072Z,1750270854.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:54.075Z,1750270854.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 440.520416 m,
bearing: 309.562688 deg,
approach rate: -0.713495 m/s,
LOS rate: -0.002685 deg/s,
cmd heading: 313.158218 deg,
new cmd heading: 313.154833 deg.
2025-06-18T18:20:54.076Z,1750270854.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465583 target range: 460.459259 and range: 460.00 m.
2025-06-18T18:20:54.105Z,1750270854.105 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:54.105Z,1750270854.105 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:54.106Z,1750270854.106 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:54.357Z,1750270854.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752753
2025-06-18T18:20:54.431Z,1750270854.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:54.434Z,1750270854.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 440.271240 m,
bearing: 309.561727 deg,
approach rate: -0.693691 m/s,
LOS rate: -0.002677 deg/s,
cmd heading: 313.154830 deg,
new cmd heading: 313.151945 deg.
2025-06-18T18:20:54.435Z,1750270854.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465532 target range: 460.459259 and range: 460.00 m.
2025-06-18T18:20:54.609Z,1750270854.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004866
2025-06-18T18:20:54.861Z,1750270854.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256759
2025-06-18T18:20:54.874Z,1750270854.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:54.878Z,1750270854.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 439.973053 m,
bearing: 309.561331 deg,
approach rate: -0.674519 m/s,
LOS rate: -0.000897 deg/s,
cmd heading: 313.151934 deg,
new cmd heading: 313.150745 deg.
2025-06-18T18:20:54.879Z,1750270854.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465511 target range: 460.459259 and range: 460.00 m.
2025-06-18T18:20:55.113Z,1750270855.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509027
2025-06-18T18:20:55.236Z,1750270855.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:55.239Z,1750270855.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 439.717133 m,
bearing: 309.561006 deg,
approach rate: -0.706346 m/s,
LOS rate: -0.000896 deg/s,
cmd heading: 313.150732 deg,
new cmd heading: 313.149758 deg.
2025-06-18T18:20:55.239Z,1750270855.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465494 target range: 460.459259 and range: 460.00 m.
2025-06-18T18:20:55.365Z,1750270855.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760660
2025-06-18T18:20:55.617Z,1750270855.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012563
2025-06-18T18:20:55.634Z,1750270855.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:55.637Z,1750270855.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 439.443085 m,
bearing: 309.560704 deg,
approach rate: -0.688756 m/s,
LOS rate: -0.000760 deg/s,
cmd heading: 313.149748 deg,
new cmd heading: 313.148841 deg.
2025-06-18T18:20:55.638Z,1750270855.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465478 target range: 460.459259 and range: 460.00 m.
2025-06-18T18:20:55.870Z,1750270855.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266268
2025-06-18T18:20:56.051Z,1750270856.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:56.094Z,1750270856.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 439.158569 m,
bearing: 309.560779 deg,
approach rate: -0.681136 m/s,
LOS rate: 0.000178 deg/s,
cmd heading: 313.148847 deg,
new cmd heading: 313.149070 deg.
2025-06-18T18:20:56.095Z,1750270856.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465482 target range: 460.459259 and range: 460.00 m.
2025-06-18T18:20:56.121Z,1750270856.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516696
2025-06-18T18:20:56.373Z,1750270856.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768668
2025-06-18T18:20:56.438Z,1750270856.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:56.457Z,1750270856.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:56.459Z,1750270856.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 438.893555 m,
bearing: 309.560906 deg,
approach rate: -0.653628 m/s,
LOS rate: 0.000314 deg/s,
cmd heading: 313.149065 deg,
new cmd heading: 313.149447 deg.
2025-06-18T18:20:56.465Z,1750270856.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465489 target range: 460.459259 and range: 460.00 m.
2025-06-18T18:20:56.625Z,1750270856.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020561
2025-06-18T18:20:56.878Z,1750270856.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273684
2025-06-18T18:20:56.938Z,1750270856.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:56.945Z,1750270856.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 438.592163 m,
bearing: 309.562416 deg,
approach rate: -0.626098 m/s,
LOS rate: 0.003139 deg/s,
cmd heading: 313.149448 deg,
new cmd heading: 313.153981 deg.
2025-06-18T18:20:56.946Z,1750270856.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465568 target range: 460.459259 and range: 460.00 m.
2025-06-18T18:20:57.129Z,1750270857.129 [DAT](INFO): DAT read: Rx Time:18:20:57.5499
2025-06-18T18:20:57.130Z,1750270857.130 [DAT](INFO): Rx dataTimestamp_ set to:1750270857.129234
2025-06-18T18:20:57.130Z,1750270857.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525922
2025-06-18T18:20:57.266Z,1750270857.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.46 m.
2025-06-18T18:20:57.280Z,1750270857.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 460.459259 m,
nav range: 438.350952 m,
bearing: 309.563717 deg,
approach rate: -0.735935 m/s,
LOS rate: 0.003973 deg/s,
cmd heading: 313.153983 deg,
new cmd heading: 313.157889 deg.
2025-06-18T18:20:57.281Z,1750270857.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465636 target range: 460.459259 and range: 460.00 m.
2025-06-18T18:20:57.381Z,1750270857.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777270
2025-06-18T18:20:57.639Z,1750270857.639 [DAT](INFO): DAT read: 18:20:57.5499 LVL= 26544, 27537, 25010, 32755, AGC= 71, IDX= 404,-0.34, 0.345,-0.916, 0.450,-0.228, PHS= 0.661,-0.641, 0.675, RAW= 150.5, -10.6, CAL= 157.1, -18.4, ROT= 352.9, 18.4
2025-06-18T18:20:57.640Z,1750270857.640 [DAT](INFO): got valid direction response:
18:20:57.5499 LVL= 26544, 27537, 25010, 32755, AGC= 71, IDX= 404,-0.34, 0.345,-0.916, 0.450,-0.228, PHS= 0.661,-0.641, 0.675, RAW= 150.5, -10.6, CAL= 157.1, -18.4, ROT= 352.9, 18.4
2025-06-18T18:20:57.641Z,1750270857.641 [DAT](INFO): DAT read: Bearing 352.9, 18.4 (Local)
2025-06-18T18:20:57.641Z,1750270857.641 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.9, 18.4 (Local)
2025-06-18T18:20:57.643Z,1750270857.643 [DAT](INFO): DAT read: Range 10 to 50 : 457.5 m (Round-trip 610.1 ms) speed 0.5 m/s
2025-06-18T18:20:57.644Z,1750270857.644 [DAT](INFO): DAT read: user:1124>
2025-06-18T18:20:57.644Z,1750270857.644 [DAT](INFO): DAT read: Tx time:18:20:58.6356
2025-06-18T18:20:57.645Z,1750270857.645 [DAT](INFO): Ping request sent.
2025-06-18T18:20:57.645Z,1750270857.645 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:20:57.645Z,1750270857.645 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:20:57.646Z,1750270857.646 [DAT](INFO): direction in FSK: [0.941600,-0.117282,-0.315649]
2025-06-18T18:20:57.646Z,1750270857.646 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:57.647Z,1750270857.647 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:57.662Z,1750270857.662 [DAT](INFO): publishing transmit ping time
2025-06-18T18:20:57.662Z,1750270857.662 [DAT](INFO): publishing direction and range info
2025-06-18T18:20:57.744Z,1750270857.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 457.500000 m,
deltaT: 4.032080 s,
deltaX: -2.500000 m,
approachRate: -0.620027 m/s,
rangeRepo size: 4
2025-06-18T18:20:57.746Z,1750270857.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 453.331482 m,
bearing: 306.780009 deg,
lat: 36.905741 deg,
lon: -122.116044 deg,
deltaT: 12.348134 s,
deltaX: -7.127777 m,
approachRate: -0.577235 m/s,
posRepo size: 4
2025-06-18T18:20:57.747Z,1750270857.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.33 m.
2025-06-18T18:20:57.754Z,1750270857.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 453.331482 m,
nav range: 441.855682 m,
bearing: 308.629492 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003973 deg/s,
cmd heading: 313.157890 deg,
new cmd heading: 313.163480 deg.
2025-06-18T18:20:57.760Z,1750270857.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465734 target range: 453.331482 and range: 457.50 m.
2025-06-18T18:20:57.886Z,1750270857.886 [DAT](INFO): DAT read: TxSync time:18:20:58.6348
2025-06-18T18:20:58.155Z,1750270858.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.33 m.
2025-06-18T18:20:58.158Z,1750270858.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 453.331482 m,
nav range: 441.567596 m,
bearing: 308.630971 deg,
approach rate: -0.686267 m/s,
LOS rate: 0.003526 deg/s,
cmd heading: 313.163490 deg,
new cmd heading: 313.167931 deg.
2025-06-18T18:20:58.159Z,1750270858.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465812 target range: 453.331482 and range: 457.50 m.
2025-06-18T18:20:58.498Z,1750270858.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:20:58.500Z,1750270858.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.33 m.
2025-06-18T18:20:58.503Z,1750270858.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 453.331482 m,
nav range: 441.341583 m,
bearing: 308.632308 deg,
approach rate: -0.653667 m/s,
LOS rate: 0.003866 deg/s,
cmd heading: 313.167944 deg,
new cmd heading: 313.171954 deg.
2025-06-18T18:20:58.504Z,1750270858.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465882 target range: 453.331482 and range: 457.50 m.
2025-06-18T18:20:58.641Z,1750270858.641 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:20:58.641Z,1750270858.641 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:20:58.641Z,1750270858.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:20:58.893Z,1750270858.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248292
2025-06-18T18:20:58.959Z,1750270858.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.33 m.
2025-06-18T18:20:58.966Z,1750270858.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 453.331482 m,
nav range: 441.057159 m,
bearing: 308.634189 deg,
approach rate: -0.620373 m/s,
LOS rate: 0.004105 deg/s,
cmd heading: 313.171960 deg,
new cmd heading: 313.177607 deg.
2025-06-18T18:20:58.967Z,1750270858.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465981 target range: 453.331482 and range: 457.50 m.
2025-06-18T18:20:59.145Z,1750270859.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499923
2025-06-18T18:20:59.316Z,1750270859.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.33 m.
2025-06-18T18:20:59.319Z,1750270859.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 453.331482 m,
nav range: 440.812927 m,
bearing: 308.635850 deg,
approach rate: -0.684795 m/s,
LOS rate: 0.004660 deg/s,
cmd heading: 313.177615 deg,
new cmd heading: 313.182602 deg.
2025-06-18T18:20:59.320Z,1750270859.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466068 target range: 453.331482 and range: 457.50 m.
2025-06-18T18:20:59.397Z,1750270859.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752163
2025-06-18T18:20:59.649Z,1750270859.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003842
2025-06-18T18:20:59.716Z,1750270859.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.33 m.
2025-06-18T18:20:59.719Z,1750270859.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 453.331482 m,
nav range: 440.553497 m,
bearing: 308.637611 deg,
approach rate: -0.648251 m/s,
LOS rate: 0.004404 deg/s,
cmd heading: 313.182615 deg,
new cmd heading: 313.187902 deg.
2025-06-18T18:20:59.736Z,1750270859.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466160 target range: 453.331482 and range: 457.50 m.
2025-06-18T18:20:59.905Z,1750270859.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260228
2025-06-18T18:21:00.153Z,1750270860.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508008
2025-06-18T18:21:00.206Z,1750270860.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.33 m.
2025-06-18T18:21:00.217Z,1750270860.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 453.331482 m,
nav range: 440.241730 m,
bearing: 308.639300 deg,
approach rate: -0.636128 m/s,
LOS rate: 0.003447 deg/s,
cmd heading: 313.187915 deg,
new cmd heading: 313.192984 deg.
2025-06-18T18:21:00.218Z,1750270860.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466249 target range: 453.331482 and range: 457.50 m.
2025-06-18T18:21:00.405Z,1750270860.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759837
2025-06-18T18:21:00.519Z,1750270860.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:00.521Z,1750270860.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.33 m.
2025-06-18T18:21:00.524Z,1750270860.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 453.331482 m,
nav range: 440.026733 m,
bearing: 308.640460 deg,
approach rate: -0.681874 m/s,
LOS rate: 0.003682 deg/s,
cmd heading: 313.192997 deg,
new cmd heading: 313.196480 deg.
2025-06-18T18:21:00.525Z,1750270860.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466310 target range: 453.331482 and range: 457.50 m.
2025-06-18T18:21:00.657Z,1750270860.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012241
2025-06-18T18:21:00.909Z,1750270860.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263959
2025-06-18T18:21:00.976Z,1750270860.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.33 m.
2025-06-18T18:21:00.979Z,1750270860.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 453.331482 m,
nav range: 439.745331 m,
bearing: 308.641859 deg,
approach rate: -0.624462 m/s,
LOS rate: 0.003107 deg/s,
cmd heading: 313.196467 deg,
new cmd heading: 313.200667 deg.
2025-06-18T18:21:00.984Z,1750270860.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466383 target range: 453.331482 and range: 457.50 m.
2025-06-18T18:21:01.161Z,1750270861.161 [DAT](INFO): DAT read: Rx Time:18:21:01.6467
2025-06-18T18:21:01.162Z,1750270861.162 [DAT](INFO): Rx dataTimestamp_ set to:1750270861.161416
2025-06-18T18:21:01.162Z,1750270861.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517358
2025-06-18T18:21:01.338Z,1750270861.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.33 m.
2025-06-18T18:21:01.341Z,1750270861.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 453.331482 m,
nav range: 439.498871 m,
bearing: 308.643035 deg,
approach rate: -0.672495 m/s,
LOS rate: 0.003211 deg/s,
cmd heading: 313.200674 deg,
new cmd heading: 313.204204 deg.
2025-06-18T18:21:01.342Z,1750270861.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466444 target range: 453.331482 and range: 457.50 m.
2025-06-18T18:21:01.415Z,1750270861.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770091
2025-06-18T18:21:01.675Z,1750270861.675 [DAT](INFO): DAT read: 18:21:01.6467 LVL= 26832, 24305, 30274, 32755, AGC= 71, IDX= 403, 0.22,-1.353,-2.948,-1.358,-2.149, PHS= 0.884,-0.752, 0.788, RAW= 147.0, -11.6, CAL= 154.1, -20.0, ROT= 355.9, 20.0
2025-06-18T18:21:01.676Z,1750270861.676 [DAT](INFO): got valid direction response:
18:21:01.6467 LVL= 26832, 24305, 30274, 32755, AGC= 71, IDX= 403, 0.22,-1.353,-2.948,-1.358,-2.149, PHS= 0.884,-0.752, 0.788, RAW= 147.0, -11.6, CAL= 154.1, -20.0, ROT= 355.9, 20.0
2025-06-18T18:21:01.677Z,1750270861.677 [DAT](INFO): DAT read: Bearing 355.9, 20.0 (Local)
2025-06-18T18:21:01.677Z,1750270861.677 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.9, 20.0 (Local)
2025-06-18T18:21:01.679Z,1750270861.679 [DAT](INFO): DAT read: Range 10 to 50 : 455.2 m (Round-trip 607.0 ms) speed 0.4 m/s
2025-06-18T18:21:01.679Z,1750270861.679 [DAT](INFO): DAT read: user:1125>
2025-06-18T18:21:01.680Z,1750270861.680 [DAT](INFO): DAT read: Tx time:18:21:02.7356
2025-06-18T18:21:01.681Z,1750270861.681 [DAT](INFO): Ping request sent.
2025-06-18T18:21:01.681Z,1750270861.681 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:21:01.681Z,1750270861.681 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:21:01.682Z,1750270861.682 [DAT](INFO): direction in FSK: [0.937288,-0.067186,-0.342020]
2025-06-18T18:21:01.682Z,1750270861.682 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:01.682Z,1750270861.682 [DAT](INFO): publishing direction and range info
2025-06-18T18:21:01.686Z,1750270861.686 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:01.686Z,1750270861.686 [DAT](INFO): publishing direction and range info
2025-06-18T18:21:01.829Z,1750270861.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 455.200012 m,
deltaT: 4.035922 s,
deltaX: -2.299988 m,
approachRate: -0.569879 m/s,
rangeRepo size: 4
2025-06-18T18:21:01.831Z,1750270861.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 451.053772 m,
bearing: 309.244471 deg,
lat: 36.905789 deg,
lon: -122.116036 deg,
deltaT: 4.035922 s,
deltaX: -2.277710 m,
approachRate: -0.564359 m/s,
posRepo size: 4
2025-06-18T18:21:01.847Z,1750270861.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.05 m.
2025-06-18T18:21:01.902Z,1750270861.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 451.053772 m,
nav range: 442.001312 m,
bearing: 309.246089 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003211 deg/s,
cmd heading: 313.204198 deg,
new cmd heading: 313.208778 deg.
2025-06-18T18:21:01.908Z,1750270861.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466525 target range: 451.053772 and range: 455.20 m.
2025-06-18T18:21:01.921Z,1750270861.921 [DAT](INFO): DAT read: TxSync time:18:21:02.7348
2025-06-18T18:21:02.360Z,1750270862.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.05 m.
2025-06-18T18:21:02.363Z,1750270862.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 451.053772 m,
nav range: 441.629364 m,
bearing: 309.246942 deg,
approach rate: -0.680413 m/s,
LOS rate: 0.001561 deg/s,
cmd heading: 313.208788 deg,
new cmd heading: 313.211348 deg.
2025-06-18T18:21:02.365Z,1750270862.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466569 target range: 451.053772 and range: 455.20 m.
2025-06-18T18:21:02.552Z,1750270862.552 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:21:02.722Z,1750270862.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:02.724Z,1750270862.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.05 m.
2025-06-18T18:21:02.727Z,1750270862.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 451.053772 m,
nav range: 441.394379 m,
bearing: 309.247430 deg,
approach rate: -0.646274 m/s,
LOS rate: 0.001344 deg/s,
cmd heading: 313.211356 deg,
new cmd heading: 313.212823 deg.
2025-06-18T18:21:02.728Z,1750270862.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466595 target range: 451.053772 and range: 455.20 m.
2025-06-18T18:21:02.933Z,1750270862.933 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:21:02.933Z,1750270862.933 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:21:02.934Z,1750270862.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:03.166Z,1750270863.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.05 m.
2025-06-18T18:21:03.169Z,1750270863.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 451.053772 m,
nav range: 441.093445 m,
bearing: 309.246557 deg,
approach rate: -0.680991 m/s,
LOS rate: -0.001978 deg/s,
cmd heading: 313.212832 deg,
new cmd heading: 313.210209 deg.
2025-06-18T18:21:03.170Z,1750270863.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466549 target range: 451.053772 and range: 455.20 m.
2025-06-18T18:21:03.181Z,1750270863.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500099
2025-06-18T18:21:03.433Z,1750270863.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752034
2025-06-18T18:21:03.556Z,1750270863.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:21:03.590Z,1750270863.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.05 m.
2025-06-18T18:21:03.592Z,1750270863.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 451.053772 m,
nav range: 440.811951 m,
bearing: 309.245739 deg,
approach rate: -0.664481 m/s,
LOS rate: -0.001933 deg/s,
cmd heading: 313.210209 deg,
new cmd heading: 313.207753 deg.
2025-06-18T18:21:03.593Z,1750270863.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466506 target range: 451.053772 and range: 455.20 m.
2025-06-18T18:21:03.685Z,1750270863.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004377
2025-06-18T18:21:03.937Z,1750270863.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256183
2025-06-18T18:21:04.018Z,1750270864.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.05 m.
2025-06-18T18:21:04.022Z,1750270864.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 451.053772 m,
nav range: 440.523621 m,
bearing: 309.243945 deg,
approach rate: -0.672518 m/s,
LOS rate: -0.004187 deg/s,
cmd heading: 313.207750 deg,
new cmd heading: 313.202365 deg.
2025-06-18T18:21:04.023Z,1750270864.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466413 target range: 451.053772 and range: 455.20 m.
2025-06-18T18:21:04.189Z,1750270864.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508567
2025-06-18T18:21:04.406Z,1750270864.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.05 m.
2025-06-18T18:21:04.413Z,1750270864.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 451.053772 m,
nav range: 440.268921 m,
bearing: 309.242231 deg,
approach rate: -0.657332 m/s,
LOS rate: -0.004424 deg/s,
cmd heading: 313.202368 deg,
new cmd heading: 313.197225 deg.
2025-06-18T18:21:04.414Z,1750270864.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466323 target range: 451.053772 and range: 455.20 m.
2025-06-18T18:21:04.441Z,1750270864.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760200
2025-06-18T18:21:04.693Z,1750270864.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012107
2025-06-18T18:21:04.779Z,1750270864.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:04.782Z,1750270864.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.05 m.
2025-06-18T18:21:04.801Z,1750270864.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 451.053772 m,
nav range: 440.011017 m,
bearing: 309.240412 deg,
approach rate: -0.685745 m/s,
LOS rate: -0.004842 deg/s,
cmd heading: 313.197232 deg,
new cmd heading: 313.191769 deg.
2025-06-18T18:21:04.802Z,1750270864.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466228 target range: 451.053772 and range: 455.20 m.
2025-06-18T18:21:04.947Z,1750270864.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265983
2025-06-18T18:21:05.197Z,1750270865.197 [DAT](INFO): DAT read: Rx Time:18:21:05.7435
2025-06-18T18:21:05.197Z,1750270865.197 [DAT](INFO): Rx dataTimestamp_ set to:1750270865.197132
2025-06-18T18:21:05.198Z,1750270865.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517252
2025-06-18T18:21:05.211Z,1750270865.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.05 m.
2025-06-18T18:21:05.214Z,1750270865.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 451.053772 m,
nav range: 439.723694 m,
bearing: 309.237505 deg,
approach rate: -0.669044 m/s,
LOS rate: -0.006771 deg/s,
cmd heading: 313.191767 deg,
new cmd heading: 313.183044 deg.
2025-06-18T18:21:05.215Z,1750270865.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466075 target range: 451.053772 and range: 455.20 m.
2025-06-18T18:21:05.450Z,1750270865.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768787
2025-06-18T18:21:05.601Z,1750270865.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.05 m.
2025-06-18T18:21:05.608Z,1750270865.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 451.053772 m,
nav range: 439.471344 m,
bearing: 309.234887 deg,
approach rate: -0.647601 m/s,
LOS rate: -0.006724 deg/s,
cmd heading: 313.183052 deg,
new cmd heading: 313.175192 deg.
2025-06-18T18:21:05.609Z,1750270865.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465938 target range: 451.053772 and range: 455.20 m.
2025-06-18T18:21:05.709Z,1750270865.709 [DAT](INFO): DAT read: 18:21:05.7435 LVL= 26336, 32705, 22946, 32755, AGC= 70, IDX= 395, 0.08,-1.537,-2.830,-1.514,-2.223, PHS= 0.774,-0.559, 0.706, RAW= 147.4, -14.1, CAL= 154.1, -22.0, ROT= 355.9, 22.0
2025-06-18T18:21:05.710Z,1750270865.710 [DAT](INFO): got valid direction response:
18:21:05.7435 LVL= 26336, 32705, 22946, 32755, AGC= 70, IDX= 395, 0.08,-1.537,-2.830,-1.514,-2.223, PHS= 0.774,-0.559, 0.706, RAW= 147.4, -14.1, CAL= 154.1, -22.0, ROT= 355.9, 22.0
2025-06-18T18:21:05.711Z,1750270865.711 [DAT](INFO): DAT read: Bearing 355.9, 22.0 (Local)
2025-06-18T18:21:05.712Z,1750270865.712 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.9, 22.0 (Local)
2025-06-18T18:21:05.713Z,1750270865.713 [DAT](INFO): DAT read: Range 10 to 50 : 452.7 m (Round-trip 603.7 ms) speed 0.0 m/s
2025-06-18T18:21:05.714Z,1750270865.714 [DAT](INFO): DAT read: user:1126>
2025-06-18T18:21:05.715Z,1750270865.715 [DAT](INFO): DAT read: Tx time:18:21:06.8357
2025-06-18T18:21:05.715Z,1750270865.715 [DAT](INFO): Ping request sent.
2025-06-18T18:21:05.715Z,1750270865.715 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:21:05.715Z,1750270865.715 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:21:05.717Z,1750270865.717 [DAT](INFO): direction in FSK: [0.924811,-0.066292,-0.374607]
2025-06-18T18:21:05.717Z,1750270865.717 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:05.717Z,1750270865.717 [DAT](INFO): publishing direction and range info
2025-06-18T18:21:05.720Z,1750270865.720 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:05.720Z,1750270865.720 [DAT](INFO): publishing direction and range info
2025-06-18T18:21:05.957Z,1750270865.957 [DAT](INFO): DAT read: TxSync time:18:21:06.8349
2025-06-18T18:21:06.125Z,1750270866.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 452.700012 m,
deltaT: 4.032813 s,
deltaX: -2.500000 m,
approachRate: -0.619915 m/s,
rangeRepo size: 4
2025-06-18T18:21:06.127Z,1750270866.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 448.579193 m,
bearing: 311.145697 deg,
lat: 36.905808 deg,
lon: -122.115913 deg,
deltaT: 4.032813 s,
deltaX: -2.474579 m,
approachRate: -0.613611 m/s,
posRepo size: 4
2025-06-18T18:21:06.127Z,1750270866.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.58 m.
2025-06-18T18:21:06.134Z,1750270866.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 448.579193 m,
nav range: 432.072083 m,
bearing: 310.372004 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006724 deg/s,
cmd heading: 313.175184 deg,
new cmd heading: 313.164718 deg.
2025-06-18T18:21:06.135Z,1750270866.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465755 target range: 448.579193 and range: 452.70 m.
2025-06-18T18:21:06.452Z,1750270866.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.58 m.
2025-06-18T18:21:06.455Z,1750270866.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 448.579193 m,
nav range: 431.842865 m,
bearing: 310.369903 deg,
approach rate: -0.726020 m/s,
LOS rate: -0.006660 deg/s,
cmd heading: 313.164720 deg,
new cmd heading: 313.158412 deg.
2025-06-18T18:21:06.460Z,1750270866.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465645 target range: 448.579193 and range: 452.70 m.
2025-06-18T18:21:06.842Z,1750270866.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:06.845Z,1750270866.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.58 m.
2025-06-18T18:21:06.847Z,1750270866.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 448.579193 m,
nav range: 431.566620 m,
bearing: 310.367432 deg,
approach rate: -0.676622 m/s,
LOS rate: -0.006054 deg/s,
cmd heading: 313.158409 deg,
new cmd heading: 313.150993 deg.
2025-06-18T18:21:06.849Z,1750270866.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465516 target range: 448.579193 and range: 452.70 m.
2025-06-18T18:21:06.963Z,1750270866.963 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:21:06.963Z,1750270866.963 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:21:06.965Z,1750270866.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:07.213Z,1750270867.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497642
2025-06-18T18:21:07.278Z,1750270867.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.58 m.
2025-06-18T18:21:07.280Z,1750270867.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 448.579193 m,
nav range: 431.274200 m,
bearing: 310.365771 deg,
approach rate: -0.674345 m/s,
LOS rate: -0.003835 deg/s,
cmd heading: 313.151005 deg,
new cmd heading: 313.146016 deg.
2025-06-18T18:21:07.281Z,1750270867.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465429 target range: 448.579193 and range: 452.70 m.
2025-06-18T18:21:07.465Z,1750270867.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749612
2025-06-18T18:21:07.633Z,1750270867.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.58 m.
2025-06-18T18:21:07.635Z,1750270867.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 448.579193 m,
nav range: 431.034698 m,
bearing: 310.364388 deg,
approach rate: -0.674378 m/s,
LOS rate: -0.003896 deg/s,
cmd heading: 313.146005 deg,
new cmd heading: 313.141854 deg.
2025-06-18T18:21:07.657Z,1750270867.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465356 target range: 448.579193 and range: 452.70 m.
2025-06-18T18:21:07.718Z,1750270867.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002183
2025-06-18T18:21:07.972Z,1750270867.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255974
2025-06-18T18:21:08.143Z,1750270868.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.58 m.
2025-06-18T18:21:08.150Z,1750270868.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 448.579193 m,
nav range: 430.701141 m,
bearing: 310.363835 deg,
approach rate: -0.654012 m/s,
LOS rate: -0.001085 deg/s,
cmd heading: 313.141852 deg,
new cmd heading: 313.140192 deg.
2025-06-18T18:21:08.150Z,1750270868.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465327 target range: 448.579193 and range: 452.70 m.
2025-06-18T18:21:08.221Z,1750270868.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506290
2025-06-18T18:21:08.473Z,1750270868.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758255
2025-06-18T18:21:08.522Z,1750270868.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.58 m.
2025-06-18T18:21:08.525Z,1750270868.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 448.579193 m,
nav range: 430.424164 m,
bearing: 310.363398 deg,
approach rate: -0.729677 m/s,
LOS rate: -0.001152 deg/s,
cmd heading: 313.140186 deg,
new cmd heading: 313.138873 deg.
2025-06-18T18:21:08.526Z,1750270868.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465304 target range: 448.579193 and range: 452.70 m.
2025-06-18T18:21:08.726Z,1750270868.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010009
2025-06-18T18:21:08.935Z,1750270868.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:08.941Z,1750270868.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.58 m.
2025-06-18T18:21:08.943Z,1750270868.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 448.579193 m,
nav range: 430.140472 m,
bearing: 310.362987 deg,
approach rate: -0.677880 m/s,
LOS rate: -0.000983 deg/s,
cmd heading: 313.138874 deg,
new cmd heading: 313.137641 deg.
2025-06-18T18:21:08.945Z,1750270868.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465283 target range: 448.579193 and range: 452.70 m.
2025-06-18T18:21:08.982Z,1750270868.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266496
2025-06-18T18:21:09.229Z,1750270869.229 [DAT](INFO): DAT read: Rx Time:18:21:09.8401
2025-06-18T18:21:09.229Z,1750270869.229 [DAT](INFO): Rx dataTimestamp_ set to:1750270869.229051
2025-06-18T18:21:09.230Z,1750270869.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514737
2025-06-18T18:21:09.343Z,1750270869.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.58 m.
2025-06-18T18:21:09.346Z,1750270869.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 448.579193 m,
nav range: 429.861359 m,
bearing: 310.363702 deg,
approach rate: -0.694524 m/s,
LOS rate: 0.001781 deg/s,
cmd heading: 313.137645 deg,
new cmd heading: 313.139792 deg.
2025-06-18T18:21:09.347Z,1750270869.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465321 target range: 448.579193 and range: 452.70 m.
2025-06-18T18:21:09.481Z,1750270869.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765590
2025-06-18T18:21:09.717Z,1750270869.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.58 m.
2025-06-18T18:21:09.719Z,1750270869.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 448.579193 m,
nav range: 429.604156 m,
bearing: 310.364404 deg,
approach rate: -0.688898 m/s,
LOS rate: 0.001881 deg/s,
cmd heading: 313.139803 deg,
new cmd heading: 313.141910 deg.
2025-06-18T18:21:09.720Z,1750270869.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465357 target range: 448.579193 and range: 452.70 m.
2025-06-18T18:21:09.744Z,1750270869.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028811
2025-06-18T18:21:10.027Z,1750270870.027 [DAT](INFO): DAT read: 18:21:09.8401 LVL= 24400, 30177, 22994, 32755, AGC= 72, IDX= 383, 0.24, 1.042,-0.225, 1.119, 0.467, PHS= 0.664,-0.645, 0.649, RAW= 149.4, -10.3, CAL= 156.0, -18.3, ROT= 354.0, 18.3
2025-06-18T18:21:10.029Z,1750270870.029 [DAT](INFO): got valid direction response:
18:21:09.8401 LVL= 24400, 30177, 22994, 32755, AGC= 72, IDX= 383, 0.24, 1.042,-0.225, 1.119, 0.467, PHS= 0.664,-0.645, 0.649, RAW= 149.4, -10.3, CAL= 156.0, -18.3, ROT= 354.0, 18.3
2025-06-18T18:21:10.030Z,1750270870.030 [DAT](INFO): DAT read: Bearing 354.0, 18.3 (Local)
2025-06-18T18:21:10.030Z,1750270870.030 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.0, 18.3 (Local)
2025-06-18T18:21:10.032Z,1750270870.032 [DAT](INFO): DAT read: Range 10 to 50 : 450.1 m (Round-trip 600.2 ms) speed 0.4 m/s
2025-06-18T18:21:10.033Z,1750270870.033 [DAT](INFO): DAT read: user:1127>
2025-06-18T18:21:10.033Z,1750270870.033 [DAT](INFO): DAT read: Tx time:18:21:10.9357
2025-06-18T18:21:10.034Z,1750270870.034 [DAT](INFO): Ping request sent.
2025-06-18T18:21:10.034Z,1750270870.034 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:21:10.034Z,1750270870.034 [DAT](INFO): DAT read: TxSync time:18:21:10.9349
2025-06-18T18:21:10.035Z,1750270870.035 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:21:10.037Z,1750270870.037 [DAT](INFO): direction in FSK: [0.944224,-0.099242,-0.313992]
2025-06-18T18:21:10.037Z,1750270870.037 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:10.037Z,1750270870.037 [DAT](INFO): publishing direction and range info
2025-06-18T18:21:10.040Z,1750270870.040 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:10.041Z,1750270870.041 [DAT](INFO): publishing direction and range info
2025-06-18T18:21:10.235Z,1750270870.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 450.100006 m,
deltaT: 4.292442 s,
deltaX: -2.600006 m,
approachRate: -0.605717 m/s,
rangeRepo size: 4
2025-06-18T18:21:10.241Z,1750270870.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 446.004608 m,
bearing: 308.074691 deg,
lat: 36.905789 deg,
lon: -122.116036 deg,
deltaT: 4.292442 s,
deltaX: -2.574585 m,
approachRate: -0.599795 m/s,
posRepo size: 4
2025-06-18T18:21:10.245Z,1750270870.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:10.248Z,1750270870.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 436.327454 m,
bearing: 309.218112 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001881 deg/s,
cmd heading: 313.141907 deg,
new cmd heading: 313.144831 deg.
2025-06-18T18:21:10.249Z,1750270870.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465408 target range: 446.004608 and range: 450.10 m.
2025-06-18T18:21:10.535Z,1750270870.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:10.538Z,1750270870.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 436.104980 m,
bearing: 309.218975 deg,
approach rate: -0.740353 m/s,
LOS rate: 0.002873 deg/s,
cmd heading: 313.144830 deg,
new cmd heading: 313.147420 deg.
2025-06-18T18:21:10.539Z,1750270870.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465454 target range: 446.004608 and range: 450.10 m.
2025-06-18T18:21:10.973Z,1750270870.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:10.975Z,1750270870.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:10.978Z,1750270870.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 435.807831 m,
bearing: 309.220129 deg,
approach rate: -0.675259 m/s,
LOS rate: 0.002624 deg/s,
cmd heading: 313.147426 deg,
new cmd heading: 313.150890 deg.
2025-06-18T18:21:10.979Z,1750270870.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465514 target range: 446.004608 and range: 450.10 m.
2025-06-18T18:21:11.002Z,1750270871.002 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:21:11.003Z,1750270871.003 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:21:11.004Z,1750270871.004 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:11.253Z,1750270871.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219003
2025-06-18T18:21:11.370Z,1750270871.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:11.373Z,1750270871.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 435.539001 m,
bearing: 309.222422 deg,
approach rate: -0.679982 m/s,
LOS rate: 0.005804 deg/s,
cmd heading: 313.150896 deg,
new cmd heading: 313.157779 deg.
2025-06-18T18:21:11.374Z,1750270871.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465634 target range: 446.004608 and range: 450.10 m.
2025-06-18T18:21:11.505Z,1750270871.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471041
2025-06-18T18:21:11.747Z,1750270871.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:11.750Z,1750270871.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 435.289551 m,
bearing: 309.224540 deg,
approach rate: -0.661729 m/s,
LOS rate: 0.005621 deg/s,
cmd heading: 313.157780 deg,
new cmd heading: 313.164138 deg.
2025-06-18T18:21:11.751Z,1750270871.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465745 target range: 446.004608 and range: 450.10 m.
2025-06-18T18:21:11.757Z,1750270871.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723012
2025-06-18T18:21:12.011Z,1750270872.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976831
2025-06-18T18:21:12.189Z,1750270872.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:12.191Z,1750270872.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 434.996460 m,
bearing: 309.227051 deg,
approach rate: -0.663610 m/s,
LOS rate: 0.005689 deg/s,
cmd heading: 313.164146 deg,
new cmd heading: 313.171684 deg.
2025-06-18T18:21:12.193Z,1750270872.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465877 target range: 446.004608 and range: 450.10 m.
2025-06-18T18:21:12.262Z,1750270872.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227732
2025-06-18T18:21:12.513Z,1750270872.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478870
2025-06-18T18:21:12.560Z,1750270872.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:12.563Z,1750270872.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 434.753052 m,
bearing: 309.229002 deg,
approach rate: -0.655038 m/s,
LOS rate: 0.005253 deg/s,
cmd heading: 313.171687 deg,
new cmd heading: 313.177543 deg.
2025-06-18T18:21:12.564Z,1750270872.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465979 target range: 446.004608 and range: 450.10 m.
2025-06-18T18:21:12.768Z,1750270872.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734003
2025-06-18T18:21:12.977Z,1750270872.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:12.000Z,1750270873.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:13.009Z,1750270873.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 434.492340 m,
bearing: 309.231022 deg,
approach rate: -0.611240 m/s,
LOS rate: 0.004739 deg/s,
cmd heading: 313.177533 deg,
new cmd heading: 313.183597 deg.
2025-06-18T18:21:13.010Z,1750270873.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466085 target range: 446.004608 and range: 450.10 m.
2025-06-18T18:21:13.021Z,1750270873.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985838
2025-06-18T18:21:13.272Z,1750270873.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237689
2025-06-18T18:21:13.397Z,1750270873.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:13.402Z,1750270873.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 434.219635 m,
bearing: 309.233027 deg,
approach rate: -0.665094 m/s,
LOS rate: 0.004894 deg/s,
cmd heading: 313.183599 deg,
new cmd heading: 313.189619 deg.
2025-06-18T18:21:13.403Z,1750270873.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466190 target range: 446.004608 and range: 450.10 m.
2025-06-18T18:21:13.521Z,1750270873.521 [DAT](INFO): DAT read: Rx Time:18:21:13.9358
2025-06-18T18:21:13.522Z,1750270873.522 [DAT](INFO): Rx dataTimestamp_ set to:1750270873.521644
2025-06-18T18:21:13.523Z,1750270873.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488954
2025-06-18T18:21:13.773Z,1750270873.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739057
2025-06-18T18:21:13.786Z,1750270873.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:13.789Z,1750270873.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 433.958191 m,
bearing: 309.234952 deg,
approach rate: -0.672660 m/s,
LOS rate: 0.004956 deg/s,
cmd heading: 313.189609 deg,
new cmd heading: 313.195388 deg.
2025-06-18T18:21:13.789Z,1750270873.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466291 target range: 446.004608 and range: 450.10 m.
2025-06-18T18:21:14.030Z,1750270874.030 [DAT](INFO): DAT read: Range 10 to 50 : 446.9 m (Round-trip 595.9 ms) speed 0.4 m/s
2025-06-18T18:21:14.033Z,1750270874.033 [DAT](INFO): DAT read: user:1128>
2025-06-18T18:21:14.035Z,1750270874.035 [DAT](INFO): DAT read: Tx time:18:21:15.0357
2025-06-18T18:21:14.037Z,1750270874.037 [DAT](INFO): Ping request sent.
2025-06-18T18:21:14.037Z,1750270874.037 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:21:14.038Z,1750270874.038 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:21:14.038Z,1750270874.038 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:14.041Z,1750270874.041 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:14.239Z,1750270874.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 446.899994 m,
deltaT: 4.031912 s,
deltaX: -3.200012 m,
approachRate: -0.793671 m/s,
rangeRepo size: 4
2025-06-18T18:21:14.240Z,1750270874.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:14.243Z,1750270874.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 433.671783 m,
bearing: 309.237135 deg,
approach rate: -0.632309 m/s,
LOS rate: 0.004823 deg/s,
cmd heading: 313.195401 deg,
new cmd heading: 313.201954 deg.
2025-06-18T18:21:14.244Z,1750270874.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466405 target range: 446.004608 and range: 446.90 m.
2025-06-18T18:21:14.277Z,1750270874.277 [DAT](INFO): DAT read: TxSync time:18:21:15.0349
2025-06-18T18:21:14.593Z,1750270874.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:14.596Z,1750270874.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 433.447357 m,
bearing: 309.238942 deg,
approach rate: -0.632406 m/s,
LOS rate: 0.005094 deg/s,
cmd heading: 313.201958 deg,
new cmd heading: 313.207382 deg.
2025-06-18T18:21:14.597Z,1750270874.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466500 target range: 446.004608 and range: 446.90 m.
2025-06-18T18:21:14.979Z,1750270874.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:14.981Z,1750270874.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:14.983Z,1750270874.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 433.202698 m,
bearing: 309.240904 deg,
approach rate: -0.631562 m/s,
LOS rate: 0.005067 deg/s,
cmd heading: 313.207395 deg,
new cmd heading: 313.213283 deg.
2025-06-18T18:21:14.985Z,1750270874.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466603 target range: 446.004608 and range: 446.90 m.
2025-06-18T18:21:15.033Z,1750270875.033 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:21:15.033Z,1750270875.033 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:21:15.034Z,1750270875.034 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:15.285Z,1750270875.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248309
2025-06-18T18:21:15.409Z,1750270875.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:15.412Z,1750270875.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 432.932983 m,
bearing: 309.241343 deg,
approach rate: -0.629938 m/s,
LOS rate: 0.001026 deg/s,
cmd heading: 313.213296 deg,
new cmd heading: 313.214614 deg.
2025-06-18T18:21:15.413Z,1750270875.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466626 target range: 446.004608 and range: 446.90 m.
2025-06-18T18:21:15.537Z,1750270875.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500303
2025-06-18T18:21:15.789Z,1750270875.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752619
2025-06-18T18:21:15.795Z,1750270875.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:15.798Z,1750270875.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 432.690155 m,
bearing: 309.241672 deg,
approach rate: -0.629492 m/s,
LOS rate: 0.000854 deg/s,
cmd heading: 313.214608 deg,
new cmd heading: 313.215596 deg.
2025-06-18T18:21:15.799Z,1750270875.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466643 target range: 446.004608 and range: 446.90 m.
2025-06-18T18:21:16.041Z,1750270876.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004304
2025-06-18T18:21:16.234Z,1750270876.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:16.241Z,1750270876.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 432.413727 m,
bearing: 309.241748 deg,
approach rate: -0.629197 m/s,
LOS rate: 0.000172 deg/s,
cmd heading: 313.215591 deg,
new cmd heading: 313.215818 deg.
2025-06-18T18:21:16.242Z,1750270876.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466647 target range: 446.004608 and range: 446.90 m.
2025-06-18T18:21:16.293Z,1750270876.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256315
2025-06-18T18:21:16.545Z,1750270876.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508239
2025-06-18T18:21:16.596Z,1750270876.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:16.599Z,1750270876.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 432.166962 m,
bearing: 309.241791 deg,
approach rate: -0.682175 m/s,
LOS rate: 0.000121 deg/s,
cmd heading: 313.215810 deg,
new cmd heading: 313.215941 deg.
2025-06-18T18:21:16.600Z,1750270876.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466650 target range: 446.004608 and range: 446.90 m.
2025-06-18T18:21:16.797Z,1750270876.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760374
2025-06-18T18:21:17.003Z,1750270877.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:17.006Z,1750270877.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:17.009Z,1750270877.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 431.899994 m,
bearing: 309.241814 deg,
approach rate: -0.651203 m/s,
LOS rate: 0.000054 deg/s,
cmd heading: 313.215946 deg,
new cmd heading: 313.216013 deg.
2025-06-18T18:21:17.010Z,1750270877.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466650 target range: 446.004608 and range: 446.90 m.
2025-06-18T18:21:17.049Z,1750270877.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012732
2025-06-18T18:21:17.301Z,1750270877.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264259
2025-06-18T18:21:17.443Z,1750270877.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:17.450Z,1750270877.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 431.619110 m,
bearing: 309.240698 deg,
approach rate: -0.641875 m/s,
LOS rate: -0.002552 deg/s,
cmd heading: 313.216001 deg,
new cmd heading: 313.212651 deg.
2025-06-18T18:21:17.451Z,1750270877.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466592 target range: 446.004608 and range: 446.90 m.
2025-06-18T18:21:17.553Z,1750270877.553 [DAT](INFO): DAT read: Rx Time:18:21:18.0322
2025-06-18T18:21:17.553Z,1750270877.553 [DAT](INFO): Rx dataTimestamp_ set to:1750270877.553185
2025-06-18T18:21:17.554Z,1750270877.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517505
2025-06-18T18:21:17.805Z,1750270877.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768338
2025-06-18T18:21:17.812Z,1750270877.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.00 m.
2025-06-18T18:21:17.815Z,1750270877.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 446.004608 m,
nav range: 431.359131 m,
bearing: 309.239666 deg,
approach rate: -0.705809 m/s,
LOS rate: -0.002803 deg/s,
cmd heading: 313.212640 deg,
new cmd heading: 313.209543 deg.
2025-06-18T18:21:17.815Z,1750270877.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466538 target range: 446.004608 and range: 446.90 m.
2025-06-18T18:21:18.067Z,1750270878.067 [DAT](INFO): DAT read: 18:21:18.0322 LVL= 32752, 32753, 31618, 32755, AGC= 70, IDX= 397, 0.23, 1.165,-0.147, 1.206, 0.590, PHS= 0.664,-0.690, 0.614, RAW= 148.1, -8.9, CAL= 154.3, -17.2, ROT= 355.7, 17.2
2025-06-18T18:21:18.068Z,1750270878.068 [DAT](INFO): got valid direction response:
18:21:18.0322 LVL= 32752, 32753, 31618, 32755, AGC= 70, IDX= 397, 0.23, 1.165,-0.147, 1.206, 0.590, PHS= 0.664,-0.690, 0.614, RAW= 148.1, -8.9, CAL= 154.3, -17.2, ROT= 355.7, 17.2
2025-06-18T18:21:18.069Z,1750270878.069 [DAT](INFO): DAT read: Bearing 355.7, 17.2 (Local)
2025-06-18T18:21:18.070Z,1750270878.070 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.7, 17.2 (Local)
2025-06-18T18:21:18.071Z,1750270878.071 [DAT](INFO): DAT read: Range 10 to 50 : 444.2 m (Round-trip 592.3 ms) speed 0.3 m/s
2025-06-18T18:21:18.072Z,1750270878.072 [DAT](INFO): DAT read: user:1129>
2025-06-18T18:21:18.075Z,1750270878.075 [DAT](INFO): DAT read: Tx time:18:21:19.1357
2025-06-18T18:21:18.075Z,1750270878.075 [DAT](INFO): Ping request sent.
2025-06-18T18:21:18.076Z,1750270878.076 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:21:18.078Z,1750270878.078 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:21:18.081Z,1750270878.081 [DAT](INFO): direction in FSK: [0.952589,-0.071625,-0.295708]
2025-06-18T18:21:18.082Z,1750270878.082 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:18.082Z,1750270878.082 [DAT](INFO): publishing direction and range info
2025-06-18T18:21:18.136Z,1750270878.136 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:18.137Z,1750270878.137 [DAT](INFO): publishing direction and range info
2025-06-18T18:21:18.296Z,1750270878.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 444.200012 m,
deltaT: 4.033250 s,
deltaX: -2.699982 m,
approachRate: -0.669431 m/s,
rangeRepo size: 4
2025-06-18T18:21:18.299Z,1750270878.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 440.160278 m,
bearing: 310.027499 deg,
lat: 36.905789 deg,
lon: -122.116036 deg,
deltaT: 8.065162 s,
deltaX: -5.844330 m,
approachRate: -0.724639 m/s,
posRepo size: 4
2025-06-18T18:21:18.299Z,1750270878.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.16 m.
2025-06-18T18:21:18.306Z,1750270878.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 440.160278 m,
nav range: 431.043640 m,
bearing: 309.237482 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002803 deg/s,
cmd heading: 313.209553 deg,
new cmd heading: 313.205522 deg.
2025-06-18T18:21:18.307Z,1750270878.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466467 target range: 440.160278 and range: 444.20 m.
2025-06-18T18:21:18.309Z,1750270878.309 [DAT](INFO): DAT read: TxSync time:18:21:19.1350
2025-06-18T18:21:18.645Z,1750270878.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.16 m.
2025-06-18T18:21:18.648Z,1750270878.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 440.160278 m,
nav range: 430.791809 m,
bearing: 309.235803 deg,
approach rate: -0.711182 m/s,
LOS rate: -0.004746 deg/s,
cmd heading: 313.205510 deg,
new cmd heading: 313.200468 deg.
2025-06-18T18:21:18.649Z,1750270878.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466379 target range: 440.160278 and range: 444.20 m.
2025-06-18T18:21:19.102Z,1750270879.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:19.108Z,1750270879.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.16 m.
2025-06-18T18:21:19.119Z,1750270879.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 440.160278 m,
nav range: 430.485626 m,
bearing: 309.233830 deg,
approach rate: -0.663669 m/s,
LOS rate: -0.004278 deg/s,
cmd heading: 313.200455 deg,
new cmd heading: 313.194534 deg.
2025-06-18T18:21:19.129Z,1750270879.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466276 target range: 440.160278 and range: 444.20 m.
2025-06-18T18:21:19.316Z,1750270879.316 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:21:19.317Z,1750270879.317 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:21:19.317Z,1750270879.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:19.451Z,1750270879.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.16 m.
2025-06-18T18:21:19.474Z,1750270879.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 440.160278 m,
nav range: 430.229126 m,
bearing: 309.232052 deg,
approach rate: -0.745157 m/s,
LOS rate: -0.005169 deg/s,
cmd heading: 313.194527 deg,
new cmd heading: 313.189189 deg.
2025-06-18T18:21:19.475Z,1750270879.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466183 target range: 440.160278 and range: 444.20 m.
2025-06-18T18:21:19.570Z,1750270879.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493813
2025-06-18T18:21:19.821Z,1750270879.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745293
2025-06-18T18:21:19.857Z,1750270879.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.16 m.
2025-06-18T18:21:19.860Z,1750270879.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 440.160278 m,
nav range: 429.944214 m,
bearing: 309.230072 deg,
approach rate: -0.701198 m/s,
LOS rate: -0.004877 deg/s,
cmd heading: 313.189199 deg,
new cmd heading: 313.183254 deg.
2025-06-18T18:21:19.861Z,1750270879.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466079 target range: 440.160278 and range: 444.20 m.
2025-06-18T18:21:20.073Z,1750270880.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997214
2025-06-18T18:21:20.282Z,1750270880.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.16 m.
2025-06-18T18:21:20.285Z,1750270880.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 440.160278 m,
nav range: 429.645050 m,
bearing: 309.227481 deg,
approach rate: -0.703587 m/s,
LOS rate: -0.006098 deg/s,
cmd heading: 313.183243 deg,
new cmd heading: 313.175465 deg.
2025-06-18T18:21:20.286Z,1750270880.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465943 target range: 440.160278 and range: 444.20 m.
2025-06-18T18:21:20.326Z,1750270880.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250111
2025-06-18T18:21:20.577Z,1750270880.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501274
2025-06-18T18:21:20.659Z,1750270880.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.16 m.
2025-06-18T18:21:20.662Z,1750270880.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 440.160278 m,
nav range: 429.393097 m,
bearing: 309.225290 deg,
approach rate: -0.668360 m/s,
LOS rate: -0.005814 deg/s,
cmd heading: 313.175457 deg,
new cmd heading: 313.168882 deg.
2025-06-18T18:21:20.663Z,1750270880.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465828 target range: 440.160278 and range: 444.20 m.
2025-06-18T18:21:20.830Z,1750270880.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754192
2025-06-18T18:21:21.081Z,1750270881.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005358
2025-06-18T18:21:21.083Z,1750270881.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.16 m.
2025-06-18T18:21:21.086Z,1750270881.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 440.160278 m,
nav range: 429.082184 m,
bearing: 309.222581 deg,
approach rate: -0.733128 m/s,
LOS rate: -0.006394 deg/s,
cmd heading: 313.168873 deg,
new cmd heading: 313.160738 deg.
2025-06-18T18:21:21.087Z,1750270881.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465686 target range: 440.160278 and range: 444.20 m.
2025-06-18T18:21:21.333Z,1750270881.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257321
2025-06-18T18:21:21.502Z,1750270881.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:21.504Z,1750270881.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.16 m.
2025-06-18T18:21:21.507Z,1750270881.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 440.160278 m,
nav range: 428.795197 m,
bearing: 309.219883 deg,
approach rate: -0.682268 m/s,
LOS rate: -0.006417 deg/s,
cmd heading: 313.160731 deg,
new cmd heading: 313.152633 deg.
2025-06-18T18:21:21.508Z,1750270881.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465545 target range: 440.160278 and range: 444.20 m.
2025-06-18T18:21:21.585Z,1750270881.585 [DAT](INFO): DAT read: Rx Time:18:21:22.1154
2025-06-18T18:21:21.585Z,1750270881.585 [DAT](INFO): Rx dataTimestamp_ set to:1750270881.585187
2025-06-18T18:21:21.586Z,1750270881.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510503
2025-06-18T18:21:21.837Z,1750270881.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761178
2025-06-18T18:21:21.950Z,1750270881.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.16 m.
2025-06-18T18:21:21.953Z,1750270881.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 440.160278 m,
nav range: 428.492798 m,
bearing: 309.216995 deg,
approach rate: -0.681255 m/s,
LOS rate: -0.006510 deg/s,
cmd heading: 313.152644 deg,
new cmd heading: 313.143974 deg.
2025-06-18T18:21:21.954Z,1750270881.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465394 target range: 440.160278 and range: 444.20 m.
2025-06-18T18:21:22.100Z,1750270882.100 [DAT](INFO): DAT read: 18:21:22.1154 LVL= 26512, 25761, 26994, 32755, AGC= 72, IDX= 407,-0.23, 2.494, 1.006, 2.586, 1.819, PHS= 0.764,-0.766, 0.765, RAW= 150.0, -10.0, CAL= 156.4, -17.9, ROT= 353.6, 17.9
2025-06-18T18:21:22.101Z,1750270882.101 [DAT](INFO): got valid direction response:
18:21:22.1154 LVL= 26512, 25761, 26994, 32755, AGC= 72, IDX= 407,-0.23, 2.494, 1.006, 2.586, 1.819, PHS= 0.764,-0.766, 0.765, RAW= 150.0, -10.0, CAL= 156.4, -17.9, ROT= 353.6, 17.9
2025-06-18T18:21:22.102Z,1750270882.102 [DAT](INFO): DAT read: Bearing 353.6, 17.9 (Local)
2025-06-18T18:21:22.102Z,1750270882.102 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.6, 17.9 (Local)
2025-06-18T18:21:22.108Z,1750270882.108 [DAT](INFO): DAT read: Range 10 to 50 : 431.5 m (Round-trip 575.4 ms) speed 0.5 m/s
2025-06-18T18:21:22.109Z,1750270882.109 [DAT](INFO): DAT read: user:1130>
2025-06-18T18:21:22.110Z,1750270882.110 [DAT](INFO): DAT read: Tx time:18:21:23.2358
2025-06-18T18:21:22.111Z,1750270882.111 [DAT](INFO): Ping request sent.
2025-06-18T18:21:22.111Z,1750270882.111 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:21:22.111Z,1750270882.111 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:21:22.132Z,1750270882.132 [DAT](INFO): direction in FSK: [0.945664,-0.106073,-0.307357]
2025-06-18T18:21:22.133Z,1750270882.133 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:22.134Z,1750270882.134 [DAT](INFO): publishing direction and range info
2025-06-18T18:21:22.203Z,1750270882.203 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:22.212Z,1750270882.212 [DAT](INFO): publishing direction and range info
2025-06-18T18:21:22.345Z,1750270882.345 [DAT](INFO): DAT read: TxSync time:18:21:23.2350
2025-06-18T18:21:22.439Z,1750270882.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 431.500000 m,
deltaT: 4.033936 s,
deltaX: -12.700012 m,
approachRate: -3.148293 m/s,
rangeRepo size: 4
2025-06-18T18:21:22.445Z,1750270882.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 427.575836 m,
bearing: 307.816398 deg,
lat: 36.905789 deg,
lon: -122.115956 deg,
deltaT: 4.033936 s,
deltaX: -12.584442 m,
approachRate: -3.119643 m/s,
posRepo size: 4
2025-06-18T18:21:22.446Z,1750270882.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.58 m.
2025-06-18T18:21:22.453Z,1750270882.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.575836 m,
nav range: 422.719421 m,
bearing: 309.821283 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006510 deg/s,
cmd heading: 313.143983 deg,
new cmd heading: 313.134410 deg.
2025-06-18T18:21:22.454Z,1750270882.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465227 target range: 427.575836 and range: 431.50 m.
2025-06-18T18:21:22.771Z,1750270882.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.58 m.
2025-06-18T18:21:22.778Z,1750270882.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.575836 m,
nav range: 422.503571 m,
bearing: 309.819722 deg,
approach rate: -0.647470 m/s,
LOS rate: -0.004686 deg/s,
cmd heading: 313.134421 deg,
new cmd heading: 313.129734 deg.
2025-06-18T18:21:22.779Z,1750270882.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465145 target range: 427.575836 and range: 431.50 m.
2025-06-18T18:21:23.255Z,1750270883.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.58 m.
2025-06-18T18:21:23.258Z,1750270883.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.575836 m,
nav range: 422.190094 m,
bearing: 309.817451 deg,
approach rate: -0.647743 m/s,
LOS rate: -0.004695 deg/s,
cmd heading: 313.129722 deg,
new cmd heading: 313.122905 deg.
2025-06-18T18:21:23.259Z,1750270883.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465025 target range: 427.575836 and range: 431.50 m.
2025-06-18T18:21:23.593Z,1750270883.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:23.595Z,1750270883.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.58 m.
2025-06-18T18:21:23.604Z,1750270883.604 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:21:23.605Z,1750270883.605 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:21:23.605Z,1750270883.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:23.614Z,1750270883.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.575836 m,
nav range: 421.954590 m,
bearing: 309.816178 deg,
approach rate: -0.693579 m/s,
LOS rate: -0.003753 deg/s,
cmd heading: 313.122892 deg,
new cmd heading: 313.119068 deg.
2025-06-18T18:21:23.615Z,1750270883.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464959 target range: 427.575836 and range: 431.50 m.
2025-06-18T18:21:23.857Z,1750270883.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746389
2025-06-18T18:21:23.967Z,1750270883.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.58 m.
2025-06-18T18:21:23.994Z,1750270883.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.575836 m,
nav range: 421.706757 m,
bearing: 309.814957 deg,
approach rate: -0.665238 m/s,
LOS rate: -0.003279 deg/s,
cmd heading: 313.119067 deg,
new cmd heading: 313.115402 deg.
2025-06-18T18:21:23.995Z,1750270883.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464895 target range: 427.575836 and range: 431.50 m.
2025-06-18T18:21:24.109Z,1750270884.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998483
2025-06-18T18:21:24.361Z,1750270884.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250283
2025-06-18T18:21:24.395Z,1750270884.395 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD87.18, +6238.93, -34.12, 5.90, 0.00
2025-06-18T18:21:24.427Z,1750270884.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.58 m.
2025-06-18T18:21:24.434Z,1750270884.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.575836 m,
nav range: 421.410736 m,
bearing: 309.813469 deg,
approach rate: -0.643986 m/s,
LOS rate: -0.003238 deg/s,
cmd heading: 313.115406 deg,
new cmd heading: 313.110941 deg.
2025-06-18T18:21:24.435Z,1750270884.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464817 target range: 427.575836 and range: 431.50 m.
2025-06-18T18:21:24.613Z,1750270884.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502013
2025-06-18T18:21:24.779Z,1750270884.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.58 m.
2025-06-18T18:21:24.782Z,1750270884.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.575836 m,
nav range: 421.175110 m,
bearing: 309.812233 deg,
approach rate: -0.668876 m/s,
LOS rate: -0.003512 deg/s,
cmd heading: 313.110953 deg,
new cmd heading: 313.107241 deg.
2025-06-18T18:21:24.783Z,1750270884.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464752 target range: 427.575836 and range: 431.50 m.
2025-06-18T18:21:24.866Z,1750270884.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755016
2025-06-18T18:21:25.117Z,1750270885.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006054
2025-06-18T18:21:25.220Z,1750270885.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.58 m.
2025-06-18T18:21:25.239Z,1750270885.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.575836 m,
nav range: 420.911285 m,
bearing: 309.810748 deg,
approach rate: -0.606896 m/s,
LOS rate: -0.003417 deg/s,
cmd heading: 313.107237 deg,
new cmd heading: 313.102781 deg.
2025-06-18T18:21:25.247Z,1750270885.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464674 target range: 427.575836 and range: 431.50 m.
2025-06-18T18:21:25.369Z,1750270885.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257963
2025-06-18T18:21:25.615Z,1750270885.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:25.617Z,1750270885.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.58 m.
2025-06-18T18:21:25.623Z,1750270885.623 [DAT](INFO): DAT read: Rx Time:18:21:26.2251
2025-06-18T18:21:25.624Z,1750270885.624 [DAT](INFO): Rx dataTimestamp_ set to:1750270885.623671
2025-06-18T18:21:25.624Z,1750270885.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513768
2025-06-18T18:21:25.640Z,1750270885.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.575836 m,
nav range: 420.627838 m,
bearing: 309.811485 deg,
approach rate: -0.703047 m/s,
LOS rate: 0.001828 deg/s,
cmd heading: 313.102784 deg,
new cmd heading: 313.104995 deg.
2025-06-18T18:21:25.641Z,1750270885.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464713 target range: 427.575836 and range: 431.50 m.
2025-06-18T18:21:25.878Z,1750270885.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766851
2025-06-18T18:21:25.989Z,1750270885.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.58 m.
2025-06-18T18:21:25.992Z,1750270885.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.575836 m,
nav range: 420.385681 m,
bearing: 309.812101 deg,
approach rate: -0.650869 m/s,
LOS rate: 0.001657 deg/s,
cmd heading: 313.104997 deg,
new cmd heading: 313.106847 deg.
2025-06-18T18:21:25.993Z,1750270885.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464746 target range: 427.575836 and range: 431.50 m.
2025-06-18T18:21:26.132Z,1750270886.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020168
2025-06-18T18:21:26.387Z,1750270886.387 [DAT](INFO): DAT read: 18:21:26.2251 LVL= 21664, 22369, 21586, 20899, AGC= 74, IDX= 37,-0.16,-2.535, 2.372,-2.496, 3.116, PHS= 0.720,-0.697, 0.668, RAW= 148.1, -10.0, CAL= 154.7, -18.2, ROT= 355.3, 18.2
2025-06-18T18:21:26.388Z,1750270886.388 [DAT](INFO): got valid direction response:
18:21:26.2251 LVL= 21664, 22369, 21586, 20899, AGC= 74, IDX= 37,-0.16,-2.535, 2.372,-2.496, 3.116, PHS= 0.720,-0.697, 0.668, RAW= 148.1, -10.0, CAL= 154.7, -18.2, ROT= 355.3, 18.2
2025-06-18T18:21:26.389Z,1750270886.389 [DAT](INFO): DAT read: Bearing 355.3, 18.2 (Local)
2025-06-18T18:21:26.389Z,1750270886.389 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.3, 18.2 (Local)
2025-06-18T18:21:26.391Z,1750270886.391 [DAT](INFO): DAT read: Range 10 to 50 : 438.9 m (Round-trip 585.2 ms) speed 0.4 m/s
2025-06-18T18:21:26.392Z,1750270886.392 [DAT](INFO): DAT read: user:1131>
2025-06-18T18:21:26.393Z,1750270886.393 [DAT](INFO): DAT read: Tx time:18:21:27.3358
2025-06-18T18:21:26.393Z,1750270886.393 [DAT](INFO): Ping request sent.
2025-06-18T18:21:26.393Z,1750270886.393 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:21:26.394Z,1750270886.394 [DAT](INFO): DAT read: TxSync time:18:21:27.3350
2025-06-18T18:21:26.394Z,1750270886.394 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:21:26.395Z,1750270886.395 [DAT](INFO): direction in FSK: [0.946778,-0.077839,-0.312335]
2025-06-18T18:21:26.395Z,1750270886.395 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:26.396Z,1750270886.396 [DAT](INFO): publishing direction and range info
2025-06-18T18:21:26.399Z,1750270886.399 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:26.399Z,1750270886.399 [DAT](INFO): publishing direction and range info
2025-06-18T18:21:26.502Z,1750270886.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 438.899994 m,
deltaT: 4.287506 s,
deltaX: 7.399994 m,
approachRate: 1.725944 m/s,
rangeRepo size: 4
2025-06-18T18:21:26.504Z,1750270886.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 434.907318 m,
bearing: 310.000621 deg,
lat: 36.905760 deg,
lon: -122.115953 deg,
deltaT: 4.287506 s,
deltaX: 7.331482 m,
approachRate: 1.709964 m/s,
posRepo size: 4
2025-06-18T18:21:26.509Z,1750270886.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:26.523Z,1750270886.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 417.778381 m,
bearing: 309.498883 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001657 deg/s,
cmd heading: 313.106854 deg,
new cmd heading: 313.109398 deg.
2025-06-18T18:21:26.547Z,1750270886.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464790 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:26.982Z,1750270886.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:26.986Z,1750270886.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 417.458740 m,
bearing: 309.500140 deg,
approach rate: -0.663806 m/s,
LOS rate: 0.002611 deg/s,
cmd heading: 313.109395 deg,
new cmd heading: 313.113167 deg.
2025-06-18T18:21:26.986Z,1750270886.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464856 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:27.398Z,1750270887.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:27.401Z,1750270887.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 417.170410 m,
bearing: 309.502207 deg,
approach rate: -0.693239 m/s,
LOS rate: 0.004973 deg/s,
cmd heading: 313.113166 deg,
new cmd heading: 313.119371 deg.
2025-06-18T18:21:27.402Z,1750270887.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464964 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:27.813Z,1750270887.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:27.815Z,1750270887.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:27.818Z,1750270887.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 416.895111 m,
bearing: 309.504175 deg,
approach rate: -0.660559 m/s,
LOS rate: 0.004727 deg/s,
cmd heading: 313.119367 deg,
new cmd heading: 313.125277 deg.
2025-06-18T18:21:27.819Z,1750270887.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465067 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:27.893Z,1750270887.893 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:21:27.894Z,1750270887.894 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:21:27.894Z,1750270887.894 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:28.145Z,1750270888.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751759
2025-06-18T18:21:28.247Z,1750270888.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:28.271Z,1750270888.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 416.625061 m,
bearing: 309.506093 deg,
approach rate: -0.627782 m/s,
LOS rate: 0.004460 deg/s,
cmd heading: 313.125269 deg,
new cmd heading: 313.131024 deg.
2025-06-18T18:21:28.278Z,1750270888.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465168 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:28.397Z,1750270888.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003700
2025-06-18T18:21:28.649Z,1750270888.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255777
2025-06-18T18:21:28.675Z,1750270888.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:28.686Z,1750270888.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 416.337250 m,
bearing: 309.508226 deg,
approach rate: -0.669840 m/s,
LOS rate: 0.004969 deg/s,
cmd heading: 313.131033 deg,
new cmd heading: 313.137439 deg.
2025-06-18T18:21:28.687Z,1750270888.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465279 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:28.901Z,1750270888.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508227
2025-06-18T18:21:29.037Z,1750270889.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:29.039Z,1750270889.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 416.082886 m,
bearing: 309.510114 deg,
approach rate: -0.704465 m/s,
LOS rate: 0.005232 deg/s,
cmd heading: 313.137426 deg,
new cmd heading: 313.143094 deg.
2025-06-18T18:21:29.041Z,1750270889.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465378 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:29.153Z,1750270889.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759802
2025-06-18T18:21:29.405Z,1750270889.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012012
2025-06-18T18:21:29.471Z,1750270889.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:29.478Z,1750270889.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 415.816620 m,
bearing: 309.510922 deg,
approach rate: -0.612111 m/s,
LOS rate: 0.001859 deg/s,
cmd heading: 313.143082 deg,
new cmd heading: 313.145507 deg.
2025-06-18T18:21:29.479Z,1750270889.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465420 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:29.657Z,1750270889.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263805
2025-06-18T18:21:29.837Z,1750270889.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:29.840Z,1750270889.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:29.842Z,1750270889.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 415.573944 m,
bearing: 309.511636 deg,
approach rate: -0.658375 m/s,
LOS rate: 0.001938 deg/s,
cmd heading: 313.145513 deg,
new cmd heading: 313.147656 deg.
2025-06-18T18:21:29.843Z,1750270889.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465457 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:29.911Z,1750270889.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517224
2025-06-18T18:21:30.161Z,1750270890.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767636
2025-06-18T18:21:30.265Z,1750270890.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:30.293Z,1750270890.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 415.309906 m,
bearing: 309.512393 deg,
approach rate: -0.628557 m/s,
LOS rate: 0.001803 deg/s,
cmd heading: 313.147644 deg,
new cmd heading: 313.149916 deg.
2025-06-18T18:21:30.302Z,1750270890.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465497 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:30.413Z,1750270890.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019719
2025-06-18T18:21:30.665Z,1750270890.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271702
2025-06-18T18:21:30.914Z,1750270890.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:30.917Z,1750270890.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523741
2025-06-18T18:21:30.947Z,1750270890.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 414.947815 m,
bearing: 309.513052 deg,
approach rate: -0.553384 m/s,
LOS rate: 0.001008 deg/s,
cmd heading: 313.149912 deg,
new cmd heading: 313.151891 deg.
2025-06-18T18:21:30.948Z,1750270890.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465531 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:31.170Z,1750270891.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777134
2025-06-18T18:21:31.238Z,1750270891.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:31.267Z,1750270891.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 414.665741 m,
bearing: 309.513493 deg,
approach rate: -0.869399 m/s,
LOS rate: 0.001360 deg/s,
cmd heading: 313.151879 deg,
new cmd heading: 313.153203 deg.
2025-06-18T18:21:31.273Z,1750270891.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465554 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:31.421Z,1750270891.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027862
2025-06-18T18:21:31.665Z,1750270891.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:31.667Z,1750270891.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 414.396515 m,
bearing: 309.513332 deg,
approach rate: -0.631737 m/s,
LOS rate: -0.000378 deg/s,
cmd heading: 313.153191 deg,
new cmd heading: 313.152707 deg.
2025-06-18T18:21:31.669Z,1750270891.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465546 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:31.673Z,1750270891.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280037
2025-06-18T18:21:31.925Z,1750270891.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531829
2025-06-18T18:21:32.039Z,1750270892.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:32.041Z,1750270892.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:32.044Z,1750270892.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 414.156311 m,
bearing: 309.513188 deg,
approach rate: -0.637873 m/s,
LOS rate: -0.000381 deg/s,
cmd heading: 313.152699 deg,
new cmd heading: 313.152268 deg.
2025-06-18T18:21:32.045Z,1750270892.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465538 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:32.178Z,1750270892.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784717
2025-06-18T18:21:32.429Z,1750270892.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036111
2025-06-18T18:21:32.538Z,1750270892.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:32.541Z,1750270892.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 413.838867 m,
bearing: 309.511759 deg,
approach rate: -0.638395 m/s,
LOS rate: -0.002876 deg/s,
cmd heading: 313.152262 deg,
new cmd heading: 313.147971 deg.
2025-06-18T18:21:32.542Z,1750270892.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465463 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:32.681Z,1750270892.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287803
2025-06-18T18:21:32.859Z,1750270892.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:32.862Z,1750270892.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 413.634399 m,
bearing: 309.510851 deg,
approach rate: -0.638039 m/s,
LOS rate: -0.002836 deg/s,
cmd heading: 313.147972 deg,
new cmd heading: 313.145246 deg.
2025-06-18T18:21:32.863Z,1750270892.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465415 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:32.934Z,1750270892.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540549
2025-06-18T18:21:33.185Z,1750270893.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791644
2025-06-18T18:21:33.294Z,1750270893.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:33.329Z,1750270893.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 413.365021 m,
bearing: 309.509676 deg,
approach rate: -0.619199 m/s,
LOS rate: -0.002701 deg/s,
cmd heading: 313.145240 deg,
new cmd heading: 313.141714 deg.
2025-06-18T18:21:33.337Z,1750270893.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465354 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:33.438Z,1750270893.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044768
2025-06-18T18:21:33.676Z,1750270893.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:21:33.689Z,1750270893.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.295697
2025-06-18T18:21:33.725Z,1750270893.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:33.727Z,1750270893.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 413.079529 m,
bearing: 309.507950 deg,
approach rate: -0.662948 m/s,
LOS rate: -0.004012 deg/s,
cmd heading: 313.141716 deg,
new cmd heading: 313.136533 deg.
2025-06-18T18:21:33.729Z,1750270893.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465263 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:33.941Z,1750270893.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.547752
2025-06-18T18:21:34.066Z,1750270894.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:34.068Z,1750270894.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:34.071Z,1750270894.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 412.858398 m,
bearing: 309.506639 deg,
approach rate: -0.644284 m/s,
LOS rate: -0.003821 deg/s,
cmd heading: 313.136525 deg,
new cmd heading: 313.132590 deg.
2025-06-18T18:21:34.093Z,1750270894.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465195 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:34.193Z,1750270894.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.799639
2025-06-18T18:21:34.445Z,1750270894.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051637
2025-06-18T18:21:34.537Z,1750270894.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:34.540Z,1750270894.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 412.543152 m,
bearing: 309.504964 deg,
approach rate: -0.671686 m/s,
LOS rate: -0.003572 deg/s,
cmd heading: 313.132591 deg,
new cmd heading: 313.127562 deg.
2025-06-18T18:21:34.541Z,1750270894.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465107 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:34.680Z,1750270894.680 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:21:34.697Z,1750270894.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303672
2025-06-18T18:21:34.927Z,1750270894.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:34.930Z,1750270894.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 412.281036 m,
bearing: 309.503607 deg,
approach rate: -0.671888 m/s,
LOS rate: -0.003480 deg/s,
cmd heading: 313.127564 deg,
new cmd heading: 313.123491 deg.
2025-06-18T18:21:34.931Z,1750270894.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465036 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:34.949Z,1750270894.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.555762
2025-06-18T18:21:35.201Z,1750270895.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.807629
2025-06-18T18:21:35.363Z,1750270895.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:35.386Z,1750270895.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 412.012146 m,
bearing: 309.502240 deg,
approach rate: -0.620122 m/s,
LOS rate: -0.003155 deg/s,
cmd heading: 313.123493 deg,
new cmd heading: 313.119388 deg.
2025-06-18T18:21:35.394Z,1750270895.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464964 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:35.453Z,1750270895.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.059873
2025-06-18T18:21:35.705Z,1750270895.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.311778
2025-06-18T18:21:35.858Z,1750270895.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:35.861Z,1750270895.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 411.659821 m,
bearing: 309.500603 deg,
approach rate: -0.708829 m/s,
LOS rate: -0.003296 deg/s,
cmd heading: 313.119395 deg,
new cmd heading: 313.114480 deg.
2025-06-18T18:21:35.862Z,1750270895.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464879 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:35.957Z,1750270895.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.563737
2025-06-18T18:21:36.209Z,1750270896.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.815797
2025-06-18T18:21:36.254Z,1750270896.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:36.257Z,1750270896.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:36.259Z,1750270896.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 411.395538 m,
bearing: 309.499380 deg,
approach rate: -0.663842 m/s,
LOS rate: -0.003073 deg/s,
cmd heading: 313.114477 deg,
new cmd heading: 313.110807 deg.
2025-06-18T18:21:36.260Z,1750270896.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464815 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:36.460Z,1750270896.460 [DAT](INFO): Reached modem response timeout
2025-06-18T18:21:36.461Z,1750270896.461 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:21:36.461Z,1750270896.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:36.665Z,1750270896.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:36.670Z,1750270896.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 411.123413 m,
bearing: 309.498421 deg,
approach rate: -0.668675 m/s,
LOS rate: -0.002359 deg/s,
cmd heading: 313.110816 deg,
new cmd heading: 313.107936 deg.
2025-06-18T18:21:36.671Z,1750270896.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464765 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:36.712Z,1750270896.712 [DAT](INFO): Reached modem response timeout
2025-06-18T18:21:36.713Z,1750270896.713 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:21:36.713Z,1750270896.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:36.964Z,1750270896.964 [DAT](INFO): Reached modem response timeout
2025-06-18T18:21:36.965Z,1750270896.965 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:21:36.965Z,1750270896.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:37.039Z,1750270897.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:37.058Z,1750270897.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 410.866821 m,
bearing: 309.497487 deg,
approach rate: -0.682583 m/s,
LOS rate: -0.002486 deg/s,
cmd heading: 313.107947 deg,
new cmd heading: 313.105144 deg.
2025-06-18T18:21:37.059Z,1750270897.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464715 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:37.217Z,1750270897.217 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:21:37.217Z,1750270897.217 [DAT](INFO): response not received
2025-06-18T18:21:37.218Z,1750270897.218 [DAT](INFO): DAT read: user:1132>
2025-06-18T18:21:37.218Z,1750270897.218 [DAT](INFO): DAT read: Tx time:18:21:38.2859
2025-06-18T18:21:37.219Z,1750270897.219 [DAT](INFO): Ping request sent.
2025-06-18T18:21:37.219Z,1750270897.219 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:21:37.219Z,1750270897.219 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:37.219Z,1750270897.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-06-18T18:21:37.469Z,1750270897.469 [DAT](INFO): DAT read: TxSync time:18:21:38.2851
2025-06-18T18:21:37.470Z,1750270897.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251010
2025-06-18T18:21:37.514Z,1750270897.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:37.517Z,1750270897.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 410.555267 m,
bearing: 309.496131 deg,
approach rate: -0.655644 m/s,
LOS rate: -0.002855 deg/s,
cmd heading: 313.105133 deg,
new cmd heading: 313.101063 deg.
2025-06-18T18:21:37.518Z,1750270897.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464644 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:37.721Z,1750270897.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501995
2025-06-18T18:21:37.847Z,1750270897.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:37.850Z,1750270897.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 410.337006 m,
bearing: 309.495233 deg,
approach rate: -0.655740 m/s,
LOS rate: -0.002700 deg/s,
cmd heading: 313.101062 deg,
new cmd heading: 313.098367 deg.
2025-06-18T18:21:37.851Z,1750270897.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464597 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:37.973Z,1750270897.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754274
2025-06-18T18:21:38.225Z,1750270898.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006002
2025-06-18T18:21:38.269Z,1750270898.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:38.271Z,1750270898.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:38.274Z,1750270898.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 410.058960 m,
bearing: 309.494106 deg,
approach rate: -0.655156 m/s,
LOS rate: -0.002658 deg/s,
cmd heading: 313.098358 deg,
new cmd heading: 313.094973 deg.
2025-06-18T18:21:38.275Z,1750270898.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464538 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:38.478Z,1750270898.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259621
2025-06-18T18:21:38.673Z,1750270898.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:38.676Z,1750270898.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 409.792145 m,
bearing: 309.493840 deg,
approach rate: -0.663663 m/s,
LOS rate: -0.000661 deg/s,
cmd heading: 313.094970 deg,
new cmd heading: 313.094172 deg.
2025-06-18T18:21:38.677Z,1750270898.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464524 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:38.729Z,1750270898.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510240
2025-06-18T18:21:38.981Z,1750270898.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762745
2025-06-18T18:21:39.056Z,1750270899.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:39.059Z,1750270899.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 409.538391 m,
bearing: 309.493543 deg,
approach rate: -0.662390 m/s,
LOS rate: -0.000776 deg/s,
cmd heading: 313.094178 deg,
new cmd heading: 313.093285 deg.
2025-06-18T18:21:39.060Z,1750270899.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464509 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:39.233Z,1750270899.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014082
2025-06-18T18:21:39.485Z,1750270899.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266296
2025-06-18T18:21:39.537Z,1750270899.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:39.539Z,1750270899.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 409.241974 m,
bearing: 309.493090 deg,
approach rate: -0.616925 m/s,
LOS rate: -0.000943 deg/s,
cmd heading: 313.093276 deg,
new cmd heading: 313.091917 deg.
2025-06-18T18:21:39.545Z,1750270899.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464485 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:39.744Z,1750270899.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520846
2025-06-18T18:21:39.864Z,1750270899.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:39.867Z,1750270899.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 409.014313 m,
bearing: 309.492650 deg,
approach rate: -0.696158 m/s,
LOS rate: -0.001347 deg/s,
cmd heading: 313.091910 deg,
new cmd heading: 313.090589 deg.
2025-06-18T18:21:39.869Z,1750270899.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464462 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:39.990Z,1750270899.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770793
2025-06-18T18:21:40.241Z,1750270900.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022085
2025-06-18T18:21:40.271Z,1750270900.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:40.286Z,1750270900.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:40.289Z,1750270900.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 408.749084 m,
bearing: 309.492074 deg,
approach rate: -0.628115 m/s,
LOS rate: -0.001365 deg/s,
cmd heading: 313.090599 deg,
new cmd heading: 313.088869 deg.
2025-06-18T18:21:40.290Z,1750270900.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464432 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:40.493Z,1750270900.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274032
2025-06-18T18:21:40.712Z,1750270900.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:40.715Z,1750270900.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 408.482391 m,
bearing: 309.491563 deg,
approach rate: -0.632446 m/s,
LOS rate: -0.001212 deg/s,
cmd heading: 313.088877 deg,
new cmd heading: 313.087344 deg.
2025-06-18T18:21:40.720Z,1750270900.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464405 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:40.746Z,1750270900.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527672
2025-06-18T18:21:40.997Z,1750270900.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778105
2025-06-18T18:21:41.082Z,1750270901.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:41.085Z,1750270901.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 408.232971 m,
bearing: 309.491088 deg,
approach rate: -0.667174 m/s,
LOS rate: -0.001271 deg/s,
cmd heading: 313.087347 deg,
new cmd heading: 313.085921 deg.
2025-06-18T18:21:41.086Z,1750270901.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464380 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:41.249Z,1750270901.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030197
2025-06-18T18:21:41.503Z,1750270901.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284321
2025-06-18T18:21:41.551Z,1750270901.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:41.553Z,1750270901.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 407.937164 m,
bearing: 309.491153 deg,
approach rate: -0.630804 m/s,
LOS rate: 0.000139 deg/s,
cmd heading: 313.085927 deg,
new cmd heading: 313.086122 deg.
2025-06-18T18:21:41.554Z,1750270901.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464384 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:41.753Z,1750270901.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534097
2025-06-18T18:21:41.912Z,1750270901.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:41.915Z,1750270901.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 407.721619 m,
bearing: 309.491211 deg,
approach rate: -0.595692 m/s,
LOS rate: 0.000160 deg/s,
cmd heading: 313.086118 deg,
new cmd heading: 313.086291 deg.
2025-06-18T18:21:41.920Z,1750270901.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464386 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:42.009Z,1750270902.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790705
2025-06-18T18:21:42.261Z,1750270902.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042116
2025-06-18T18:21:42.330Z,1750270902.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:42.336Z,1750270902.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:42.339Z,1750270902.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 407.454376 m,
bearing: 309.491295 deg,
approach rate: -0.630241 m/s,
LOS rate: 0.000200 deg/s,
cmd heading: 313.086282 deg,
new cmd heading: 313.086536 deg.
2025-06-18T18:21:42.345Z,1750270902.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464391 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:42.513Z,1750270902.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294087
2025-06-18T18:21:42.734Z,1750270902.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:42.741Z,1750270902.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 407.195496 m,
bearing: 309.490983 deg,
approach rate: -0.650953 m/s,
LOS rate: -0.000786 deg/s,
cmd heading: 313.086528 deg,
new cmd heading: 313.085591 deg.
2025-06-18T18:21:42.742Z,1750270902.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464375 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:42.765Z,1750270902.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546281
2025-06-18T18:21:43.017Z,1750270903.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798054
2025-06-18T18:21:43.098Z,1750270903.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:43.101Z,1750270903.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 406.947327 m,
bearing: 309.490694 deg,
approach rate: -0.683017 m/s,
LOS rate: -0.000795 deg/s,
cmd heading: 313.085599 deg,
new cmd heading: 313.084732 deg.
2025-06-18T18:21:43.102Z,1750270903.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464359 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:43.269Z,1750270903.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050082
2025-06-18T18:21:43.523Z,1750270903.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304135
2025-06-18T18:21:43.582Z,1750270903.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:43.585Z,1750270903.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 406.636047 m,
bearing: 309.490644 deg,
approach rate: -0.642406 m/s,
LOS rate: -0.000103 deg/s,
cmd heading: 313.084725 deg,
new cmd heading: 313.084575 deg.
2025-06-18T18:21:43.586Z,1750270903.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464357 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:43.773Z,1750270903.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554172
2025-06-18T18:21:43.918Z,1750270903.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:43.920Z,1750270903.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 406.420319 m,
bearing: 309.490629 deg,
approach rate: -0.642995 m/s,
LOS rate: -0.000047 deg/s,
cmd heading: 313.084588 deg,
new cmd heading: 313.084541 deg.
2025-06-18T18:21:43.922Z,1750270903.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464356 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:44.025Z,1750270904.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806144
2025-06-18T18:21:44.281Z,1750270904.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062070
2025-06-18T18:21:44.332Z,1750270904.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:44.334Z,1750270904.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:44.341Z,1750270904.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 406.168365 m,
bearing: 309.490606 deg,
approach rate: -0.604828 m/s,
LOS rate: -0.000054 deg/s,
cmd heading: 313.084533 deg,
new cmd heading: 313.084466 deg.
2025-06-18T18:21:44.342Z,1750270904.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464355 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:44.534Z,1750270904.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315619
2025-06-18T18:21:44.768Z,1750270904.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:44.771Z,1750270904.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 405.872314 m,
bearing: 309.489402 deg,
approach rate: -0.682743 m/s,
LOS rate: -0.002778 deg/s,
cmd heading: 313.084479 deg,
new cmd heading: 313.080864 deg.
2025-06-18T18:21:44.773Z,1750270904.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464292 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:44.785Z,1750270904.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566079
2025-06-18T18:21:45.037Z,1750270905.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818013
2025-06-18T18:21:45.124Z,1750270905.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:45.127Z,1750270905.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 405.642120 m,
bearing: 309.488469 deg,
approach rate: -0.646529 m/s,
LOS rate: -0.002624 deg/s,
cmd heading: 313.080872 deg,
new cmd heading: 313.078069 deg.
2025-06-18T18:21:45.128Z,1750270905.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464243 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:45.289Z,1750270905.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070032
2025-06-18T18:21:45.544Z,1750270905.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.324496
2025-06-18T18:21:45.610Z,1750270905.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:45.613Z,1750270905.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 405.327209 m,
bearing: 309.487558 deg,
approach rate: -0.647373 m/s,
LOS rate: -0.001873 deg/s,
cmd heading: 313.078058 deg,
new cmd heading: 313.075325 deg.
2025-06-18T18:21:45.614Z,1750270905.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464195 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:45.793Z,1750270905.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.573956
2025-06-18T18:21:45.000Z,1750270906.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:46.002Z,1750270906.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 405.073090 m,
bearing: 309.486815 deg,
approach rate: -0.652753 m/s,
LOS rate: -0.001910 deg/s,
cmd heading: 313.075326 deg,
new cmd heading: 313.073095 deg.
2025-06-18T18:21:46.003Z,1750270906.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464156 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:46.045Z,1750270906.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826381
2025-06-18T18:21:46.297Z,1750270906.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078020
2025-06-18T18:21:46.347Z,1750270906.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:46.349Z,1750270906.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:46.352Z,1750270906.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 404.846741 m,
bearing: 309.486167 deg,
approach rate: -0.647738 m/s,
LOS rate: -0.001856 deg/s,
cmd heading: 313.073086 deg,
new cmd heading: 313.071140 deg.
2025-06-18T18:21:46.353Z,1750270906.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464122 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:46.551Z,1750270906.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.332136
2025-06-18T18:21:46.778Z,1750270906.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:46.797Z,1750270906.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 404.566620 m,
bearing: 309.484508 deg,
approach rate: -0.652457 m/s,
LOS rate: -0.003866 deg/s,
cmd heading: 313.071146 deg,
new cmd heading: 313.066167 deg.
2025-06-18T18:21:46.798Z,1750270906.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464036 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:46.801Z,1750270906.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582422
2025-06-18T18:21:47.053Z,1750270907.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834040
2025-06-18T18:21:47.156Z,1750270907.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:47.158Z,1750270907.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 404.321045 m,
bearing: 309.483061 deg,
approach rate: -0.651011 m/s,
LOS rate: -0.003837 deg/s,
cmd heading: 313.066174 deg,
new cmd heading: 313.061831 deg.
2025-06-18T18:21:47.159Z,1750270907.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463960 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:47.304Z,1750270907.304 [DAT](INFO): Reached modem response timeout
2025-06-18T18:21:47.305Z,1750270907.305 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:21:47.305Z,1750270907.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:47.558Z,1750270907.558 [DAT](INFO): Reached modem response timeout
2025-06-18T18:21:47.559Z,1750270907.559 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:21:47.560Z,1750270907.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:47.615Z,1750270907.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:47.622Z,1750270907.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 404.027405 m,
bearing: 309.481321 deg,
approach rate: -0.639019 m/s,
LOS rate: -0.003790 deg/s,
cmd heading: 313.061830 deg,
new cmd heading: 313.056605 deg.
2025-06-18T18:21:47.623Z,1750270907.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463869 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:47.808Z,1750270907.808 [DAT](INFO): Reached modem response timeout
2025-06-18T18:21:47.809Z,1750270907.809 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:21:47.809Z,1750270907.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:48.014Z,1750270908.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:48.017Z,1750270908.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 403.760559 m,
bearing: 309.479984 deg,
approach rate: -0.668229 m/s,
LOS rate: -0.003350 deg/s,
cmd heading: 313.056612 deg,
new cmd heading: 313.052598 deg.
2025-06-18T18:21:48.018Z,1750270908.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463799 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:48.062Z,1750270908.062 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:21:48.062Z,1750270908.062 [DAT](INFO): response not received
2025-06-18T18:21:48.063Z,1750270908.063 [DAT](INFO): DAT read: user:1133>
2025-06-18T18:21:48.063Z,1750270908.063 [DAT](ERROR): No response from remote modem.
2025-06-18T18:21:48.064Z,1750270908.064 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:21:48.064Z,1750270908.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:48.313Z,1750270908.313 [DAT](INFO): DAT read: Tx time:18:21:49.2360
2025-06-18T18:21:48.313Z,1750270908.313 [DAT](INFO): Ping request sent.
2025-06-18T18:21:48.313Z,1750270908.313 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:21:48.314Z,1750270908.314 [DAT](INFO): DAT read: TxSync time:18:21:49.2352
2025-06-18T18:21:48.314Z,1750270908.314 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:48.315Z,1750270908.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001587
2025-06-18T18:21:48.388Z,1750270908.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:48.390Z,1750270908.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:48.397Z,1750270908.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 403.520111 m,
bearing: 309.478747 deg,
approach rate: -0.640169 m/s,
LOS rate: -0.003295 deg/s,
cmd heading: 313.052595 deg,
new cmd heading: 313.048882 deg.
2025-06-18T18:21:48.398Z,1750270908.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463734 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:48.567Z,1750270908.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253796
2025-06-18T18:21:48.787Z,1750270908.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:48.794Z,1750270908.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 403.265015 m,
bearing: 309.477283 deg,
approach rate: -0.642049 m/s,
LOS rate: -0.003688 deg/s,
cmd heading: 313.048880 deg,
new cmd heading: 313.044484 deg.
2025-06-18T18:21:48.795Z,1750270908.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463657 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:48.817Z,1750270908.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503482
2025-06-18T18:21:49.071Z,1750270909.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757280
2025-06-18T18:21:49.164Z,1750270909.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:49.167Z,1750270909.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 403.007782 m,
bearing: 309.475866 deg,
approach rate: -0.682809 m/s,
LOS rate: -0.003762 deg/s,
cmd heading: 313.044481 deg,
new cmd heading: 313.040229 deg.
2025-06-18T18:21:49.184Z,1750270909.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463583 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:49.321Z,1750270909.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008159
2025-06-18T18:21:49.576Z,1750270909.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261714
2025-06-18T18:21:49.644Z,1750270909.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:49.647Z,1750270909.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 402.701080 m,
bearing: 309.474175 deg,
approach rate: -0.638371 m/s,
LOS rate: -0.003522 deg/s,
cmd heading: 313.040219 deg,
new cmd heading: 313.035142 deg.
2025-06-18T18:21:49.652Z,1750270909.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463494 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:49.825Z,1750270909.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511420
2025-06-18T18:21:49.996Z,1750270909.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:49.999Z,1750270909.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 402.459595 m,
bearing: 309.473057 deg,
approach rate: -0.687870 m/s,
LOS rate: -0.003187 deg/s,
cmd heading: 313.035138 deg,
new cmd heading: 313.031781 deg.
2025-06-18T18:21:49.000Z,1750270910.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463435 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:50.078Z,1750270910.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764433
2025-06-18T18:21:50.329Z,1750270910.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015450
2025-06-18T18:21:50.379Z,1750270910.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:50.382Z,1750270910.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 402.204102 m,
bearing: 309.471794 deg,
approach rate: -0.665655 m/s,
LOS rate: -0.003292 deg/s,
cmd heading: 313.031777 deg,
new cmd heading: 313.027986 deg.
2025-06-18T18:21:50.383Z,1750270910.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463369 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:50.588Z,1750270910.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273892
2025-06-18T18:21:50.806Z,1750270910.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:50.812Z,1750270910.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:50.814Z,1750270910.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 401.935242 m,
bearing: 309.470928 deg,
approach rate: -0.627859 m/s,
LOS rate: -0.002024 deg/s,
cmd heading: 313.027979 deg,
new cmd heading: 313.025380 deg.
2025-06-18T18:21:50.815Z,1750270910.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463324 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:50.833Z,1750270910.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519627
2025-06-18T18:21:51.085Z,1750270911.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771422
2025-06-18T18:21:51.178Z,1750270911.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:51.181Z,1750270911.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 401.682739 m,
bearing: 309.470095 deg,
approach rate: -0.681535 m/s,
LOS rate: -0.002251 deg/s,
cmd heading: 313.025384 deg,
new cmd heading: 313.022882 deg.
2025-06-18T18:21:51.182Z,1750270911.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463280 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:51.338Z,1750270911.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024230
2025-06-18T18:21:51.592Z,1750270911.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277636
2025-06-18T18:21:51.626Z,1750270911.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:51.643Z,1750270911.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 401.416687 m,
bearing: 309.469212 deg,
approach rate: -0.602070 m/s,
LOS rate: -0.001998 deg/s,
cmd heading: 313.022870 deg,
new cmd heading: 313.020222 deg.
2025-06-18T18:21:51.651Z,1750270911.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463233 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:51.841Z,1750270911.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527504
2025-06-18T18:21:52.015Z,1750270912.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:52.018Z,1750270912.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 401.137634 m,
bearing: 309.467871 deg,
approach rate: -0.707026 m/s,
LOS rate: -0.003402 deg/s,
cmd heading: 313.020220 deg,
new cmd heading: 313.016193 deg.
2025-06-18T18:21:52.019Z,1750270912.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463163 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:52.093Z,1750270912.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779627
2025-06-18T18:21:52.345Z,1750270912.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032152
2025-06-18T18:21:52.394Z,1750270912.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:52.402Z,1750270912.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 400.891022 m,
bearing: 309.466702 deg,
approach rate: -0.649899 m/s,
LOS rate: -0.003081 deg/s,
cmd heading: 313.016204 deg,
new cmd heading: 313.012697 deg.
2025-06-18T18:21:52.403Z,1750270912.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463102 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:52.602Z,1750270912.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286151
2025-06-18T18:21:52.844Z,1750270912.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:52.846Z,1750270912.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:52.849Z,1750270912.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535608
2025-06-18T18:21:52.853Z,1750270912.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 400.605103 m,
bearing: 309.465177 deg,
approach rate: -0.632106 m/s,
LOS rate: -0.003375 deg/s,
cmd heading: 313.012707 deg,
new cmd heading: 313.008128 deg.
2025-06-18T18:21:52.854Z,1750270912.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463022 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:53.101Z,1750270913.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787516
2025-06-18T18:21:53.206Z,1750270913.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:53.209Z,1750270913.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 400.367859 m,
bearing: 309.463914 deg,
approach rate: -0.659883 m/s,
LOS rate: -0.003515 deg/s,
cmd heading: 313.008117 deg,
new cmd heading: 313.004327 deg.
2025-06-18T18:21:53.210Z,1750270913.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462956 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:53.353Z,1750270913.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039959
2025-06-18T18:21:53.606Z,1750270913.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292621
2025-06-18T18:21:53.687Z,1750270913.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:53.694Z,1750270913.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 400.083130 m,
bearing: 309.462398 deg,
approach rate: -0.591761 m/s,
LOS rate: -0.003153 deg/s,
cmd heading: 313.004320 deg,
new cmd heading: 312.999768 deg.
2025-06-18T18:21:53.695Z,1750270913.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462876 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:53.857Z,1750270913.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543665
2025-06-18T18:21:54.034Z,1750270914.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:54.037Z,1750270914.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 399.836731 m,
bearing: 309.462014 deg,
approach rate: -0.709805 m/s,
LOS rate: -0.001106 deg/s,
cmd heading: 312.999757 deg,
new cmd heading: 312.998605 deg.
2025-06-18T18:21:54.038Z,1750270914.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462856 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:54.109Z,1750270914.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795573
2025-06-18T18:21:54.361Z,1750270914.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047637
2025-06-18T18:21:54.424Z,1750270914.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:54.427Z,1750270914.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 399.587738 m,
bearing: 309.461643 deg,
approach rate: -0.639199 m/s,
LOS rate: -0.000954 deg/s,
cmd heading: 312.998610 deg,
new cmd heading: 312.997495 deg.
2025-06-18T18:21:54.428Z,1750270914.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462837 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:54.617Z,1750270914.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303015
2025-06-18T18:21:54.853Z,1750270914.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:54.855Z,1750270914.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:54.862Z,1750270914.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 399.320557 m,
bearing: 309.461585 deg,
approach rate: -0.619459 m/s,
LOS rate: -0.000133 deg/s,
cmd heading: 312.997490 deg,
new cmd heading: 312.997317 deg.
2025-06-18T18:21:54.863Z,1750270914.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462834 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:54.865Z,1750270914.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551584
2025-06-18T18:21:55.117Z,1750270915.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803908
2025-06-18T18:21:55.222Z,1750270915.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:55.225Z,1750270915.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 399.068024 m,
bearing: 309.461535 deg,
approach rate: -0.688266 m/s,
LOS rate: -0.000136 deg/s,
cmd heading: 312.997326 deg,
new cmd heading: 312.997176 deg.
2025-06-18T18:21:55.226Z,1750270915.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462831 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:55.369Z,1750270915.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055630
2025-06-18T18:21:55.621Z,1750270915.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307541
2025-06-18T18:21:55.622Z,1750270915.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:55.630Z,1750270915.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 398.808319 m,
bearing: 309.461483 deg,
approach rate: -0.648546 m/s,
LOS rate: -0.000132 deg/s,
cmd heading: 312.997189 deg,
new cmd heading: 312.997030 deg.
2025-06-18T18:21:55.631Z,1750270915.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462829 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:55.874Z,1750270915.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559875
2025-06-18T18:21:56.058Z,1750270916.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:56.061Z,1750270916.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 398.524872 m,
bearing: 309.461212 deg,
approach rate: -0.650634 m/s,
LOS rate: -0.000622 deg/s,
cmd heading: 312.997025 deg,
new cmd heading: 312.996212 deg.
2025-06-18T18:21:56.062Z,1750270916.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462814 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:56.127Z,1750270916.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814088
2025-06-18T18:21:56.381Z,1750270916.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067425
2025-06-18T18:21:56.439Z,1750270916.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:56.443Z,1750270916.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 398.277405 m,
bearing: 309.460990 deg,
approach rate: -0.649075 m/s,
LOS rate: -0.000582 deg/s,
cmd heading: 312.996205 deg,
new cmd heading: 312.995540 deg.
2025-06-18T18:21:56.444Z,1750270916.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462803 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:56.633Z,1750270916.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319399
2025-06-18T18:21:56.859Z,1750270916.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:56.861Z,1750270916.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:56.864Z,1750270916.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 398.002686 m,
bearing: 309.460877 deg,
approach rate: -0.651656 m/s,
LOS rate: -0.000268 deg/s,
cmd heading: 312.995550 deg,
new cmd heading: 312.995210 deg.
2025-06-18T18:21:56.865Z,1750270916.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462797 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:56.894Z,1750270916.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.580288
2025-06-18T18:21:57.145Z,1750270917.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831433
2025-06-18T18:21:57.238Z,1750270917.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:57.240Z,1750270917.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 397.755524 m,
bearing: 309.460798 deg,
approach rate: -0.656316 m/s,
LOS rate: -0.000211 deg/s,
cmd heading: 312.995222 deg,
new cmd heading: 312.994983 deg.
2025-06-18T18:21:57.241Z,1750270917.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462793 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:57.397Z,1750270917.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.083712
2025-06-18T18:21:57.642Z,1750270917.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:57.645Z,1750270917.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 397.491364 m,
bearing: 309.460712 deg,
approach rate: -0.653758 m/s,
LOS rate: -0.000211 deg/s,
cmd heading: 312.994976 deg,
new cmd heading: 312.994720 deg.
2025-06-18T18:21:57.646Z,1750270917.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462789 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:57.649Z,1750270917.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.335626
2025-06-18T18:21:57.901Z,1750270917.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587875
2025-06-18T18:21:58.069Z,1750270918.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:58.071Z,1750270918.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 397.213043 m,
bearing: 309.460356 deg,
approach rate: -0.652010 m/s,
LOS rate: -0.000836 deg/s,
cmd heading: 312.994730 deg,
new cmd heading: 312.993659 deg.
2025-06-18T18:21:58.072Z,1750270918.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462770 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:58.154Z,1750270918.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.840932
2025-06-18T18:21:58.404Z,1750270918.404 [DAT](INFO): Reached modem response timeout
2025-06-18T18:21:58.405Z,1750270918.405 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:21:58.405Z,1750270918.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:58.464Z,1750270918.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:58.467Z,1750270918.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 396.965149 m,
bearing: 309.460041 deg,
approach rate: -0.626198 m/s,
LOS rate: -0.000796 deg/s,
cmd heading: 312.993665 deg,
new cmd heading: 312.992719 deg.
2025-06-18T18:21:58.472Z,1750270918.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462753 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:58.658Z,1750270918.658 [DAT](INFO): Reached modem response timeout
2025-06-18T18:21:58.659Z,1750270918.659 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:21:58.659Z,1750270918.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:58.898Z,1750270918.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:21:58.902Z,1750270918.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:58.905Z,1750270918.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 396.671112 m,
bearing: 309.459678 deg,
approach rate: -0.672584 m/s,
LOS rate: -0.000831 deg/s,
cmd heading: 312.992708 deg,
new cmd heading: 312.991618 deg.
2025-06-18T18:21:58.906Z,1750270918.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462734 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:58.909Z,1750270918.909 [DAT](INFO): Reached modem response timeout
2025-06-18T18:21:58.909Z,1750270918.909 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:21:58.909Z,1750270918.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:21:59.161Z,1750270919.161 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:21:59.161Z,1750270919.161 [DAT](INFO): response not received
2025-06-18T18:21:59.162Z,1750270919.162 [DAT](INFO): DAT read: user:1134>
2025-06-18T18:21:59.162Z,1750270919.162 [DAT](INFO): DAT read: Tx time:18:22:00.1860
2025-06-18T18:21:59.163Z,1750270919.163 [DAT](INFO): Ping request sent.
2025-06-18T18:21:59.163Z,1750270919.163 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:21:59.163Z,1750270919.163 [DAT](INFO): publishing transmit ping time
2025-06-18T18:21:59.164Z,1750270919.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-06-18T18:21:59.349Z,1750270919.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:59.351Z,1750270919.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 396.379150 m,
bearing: 309.459289 deg,
approach rate: -0.652872 m/s,
LOS rate: -0.000871 deg/s,
cmd heading: 312.991616 deg,
new cmd heading: 312.990448 deg.
2025-06-18T18:21:59.357Z,1750270919.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462714 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:59.414Z,1750270919.414 [DAT](INFO): DAT read: TxSync time:18:22:00.1853
2025-06-18T18:21:59.415Z,1750270919.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252409
2025-06-18T18:21:59.665Z,1750270919.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502055
2025-06-18T18:21:59.669Z,1750270919.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:21:59.671Z,1750270919.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 396.165283 m,
bearing: 309.459061 deg,
approach rate: -0.670012 m/s,
LOS rate: -0.000714 deg/s,
cmd heading: 312.990441 deg,
new cmd heading: 312.989757 deg.
2025-06-18T18:21:59.673Z,1750270919.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462702 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:21:59.917Z,1750270919.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754432
2025-06-18T18:22:00.099Z,1750270920.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:22:00.101Z,1750270920.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 395.891968 m,
bearing: 309.458189 deg,
approach rate: -0.634774 m/s,
LOS rate: -0.002027 deg/s,
cmd heading: 312.989758 deg,
new cmd heading: 312.987140 deg.
2025-06-18T18:22:00.102Z,1750270920.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462656 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:22:00.170Z,1750270920.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006770
2025-06-18T18:22:00.421Z,1750270920.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257959
2025-06-18T18:22:00.482Z,1750270920.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:22:00.484Z,1750270920.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 395.629700 m,
bearing: 309.457387 deg,
approach rate: -0.684709 m/s,
LOS rate: -0.002094 deg/s,
cmd heading: 312.987135 deg,
new cmd heading: 312.984729 deg.
2025-06-18T18:22:00.485Z,1750270920.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462614 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:22:00.674Z,1750270920.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511069
2025-06-18T18:22:00.925Z,1750270920.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762035
2025-06-18T18:22:00.923Z,1750270920.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:00.930Z,1750270920.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:22:00.937Z,1750270920.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 395.336426 m,
bearing: 309.456465 deg,
approach rate: -0.654177 m/s,
LOS rate: -0.002058 deg/s,
cmd heading: 312.984731 deg,
new cmd heading: 312.981962 deg.
2025-06-18T18:22:00.938Z,1750270920.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462566 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:22:01.177Z,1750270921.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013974
2025-06-18T18:22:01.346Z,1750270921.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:22:01.349Z,1750270921.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 395.053650 m,
bearing: 309.455511 deg,
approach rate: -0.679668 m/s,
LOS rate: -0.002296 deg/s,
cmd heading: 312.981971 deg,
new cmd heading: 312.979105 deg.
2025-06-18T18:22:01.350Z,1750270921.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462516 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:22:01.430Z,1750270921.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266937
2025-06-18T18:22:01.681Z,1750270921.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517935
2025-06-18T18:22:01.832Z,1750270921.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:22:01.835Z,1750270921.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 394.748138 m,
bearing: 309.454478 deg,
approach rate: -0.628445 m/s,
LOS rate: -0.002127 deg/s,
cmd heading: 312.979103 deg,
new cmd heading: 312.976001 deg.
2025-06-18T18:22:01.836Z,1750270921.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462461 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:22:01.933Z,1750270921.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769934
2025-06-18T18:22:02.185Z,1750270922.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022654
2025-06-18T18:22:02.309Z,1750270922.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:22:02.316Z,1750270922.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 394.413910 m,
bearing: 309.453001 deg,
approach rate: -0.700088 m/s,
LOS rate: -0.003096 deg/s,
cmd heading: 312.975988 deg,
new cmd heading: 312.971555 deg.
2025-06-18T18:22:02.317Z,1750270922.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462384 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:22:02.437Z,1750270922.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273940
2025-06-18T18:22:02.689Z,1750270922.689 [DAT](INFO): DAT read: Rx Time:18:22:03.1449
2025-06-18T18:22:02.690Z,1750270922.690 [DAT](INFO): Rx dataTimestamp_ set to:1750270922.689318
2025-06-18T18:22:02.690Z,1750270922.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527310
2025-06-18T18:22:02.744Z,1750270922.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:22:02.765Z,1750270922.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 394.133698 m,
bearing: 309.451703 deg,
approach rate: -0.676709 m/s,
LOS rate: -0.003136 deg/s,
cmd heading: 312.971562 deg,
new cmd heading: 312.967667 deg.
2025-06-18T18:22:02.773Z,1750270922.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462316 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:22:02.941Z,1750270922.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777989
2025-06-18T18:22:03.173Z,1750270923.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:03.175Z,1750270923.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.91 m.
2025-06-18T18:22:03.178Z,1750270923.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.907318 m,
nav range: 393.830688 m,
bearing: 309.449424 deg,
approach rate: -0.671139 m/s,
LOS rate: -0.005053 deg/s,
cmd heading: 312.967655 deg,
new cmd heading: 312.960811 deg.
2025-06-18T18:22:03.179Z,1750270923.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462196 target range: 434.907318 and range: 438.90 m.
2025-06-18T18:22:03.199Z,1750270923.199 [DAT](INFO): DAT read: 18:22:03.1449 LVL= 16160, 20113, 15010, 24755, AGC= 74, IDX= 27, 0.41, 2.822, 1.312, 2.847, 2.098, PHS= 0.812,-0.739, 0.746, RAW= 147.9, -10.8, CAL= 154.7, -19.1, ROT= 355.3, 19.1
2025-06-18T18:22:03.200Z,1750270923.200 [DAT](INFO): got valid direction response:
18:22:03.1449 LVL= 16160, 20113, 15010, 24755, AGC= 74, IDX= 27, 0.41, 2.822, 1.312, 2.847, 2.098, PHS= 0.812,-0.739, 0.746, RAW= 147.9, -10.8, CAL= 154.7, -19.1, ROT= 355.3, 19.1
2025-06-18T18:22:03.201Z,1750270923.201 [DAT](INFO): DAT read: Bearing 355.3, 19.1 (Local)
2025-06-18T18:22:03.201Z,1750270923.201 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.3, 19.1 (Local)
2025-06-18T18:22:03.203Z,1750270923.203 [DAT](INFO): DAT read: Range 10 to 50 : 415.9 m (Round-trip 554.6 ms) speed 0.4 m/s
2025-06-18T18:22:03.219Z,1750270923.219 [DAT](INFO): DAT read: user:1135>
2025-06-18T18:22:03.232Z,1750270923.232 [DAT](INFO): DAT read: Tx time:18:22:04.2361
2025-06-18T18:22:03.232Z,1750270923.232 [DAT](INFO): Ping request sent.
2025-06-18T18:22:03.232Z,1750270923.232 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:22:03.233Z,1750270923.233 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:22:03.234Z,1750270923.234 [DAT](INFO): direction in FSK: [0.941771,-0.077428,-0.327218]
2025-06-18T18:22:03.234Z,1750270923.234 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:03.234Z,1750270923.234 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:03.242Z,1750270923.242 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:03.243Z,1750270923.243 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:03.445Z,1750270923.445 [DAT](INFO): DAT read: TxSync time:18:22:04.2353
2025-06-18T18:22:03.534Z,1750270923.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 415.899994 m,
deltaT: 36.812214 s,
deltaX: -23.000000 m,
approachRate: -0.624793 m/s,
rangeRepo size: 4
2025-06-18T18:22:03.537Z,1750270923.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 412.114655 m,
bearing: 309.984598 deg,
lat: 36.905725 deg,
lon: -122.115953 deg,
deltaT: 36.812214 s,
deltaX: -22.792664 m,
approachRate: -0.619160 m/s,
posRepo size: 4
2025-06-18T18:22:03.537Z,1750270923.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.11 m.
2025-06-18T18:22:03.541Z,1750270923.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 412.114655 m,
nav range: 391.155151 m,
bearing: 309.011256 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005053 deg/s,
cmd heading: 312.960798 deg,
new cmd heading: 312.955362 deg.
2025-06-18T18:22:03.542Z,1750270923.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462101 target range: 412.114655 and range: 415.90 m.
2025-06-18T18:22:03.955Z,1750270923.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.11 m.
2025-06-18T18:22:03.958Z,1750270923.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 412.114655 m,
nav range: 390.871643 m,
bearing: 309.009099 deg,
approach rate: -0.673232 m/s,
LOS rate: -0.005128 deg/s,
cmd heading: 312.955361 deg,
new cmd heading: 312.948883 deg.
2025-06-18T18:22:03.959Z,1750270923.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461988 target range: 412.114655 and range: 415.90 m.
2025-06-18T18:22:04.330Z,1750270924.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.11 m.
2025-06-18T18:22:04.333Z,1750270924.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 412.114655 m,
nav range: 390.619904 m,
bearing: 309.007205 deg,
approach rate: -0.670108 m/s,
LOS rate: -0.005042 deg/s,
cmd heading: 312.948886 deg,
new cmd heading: 312.943203 deg.
2025-06-18T18:22:04.334Z,1750270924.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461889 target range: 412.114655 and range: 415.90 m.
2025-06-18T18:22:04.809Z,1750270924.809 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:22:04.893Z,1750270924.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.11 m.
2025-06-18T18:22:04.913Z,1750270924.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 412.114655 m,
nav range: 390.247223 m,
bearing: 309.003902 deg,
approach rate: -0.663686 m/s,
LOS rate: -0.005889 deg/s,
cmd heading: 312.943203 deg,
new cmd heading: 312.933282 deg.
2025-06-18T18:22:04.914Z,1750270924.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461716 target range: 412.114655 and range: 415.90 m.
2025-06-18T18:22:05.234Z,1750270925.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:05.248Z,1750270925.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.11 m.
2025-06-18T18:22:05.251Z,1750270925.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 412.114655 m,
nav range: 390.010742 m,
bearing: 309.001701 deg,
approach rate: -0.687224 m/s,
LOS rate: -0.006398 deg/s,
cmd heading: 312.933286 deg,
new cmd heading: 312.926681 deg.
2025-06-18T18:22:05.256Z,1750270925.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461601 target range: 412.114655 and range: 415.90 m.
2025-06-18T18:22:05.461Z,1750270925.461 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:22:05.461Z,1750270925.461 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:22:05.461Z,1750270925.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:05.623Z,1750270925.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.11 m.
2025-06-18T18:22:05.641Z,1750270925.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 412.114655 m,
nav range: 389.750763 m,
bearing: 308.999158 deg,
approach rate: -0.672349 m/s,
LOS rate: -0.006583 deg/s,
cmd heading: 312.926674 deg,
new cmd heading: 312.919038 deg.
2025-06-18T18:22:05.642Z,1750270925.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461467 target range: 412.114655 and range: 415.90 m.
2025-06-18T18:22:05.713Z,1750270925.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481076
2025-06-18T18:22:05.809Z,1750270925.809 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:22:05.965Z,1750270925.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732403
2025-06-18T18:22:06.073Z,1750270926.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.11 m.
2025-06-18T18:22:06.075Z,1750270926.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 412.114655 m,
nav range: 389.464386 m,
bearing: 308.996028 deg,
approach rate: -0.636167 m/s,
LOS rate: -0.006957 deg/s,
cmd heading: 312.919024 deg,
new cmd heading: 312.909629 deg.
2025-06-18T18:22:06.085Z,1750270926.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461303 target range: 412.114655 and range: 415.90 m.
2025-06-18T18:22:06.217Z,1750270926.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984510
2025-06-18T18:22:06.444Z,1750270926.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.11 m.
2025-06-18T18:22:06.447Z,1750270926.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 412.114655 m,
nav range: 389.212219 m,
bearing: 308.993241 deg,
approach rate: -0.702293 m/s,
LOS rate: -0.007768 deg/s,
cmd heading: 312.909626 deg,
new cmd heading: 312.901258 deg.
2025-06-18T18:22:06.454Z,1750270926.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461157 target range: 412.114655 and range: 415.90 m.
2025-06-18T18:22:06.469Z,1750270926.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236509
2025-06-18T18:22:06.721Z,1750270926.721 [DAT](INFO): DAT read: Rx Time:18:22:07.1911
2025-06-18T18:22:06.721Z,1750270926.721 [DAT](INFO): Rx dataTimestamp_ set to:1750270926.721200
2025-06-18T18:22:06.722Z,1750270926.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489636
2025-06-18T18:22:06.894Z,1750270926.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.11 m.
2025-06-18T18:22:06.903Z,1750270926.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 412.114655 m,
nav range: 388.920044 m,
bearing: 308.989990 deg,
approach rate: -0.632358 m/s,
LOS rate: -0.007040 deg/s,
cmd heading: 312.901266 deg,
new cmd heading: 312.891507 deg.
2025-06-18T18:22:06.908Z,1750270926.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460987 target range: 412.114655 and range: 415.90 m.
2025-06-18T18:22:06.973Z,1750270926.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740318
2025-06-18T18:22:07.231Z,1750270927.231 [DAT](INFO): DAT read: 18:22:07.1911 LVL= 21952, 24529, 23746, 32755, AGC= 75, IDX= 405,-0.06,-0.760,-2.228,-0.700,-1.476, PHS= 0.804,-0.705, 0.773, RAW= 149.0, -11.7, CAL= 156.0, -19.6, ROT= 354.0, 19.6
2025-06-18T18:22:07.232Z,1750270927.232 [DAT](INFO): got valid direction response:
18:22:07.1911 LVL= 21952, 24529, 23746, 32755, AGC= 75, IDX= 405,-0.06,-0.760,-2.228,-0.700,-1.476, PHS= 0.804,-0.705, 0.773, RAW= 149.0, -11.7, CAL= 156.0, -19.6, ROT= 354.0, 19.6
2025-06-18T18:22:07.233Z,1750270927.233 [DAT](INFO): DAT read: Bearing 354.0, 19.6 (Local)
2025-06-18T18:22:07.233Z,1750270927.233 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.0, 19.6 (Local)
2025-06-18T18:22:07.235Z,1750270927.235 [DAT](INFO): DAT read: Range 10 to 50 : 413.1 m (Round-trip 550.8 ms) speed 0.7 m/s
2025-06-18T18:22:07.236Z,1750270927.236 [DAT](INFO): DAT read: user:1136>
2025-06-18T18:22:07.237Z,1750270927.237 [DAT](INFO): DAT read: Tx time:18:22:08.2861
2025-06-18T18:22:07.237Z,1750270927.237 [DAT](INFO): Ping request sent.
2025-06-18T18:22:07.237Z,1750270927.237 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:22:07.237Z,1750270927.237 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:22:07.238Z,1750270927.238 [DAT](INFO): direction in FSK: [0.936897,-0.098472,-0.335452]
2025-06-18T18:22:07.239Z,1750270927.239 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:07.239Z,1750270927.239 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:07.242Z,1750270927.242 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:07.243Z,1750270927.243 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:07.285Z,1750270927.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 413.100006 m,
deltaT: 4.032096 s,
deltaX: -2.799988 m,
approachRate: -0.694425 m/s,
rangeRepo size: 4
2025-06-18T18:22:07.304Z,1750270927.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 409.339417 m,
bearing: 309.039598 deg,
lat: 36.905706 deg,
lon: -122.115889 deg,
deltaT: 4.032096 s,
deltaX: -2.775238 m,
approachRate: -0.688287 m/s,
posRepo size: 4
2025-06-18T18:22:07.305Z,1750270927.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.34 m.
2025-06-18T18:22:07.308Z,1750270927.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.339417 m,
nav range: 382.945435 m,
bearing: 309.284411 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007040 deg/s,
cmd heading: 312.891512 deg,
new cmd heading: 312.883362 deg.
2025-06-18T18:22:07.309Z,1750270927.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460845 target range: 409.339417 and range: 413.10 m.
2025-06-18T18:22:07.477Z,1750270927.477 [DAT](INFO): DAT read: TxSync time:18:22:08.2853
2025-06-18T18:22:07.639Z,1750270927.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:07.645Z,1750270927.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.34 m.
2025-06-18T18:22:07.647Z,1750270927.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.339417 m,
nav range: 382.682190 m,
bearing: 309.282812 deg,
approach rate: -0.721066 m/s,
LOS rate: -0.004383 deg/s,
cmd heading: 312.883371 deg,
new cmd heading: 312.878570 deg.
2025-06-18T18:22:07.653Z,1750270927.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460761 target range: 409.339417 and range: 413.10 m.
2025-06-18T18:22:07.729Z,1750270927.729 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:22:07.730Z,1750270927.730 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:22:07.730Z,1750270927.730 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:07.981Z,1750270927.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743597
2025-06-18T18:22:08.044Z,1750270928.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.34 m.
2025-06-18T18:22:08.047Z,1750270928.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.339417 m,
nav range: 382.417603 m,
bearing: 309.280683 deg,
approach rate: -0.663226 m/s,
LOS rate: -0.005340 deg/s,
cmd heading: 312.878562 deg,
new cmd heading: 312.872172 deg.
2025-06-18T18:22:08.068Z,1750270928.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460649 target range: 409.339417 and range: 413.10 m.
2025-06-18T18:22:08.233Z,1750270928.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995645
2025-06-18T18:22:08.479Z,1750270928.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.34 m.
2025-06-18T18:22:08.481Z,1750270928.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.339417 m,
nav range: 382.138031 m,
bearing: 309.278399 deg,
approach rate: -0.643030 m/s,
LOS rate: -0.005257 deg/s,
cmd heading: 312.872169 deg,
new cmd heading: 312.865312 deg.
2025-06-18T18:22:08.482Z,1750270928.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460530 target range: 409.339417 and range: 413.10 m.
2025-06-18T18:22:08.485Z,1750270928.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247706
2025-06-18T18:22:08.737Z,1750270928.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499840
2025-06-18T18:22:08.954Z,1750270928.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.34 m.
2025-06-18T18:22:08.957Z,1750270928.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.339417 m,
nav range: 381.829010 m,
bearing: 309.277174 deg,
approach rate: -0.649703 m/s,
LOS rate: -0.002578 deg/s,
cmd heading: 312.865312 deg,
new cmd heading: 312.861634 deg.
2025-06-18T18:22:08.958Z,1750270928.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460465 target range: 409.339417 and range: 413.10 m.
2025-06-18T18:22:08.989Z,1750270928.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751573
2025-06-18T18:22:09.241Z,1750270929.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004309
2025-06-18T18:22:09.380Z,1750270929.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.34 m.
2025-06-18T18:22:09.385Z,1750270929.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.339417 m,
nav range: 381.558472 m,
bearing: 309.276100 deg,
approach rate: -0.637036 m/s,
LOS rate: -0.002531 deg/s,
cmd heading: 312.861623 deg,
new cmd heading: 312.858399 deg.
2025-06-18T18:22:09.387Z,1750270929.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460409 target range: 409.339417 and range: 413.10 m.
2025-06-18T18:22:09.493Z,1750270929.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255981
2025-06-18T18:22:09.745Z,1750270929.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507772
2025-06-18T18:22:09.751Z,1750270929.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:09.753Z,1750270929.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.34 m.
2025-06-18T18:22:09.756Z,1750270929.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.339417 m,
nav range: 381.310608 m,
bearing: 309.275024 deg,
approach rate: -0.662883 m/s,
LOS rate: -0.002881 deg/s,
cmd heading: 312.858400 deg,
new cmd heading: 312.855167 deg.
2025-06-18T18:22:09.757Z,1750270929.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460353 target range: 409.339417 and range: 413.10 m.
2025-06-18T18:22:09.997Z,1750270929.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759615
2025-06-18T18:22:10.197Z,1750270930.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.34 m.
2025-06-18T18:22:10.199Z,1750270930.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.339417 m,
nav range: 381.034424 m,
bearing: 309.273889 deg,
approach rate: -0.622514 m/s,
LOS rate: -0.002559 deg/s,
cmd heading: 312.855176 deg,
new cmd heading: 312.851770 deg.
2025-06-18T18:22:10.204Z,1750270930.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460293 target range: 409.339417 and range: 413.10 m.
2025-06-18T18:22:10.249Z,1750270930.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011704
2025-06-18T18:22:10.502Z,1750270930.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265021
2025-06-18T18:22:10.580Z,1750270930.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.34 m.
2025-06-18T18:22:10.583Z,1750270930.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.339417 m,
nav range: 380.772583 m,
bearing: 309.272812 deg,
approach rate: -0.683174 m/s,
LOS rate: -0.002812 deg/s,
cmd heading: 312.851761 deg,
new cmd heading: 312.848527 deg.
2025-06-18T18:22:10.584Z,1750270930.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460237 target range: 409.339417 and range: 413.10 m.
2025-06-18T18:22:10.753Z,1750270930.753 [DAT](INFO): DAT read: Rx Time:18:22:11.2408
2025-06-18T18:22:10.753Z,1750270930.753 [DAT](INFO): Rx dataTimestamp_ set to:1750270930.753104
2025-06-18T18:22:10.754Z,1750270930.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516754
2025-06-18T18:22:11.005Z,1750270931.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767923
2025-06-18T18:22:11.014Z,1750270931.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.34 m.
2025-06-18T18:22:11.021Z,1750270931.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.339417 m,
nav range: 380.506409 m,
bearing: 309.272140 deg,
approach rate: -0.612771 m/s,
LOS rate: -0.001548 deg/s,
cmd heading: 312.848537 deg,
new cmd heading: 312.846519 deg.
2025-06-18T18:22:11.022Z,1750270931.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460202 target range: 409.339417 and range: 413.10 m.
2025-06-18T18:22:11.264Z,1750270931.264 [DAT](INFO): DAT read: 18:22:11.2408 LVL= 23376, 31857, 23474, 32755, AGC= 72, IDX= 422,-0.03, 1.244, 0.021, 1.204, 0.648, PHS= 0.684,-0.581, 0.553, RAW= 144.6, -10.9, CAL= 151.7, -19.8, ROT= 358.3, 19.8
2025-06-18T18:22:11.265Z,1750270931.265 [DAT](INFO): got valid direction response:
18:22:11.2408 LVL= 23376, 31857, 23474, 32755, AGC= 72, IDX= 422,-0.03, 1.244, 0.021, 1.204, 0.648, PHS= 0.684,-0.581, 0.553, RAW= 144.6, -10.9, CAL= 151.7, -19.8, ROT= 358.3, 19.8
2025-06-18T18:22:11.266Z,1750270931.266 [DAT](INFO): DAT read: Bearing 358.3, 19.8 (Local)
2025-06-18T18:22:11.267Z,1750270931.267 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.3, 19.8 (Local)
2025-06-18T18:22:11.268Z,1750270931.268 [DAT](INFO): DAT read: Range 10 to 50 : 412.8 m (Round-trip 550.5 ms) speed 0.4 m/s
2025-06-18T18:22:11.269Z,1750270931.269 [DAT](INFO): DAT read: user:1137>
2025-06-18T18:22:11.270Z,1750270931.270 [DAT](INFO): DAT read: Tx time:18:22:12.3361
2025-06-18T18:22:11.270Z,1750270931.270 [DAT](INFO): Ping request sent.
2025-06-18T18:22:11.270Z,1750270931.270 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:22:11.270Z,1750270931.270 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:22:11.271Z,1750270931.271 [DAT](INFO): direction in FSK: [0.940467,-0.027913,-0.338738]
2025-06-18T18:22:11.274Z,1750270931.274 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:11.275Z,1750270931.275 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:11.280Z,1750270931.280 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:11.281Z,1750270931.281 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:11.442Z,1750270931.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 412.799988 m,
deltaT: 4.032238 s,
deltaX: -0.300018 m,
approachRate: -0.074405 m/s,
rangeRepo size: 4
2025-06-18T18:22:11.449Z,1750270931.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 409.040314 m,
bearing: 313.032853 deg,
lat: 36.905706 deg,
lon: -122.115820 deg,
deltaT: 4.032238 s,
deltaX: -0.299103 m,
approachRate: -0.074178 m/s,
posRepo size: 4
2025-06-18T18:22:11.449Z,1750270931.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.04 m.
2025-06-18T18:22:11.456Z,1750270931.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.040314 m,
nav range: 375.483459 m,
bearing: 309.866849 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001548 deg/s,
cmd heading: 312.846515 deg,
new cmd heading: 312.844530 deg.
2025-06-18T18:22:11.457Z,1750270931.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460167 target range: 409.040314 and range: 412.80 m.
2025-06-18T18:22:11.510Z,1750270931.510 [DAT](INFO): DAT read: TxSync time:18:22:12.3353
2025-06-18T18:22:11.773Z,1750270931.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:11.776Z,1750270931.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.04 m.
2025-06-18T18:22:11.778Z,1750270931.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.040314 m,
nav range: 375.257233 m,
bearing: 309.866882 deg,
approach rate: -0.677200 m/s,
LOS rate: 0.000099 deg/s,
cmd heading: 312.844521 deg,
new cmd heading: 312.844620 deg.
2025-06-18T18:22:11.779Z,1750270931.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460169 target range: 409.040314 and range: 412.80 m.
2025-06-18T18:22:12.013Z,1750270932.013 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:22:12.013Z,1750270932.013 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:22:12.013Z,1750270932.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:12.192Z,1750270932.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.04 m.
2025-06-18T18:22:12.195Z,1750270932.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.040314 m,
nav range: 374.987427 m,
bearing: 309.867115 deg,
approach rate: -0.648309 m/s,
LOS rate: 0.000558 deg/s,
cmd heading: 312.844630 deg,
new cmd heading: 312.845327 deg.
2025-06-18T18:22:12.196Z,1750270932.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460181 target range: 409.040314 and range: 412.80 m.
2025-06-18T18:22:12.266Z,1750270932.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995581
2025-06-18T18:22:12.517Z,1750270932.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246538
2025-06-18T18:22:12.578Z,1750270932.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.04 m.
2025-06-18T18:22:12.581Z,1750270932.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.040314 m,
nav range: 374.737213 m,
bearing: 309.867364 deg,
approach rate: -0.647663 m/s,
LOS rate: 0.000647 deg/s,
cmd heading: 312.845340 deg,
new cmd heading: 312.846090 deg.
2025-06-18T18:22:12.582Z,1750270932.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460194 target range: 409.040314 and range: 412.80 m.
2025-06-18T18:22:12.770Z,1750270932.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499559
2025-06-18T18:22:13.010Z,1750270933.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.04 m.
2025-06-18T18:22:13.013Z,1750270933.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.040314 m,
nav range: 374.456482 m,
bearing: 309.867588 deg,
approach rate: -0.650527 m/s,
LOS rate: 0.000520 deg/s,
cmd heading: 312.846078 deg,
new cmd heading: 312.846751 deg.
2025-06-18T18:22:13.014Z,1750270933.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460206 target range: 409.040314 and range: 412.80 m.
2025-06-18T18:22:13.021Z,1750270933.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750629
2025-06-18T18:22:13.273Z,1750270933.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002798
2025-06-18T18:22:13.401Z,1750270933.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.04 m.
2025-06-18T18:22:13.404Z,1750270933.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.040314 m,
nav range: 374.201721 m,
bearing: 309.867726 deg,
approach rate: -0.650624 m/s,
LOS rate: 0.000351 deg/s,
cmd heading: 312.846761 deg,
new cmd heading: 312.847173 deg.
2025-06-18T18:22:13.405Z,1750270933.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460213 target range: 409.040314 and range: 412.80 m.
2025-06-18T18:22:13.525Z,1750270933.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254606
2025-06-18T18:22:13.777Z,1750270933.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506622
2025-06-18T18:22:13.789Z,1750270933.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:13.791Z,1750270933.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.04 m.
2025-06-18T18:22:13.794Z,1750270933.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.040314 m,
nav range: 373.948364 m,
bearing: 309.867835 deg,
approach rate: -0.650260 m/s,
LOS rate: 0.000281 deg/s,
cmd heading: 312.847171 deg,
new cmd heading: 312.847500 deg.
2025-06-18T18:22:13.795Z,1750270933.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460219 target range: 409.040314 and range: 412.80 m.
2025-06-18T18:22:14.030Z,1750270934.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759658
2025-06-18T18:22:14.211Z,1750270934.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.04 m.
2025-06-18T18:22:14.260Z,1750270934.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.040314 m,
nav range: 373.669922 m,
bearing: 309.867989 deg,
approach rate: -0.662628 m/s,
LOS rate: 0.000366 deg/s,
cmd heading: 312.847499 deg,
new cmd heading: 312.847960 deg.
2025-06-18T18:22:14.261Z,1750270934.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460227 target range: 409.040314 and range: 412.80 m.
2025-06-18T18:22:14.281Z,1750270934.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010722
2025-06-18T18:22:14.533Z,1750270934.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262485
2025-06-18T18:22:14.602Z,1750270934.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.04 m.
2025-06-18T18:22:14.605Z,1750270934.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.040314 m,
nav range: 373.410706 m,
bearing: 309.868182 deg,
approach rate: -0.662806 m/s,
LOS rate: 0.000494 deg/s,
cmd heading: 312.847963 deg,
new cmd heading: 312.848542 deg.
2025-06-18T18:22:14.606Z,1750270934.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460237 target range: 409.040314 and range: 412.80 m.
2025-06-18T18:22:14.785Z,1750270934.785 [DAT](INFO): DAT read: Rx Time:18:22:15.2840
2025-06-18T18:22:14.785Z,1750270934.785 [DAT](INFO): Rx dataTimestamp_ set to:1750270934.785087
2025-06-18T18:22:14.786Z,1750270934.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515683
2025-06-18T18:22:15.038Z,1750270935.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767430
2025-06-18T18:22:15.058Z,1750270935.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.04 m.
2025-06-18T18:22:15.061Z,1750270935.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 409.040314 m,
nav range: 373.106476 m,
bearing: 309.868004 deg,
approach rate: -0.667034 m/s,
LOS rate: -0.000390 deg/s,
cmd heading: 312.848537 deg,
new cmd heading: 312.848003 deg.
2025-06-18T18:22:15.062Z,1750270935.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460227 target range: 409.040314 and range: 412.80 m.
2025-06-18T18:22:15.303Z,1750270935.303 [DAT](INFO): DAT read: 18:22:15.2840 LVL= 32752, 32753, 26802, 32755, AGC= 70, IDX= 363, 0.35, 2.750, 1.086, 2.707, 1.973, PHS= 0.865,-0.840, 0.731, RAW= 146.0, -9.2, CAL= 152.5, -17.9, ROT= 357.5, 17.9
2025-06-18T18:22:15.305Z,1750270935.305 [DAT](INFO): got valid direction response:
18:22:15.2840 LVL= 32752, 32753, 26802, 32755, AGC= 70, IDX= 363, 0.35, 2.750, 1.086, 2.707, 1.973, PHS= 0.865,-0.840, 0.731, RAW= 146.0, -9.2, CAL= 152.5, -17.9, ROT= 357.5, 17.9
2025-06-18T18:22:15.306Z,1750270935.306 [DAT](INFO): DAT read: Bearing 357.5, 17.9 (Local)
2025-06-18T18:22:15.306Z,1750270935.306 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.5, 17.9 (Local)
2025-06-18T18:22:15.308Z,1750270935.308 [DAT](INFO): DAT read: Range 10 to 50 : 407.7 m (Round-trip 543.7 ms) speed 0.4 m/s
2025-06-18T18:22:15.309Z,1750270935.309 [DAT](INFO): DAT read: user:1138>
2025-06-18T18:22:15.309Z,1750270935.309 [DAT](INFO): DAT read: Tx time:18:22:16.3862
2025-06-18T18:22:15.310Z,1750270935.310 [DAT](INFO): Ping request sent.
2025-06-18T18:22:15.310Z,1750270935.310 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:22:15.310Z,1750270935.310 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:22:15.311Z,1750270935.311 [DAT](INFO): direction in FSK: [0.950689,-0.041508,-0.307357]
2025-06-18T18:22:15.311Z,1750270935.311 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:15.311Z,1750270935.311 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:15.321Z,1750270935.321 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:15.321Z,1750270935.321 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:15.487Z,1750270935.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 407.700012 m,
deltaT: 4.033379 s,
deltaX: -5.099976 m,
approachRate: -1.264442 m/s,
rangeRepo size: 4
2025-06-18T18:22:15.494Z,1750270935.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 403.984863 m,
bearing: 311.692760 deg,
lat: 36.905760 deg,
lon: -122.115809 deg,
deltaT: 4.033379 s,
deltaX: -5.055450 m,
approachRate: -1.253403 m/s,
posRepo size: 4
2025-06-18T18:22:15.494Z,1750270935.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:15.501Z,1750270935.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 375.942719 m,
bearing: 310.655551 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000390 deg/s,
cmd heading: 312.847990 deg,
new cmd heading: 312.847489 deg.
2025-06-18T18:22:15.502Z,1750270935.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460219 target range: 403.984863 and range: 407.70 m.
2025-06-18T18:22:15.542Z,1750270935.542 [DAT](INFO): DAT read: TxSync time:18:22:16.3854
2025-06-18T18:22:15.814Z,1750270935.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:15.816Z,1750270935.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:15.819Z,1750270935.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 375.704132 m,
bearing: 310.656014 deg,
approach rate: -0.724711 m/s,
LOS rate: 0.001410 deg/s,
cmd heading: 312.847499 deg,
new cmd heading: 312.848891 deg.
2025-06-18T18:22:15.820Z,1750270935.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460243 target range: 403.984863 and range: 407.70 m.
2025-06-18T18:22:16.045Z,1750270936.045 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:22:16.045Z,1750270936.045 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:22:16.045Z,1750270936.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:16.251Z,1750270936.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:16.257Z,1750270936.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 375.425781 m,
bearing: 310.656520 deg,
approach rate: -0.640471 m/s,
LOS rate: 0.001164 deg/s,
cmd heading: 312.848892 deg,
new cmd heading: 312.850410 deg.
2025-06-18T18:22:16.258Z,1750270936.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460270 target range: 403.984863 and range: 407.70 m.
2025-06-18T18:22:16.297Z,1750270936.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987355
2025-06-18T18:22:16.549Z,1750270936.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239118
2025-06-18T18:22:16.639Z,1750270936.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:16.646Z,1750270936.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 375.161957 m,
bearing: 310.656995 deg,
approach rate: -0.678301 m/s,
LOS rate: 0.001222 deg/s,
cmd heading: 312.850422 deg,
new cmd heading: 312.851848 deg.
2025-06-18T18:22:16.647Z,1750270936.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460295 target range: 403.984863 and range: 407.70 m.
2025-06-18T18:22:16.801Z,1750270936.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491057
2025-06-18T18:22:17.061Z,1750270937.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751383
2025-06-18T18:22:17.078Z,1750270937.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:17.084Z,1750270937.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 374.868500 m,
bearing: 310.656734 deg,
approach rate: -0.669875 m/s,
LOS rate: -0.000597 deg/s,
cmd heading: 312.851843 deg,
new cmd heading: 312.851058 deg.
2025-06-18T18:22:17.086Z,1750270937.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460281 target range: 403.984863 and range: 407.70 m.
2025-06-18T18:22:17.314Z,1750270937.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003447
2025-06-18T18:22:17.442Z,1750270937.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:17.453Z,1750270937.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 374.619476 m,
bearing: 310.656451 deg,
approach rate: -0.683599 m/s,
LOS rate: -0.000778 deg/s,
cmd heading: 312.851050 deg,
new cmd heading: 312.850200 deg.
2025-06-18T18:22:17.454Z,1750270937.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460266 target range: 403.984863 and range: 407.70 m.
2025-06-18T18:22:17.565Z,1750270937.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255466
2025-06-18T18:22:17.817Z,1750270937.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507197
2025-06-18T18:22:17.828Z,1750270937.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:17.830Z,1750270937.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:17.833Z,1750270937.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 374.345734 m,
bearing: 310.656146 deg,
approach rate: -0.704789 m/s,
LOS rate: -0.000784 deg/s,
cmd heading: 312.850203 deg,
new cmd heading: 312.849290 deg.
2025-06-18T18:22:17.834Z,1750270937.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460250 target range: 403.984863 and range: 407.70 m.
2025-06-18T18:22:18.070Z,1750270938.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760546
2025-06-18T18:22:18.321Z,1750270938.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010945
2025-06-18T18:22:18.331Z,1750270938.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:18.338Z,1750270938.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 374.019623 m,
bearing: 310.655173 deg,
approach rate: -0.651193 m/s,
LOS rate: -0.001945 deg/s,
cmd heading: 312.849302 deg,
new cmd heading: 312.846380 deg.
2025-06-18T18:22:18.339Z,1750270938.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460199 target range: 403.984863 and range: 407.70 m.
2025-06-18T18:22:18.573Z,1750270938.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263035
2025-06-18T18:22:18.678Z,1750270938.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:18.693Z,1750270938.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 373.778534 m,
bearing: 310.654476 deg,
approach rate: -0.694314 m/s,
LOS rate: -0.002010 deg/s,
cmd heading: 312.846378 deg,
new cmd heading: 312.844284 deg.
2025-06-18T18:22:18.697Z,1750270938.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460163 target range: 403.984863 and range: 407.70 m.
2025-06-18T18:22:18.825Z,1750270938.825 [DAT](INFO): DAT read: Rx Time:18:22:19.3308
2025-06-18T18:22:18.825Z,1750270938.825 [DAT](INFO): Rx dataTimestamp_ set to:1750270938.825081
2025-06-18T18:22:18.826Z,1750270938.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516214
2025-06-18T18:22:19.077Z,1750270939.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767132
2025-06-18T18:22:19.124Z,1750270939.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:19.127Z,1750270939.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 373.492371 m,
bearing: 310.653726 deg,
approach rate: -0.672702 m/s,
LOS rate: -0.001763 deg/s,
cmd heading: 312.844275 deg,
new cmd heading: 312.842025 deg.
2025-06-18T18:22:19.132Z,1750270939.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460124 target range: 403.984863 and range: 407.70 m.
2025-06-18T18:22:19.334Z,1750270939.334 [DAT](INFO): DAT read: 18:22:19.3308 LVL= 32752, 32753, 31122, 32755, AGC= 71, IDX= 411,-0.04, 1.220,-0.161,0.567, PHS= 0.742,-0.681, 0.581, RAW= 144.1, -9.5, CAL= 150.8, -18.6, ROT= 359.2, 18.6
2025-06-18T18:22:19.335Z,1750270939.335 [DAT](INFO): unknown deviceResponse_: 18:22:19.3308 LVL= 32752, 32753, 31122, 32755, AGC= 71, IDX= 411,-0.04, 1.220,-0.161,0.567, PHS= 0.742,-0.681, 0.581, RAW= 144.1, -9.5, CAL= 150.8, -18.6, ROT= 359.2, 18.6
2025-06-18T18:22:19.336Z,1750270939.336 [DAT](INFO): DAT read: Bearing 359.2, 18.6 (Local)
2025-06-18T18:22:19.337Z,1750270939.337 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.2, 18.6 (Local)
2025-06-18T18:22:19.338Z,1750270939.338 [DAT](INFO): DAT read: Range 10 to 50 : 405.3 m (Round-trip 540.5 ms) speed 0.5 m/s
2025-06-18T18:22:19.339Z,1750270939.339 [DAT](INFO): DAT read: user:1139>
2025-06-18T18:22:19.345Z,1750270939.345 [DAT](INFO): DAT read: Tx time:18:22:20.4362
2025-06-18T18:22:19.345Z,1750270939.345 [DAT](INFO): Ping request sent.
2025-06-18T18:22:19.345Z,1750270939.345 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:22:19.345Z,1750270939.345 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:22:19.346Z,1750270939.346 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:19.346Z,1750270939.346 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:19.507Z,1750270939.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 405.299988 m,
deltaT: 4.038145 s,
deltaX: -2.400024 m,
approachRate: -0.594338 m/s,
rangeRepo size: 4
2025-06-18T18:22:19.512Z,1750270939.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:19.515Z,1750270939.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 373.229492 m,
bearing: 310.653037 deg,
approach rate: -0.652456 m/s,
LOS rate: -0.001712 deg/s,
cmd heading: 312.842034 deg,
new cmd heading: 312.839965 deg.
2025-06-18T18:22:19.521Z,1750270939.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460087 target range: 403.984863 and range: 405.30 m.
2025-06-18T18:22:19.581Z,1750270939.581 [DAT](INFO): DAT read: TxSync time:18:22:20.4354
2025-06-18T18:22:19.886Z,1750270939.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:19.913Z,1750270939.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:19.924Z,1750270939.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 372.981262 m,
bearing: 310.652382 deg,
approach rate: -0.610652 m/s,
LOS rate: -0.001613 deg/s,
cmd heading: 312.839958 deg,
new cmd heading: 312.837991 deg.
2025-06-18T18:22:19.925Z,1750270939.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460053 target range: 403.984863 and range: 405.30 m.
2025-06-18T18:22:20.089Z,1750270940.089 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:22:20.090Z,1750270940.090 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:22:20.090Z,1750270940.090 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:20.337Z,1750270940.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991527
2025-06-18T18:22:20.404Z,1750270940.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:20.407Z,1750270940.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 372.639740 m,
bearing: 310.651628 deg,
approach rate: -0.707855 m/s,
LOS rate: -0.001564 deg/s,
cmd heading: 312.837991 deg,
new cmd heading: 312.835727 deg.
2025-06-18T18:22:20.412Z,1750270940.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460013 target range: 403.984863 and range: 405.30 m.
2025-06-18T18:22:20.589Z,1750270940.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243943
2025-06-18T18:22:20.841Z,1750270940.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495576
2025-06-18T18:22:20.865Z,1750270940.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:20.870Z,1750270940.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 372.323120 m,
bearing: 310.650872 deg,
approach rate: -0.674220 m/s,
LOS rate: -0.001611 deg/s,
cmd heading: 312.835723 deg,
new cmd heading: 312.833453 deg.
2025-06-18T18:22:20.872Z,1750270940.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459974 target range: 403.984863 and range: 405.30 m.
2025-06-18T18:22:21.094Z,1750270941.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748615
2025-06-18T18:22:21.330Z,1750270941.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:21.337Z,1750270941.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 372.027039 m,
bearing: 310.649718 deg,
approach rate: -0.636669 m/s,
LOS rate: -0.002484 deg/s,
cmd heading: 312.833456 deg,
new cmd heading: 312.829990 deg.
2025-06-18T18:22:21.338Z,1750270941.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459913 target range: 403.984863 and range: 405.30 m.
2025-06-18T18:22:21.345Z,1750270941.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000134
2025-06-18T18:22:21.597Z,1750270941.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251589
2025-06-18T18:22:21.702Z,1750270941.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:21.705Z,1750270941.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 371.771240 m,
bearing: 310.648646 deg,
approach rate: -0.688068 m/s,
LOS rate: -0.002884 deg/s,
cmd heading: 312.829986 deg,
new cmd heading: 312.826770 deg.
2025-06-18T18:22:21.706Z,1750270941.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459857 target range: 403.984863 and range: 405.30 m.
2025-06-18T18:22:21.849Z,1750270941.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503726
2025-06-18T18:22:22.103Z,1750270942.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757344
2025-06-18T18:22:22.154Z,1750270942.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:22.156Z,1750270942.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:22.159Z,1750270942.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 371.472931 m,
bearing: 310.646884 deg,
approach rate: -0.657483 m/s,
LOS rate: -0.003886 deg/s,
cmd heading: 312.826762 deg,
new cmd heading: 312.821472 deg.
2025-06-18T18:22:22.160Z,1750270942.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459764 target range: 403.984863 and range: 405.30 m.
2025-06-18T18:22:22.354Z,1750270942.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009149
2025-06-18T18:22:22.515Z,1750270942.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:22.518Z,1750270942.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 371.235931 m,
bearing: 310.645490 deg,
approach rate: -0.658854 m/s,
LOS rate: -0.003880 deg/s,
cmd heading: 312.821462 deg,
new cmd heading: 312.817275 deg.
2025-06-18T18:22:22.519Z,1750270942.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459692 target range: 403.984863 and range: 405.30 m.
2025-06-18T18:22:22.606Z,1750270942.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260144
2025-06-18T18:22:22.857Z,1750270942.857 [DAT](INFO): DAT read: Rx Time:18:22:23.3779
2025-06-18T18:22:22.857Z,1750270942.857 [DAT](INFO): Rx dataTimestamp_ set to:1750270942.856952
2025-06-18T18:22:22.858Z,1750270942.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512612
2025-06-18T18:22:22.957Z,1750270942.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.98 m.
2025-06-18T18:22:22.959Z,1750270942.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 403.984863 m,
nav range: 370.950714 m,
bearing: 310.643817 deg,
approach rate: -0.646468 m/s,
LOS rate: -0.003795 deg/s,
cmd heading: 312.817282 deg,
new cmd heading: 312.812259 deg.
2025-06-18T18:22:22.969Z,1750270942.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459604 target range: 403.984863 and range: 405.30 m.
2025-06-18T18:22:23.109Z,1750270943.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763596
2025-06-18T18:22:23.367Z,1750270943.367 [DAT](INFO): DAT read: 18:22:23.3779 LVL= 25136, 27377, 23234, 32755, AGC= 70, IDX= 413,-0.36, 2.846, 1.167, 2.834, 2.060, PHS= 0.874,-0.846, 0.771, RAW= 146.9, -9.6, CAL= 153.5, -18.1, ROT= 356.5, 18.1
2025-06-18T18:22:23.368Z,1750270943.368 [DAT](INFO): got valid direction response:
18:22:23.3779 LVL= 25136, 27377, 23234, 32755, AGC= 70, IDX= 413,-0.36, 2.846, 1.167, 2.834, 2.060, PHS= 0.874,-0.846, 0.771, RAW= 146.9, -9.6, CAL= 153.5, -18.1, ROT= 356.5, 18.1
2025-06-18T18:22:23.369Z,1750270943.369 [DAT](INFO): DAT read: Bearing 356.5, 18.1 (Local)
2025-06-18T18:22:23.369Z,1750270943.369 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.5, 18.1 (Local)
2025-06-18T18:22:23.371Z,1750270943.371 [DAT](INFO): DAT read: Range 10 to 50 : 403.1 m (Round-trip 537.5 ms) speed 0.4 m/s
2025-06-18T18:22:23.372Z,1750270943.372 [DAT](INFO): DAT read: user:1140>
2025-06-18T18:22:23.372Z,1750270943.372 [DAT](INFO): DAT read: Tx time:18:22:24.4862
2025-06-18T18:22:23.373Z,1750270943.373 [DAT](INFO): Ping request sent.
2025-06-18T18:22:23.373Z,1750270943.373 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:22:23.373Z,1750270943.373 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:22:23.374Z,1750270943.374 [DAT](INFO): direction in FSK: [0.948743,-0.058028,-0.310676]
2025-06-18T18:22:23.374Z,1750270943.374 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:23.375Z,1750270943.375 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:23.382Z,1750270943.382 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:23.382Z,1750270943.382 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:23.459Z,1750270943.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 403.100006 m,
deltaT: 4.032176 s,
deltaX: -2.199982 m,
approachRate: -0.545607 m/s,
rangeRepo size: 4
2025-06-18T18:22:23.477Z,1750270943.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 399.426544 m,
bearing: 310.932883 deg,
lat: 36.905766 deg,
lon: -122.115785 deg,
deltaT: 8.070321 s,
deltaX: -4.558319 m,
approachRate: -0.564825 m/s,
posRepo size: 4
2025-06-18T18:22:23.478Z,1750270943.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.43 m.
2025-06-18T18:22:23.485Z,1750270943.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.426544 m,
nav range: 369.514679 m,
bearing: 310.934231 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003795 deg/s,
cmd heading: 312.812255 deg,
new cmd heading: 312.806543 deg.
2025-06-18T18:22:23.486Z,1750270943.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459504 target range: 399.426544 and range: 403.10 m.
2025-06-18T18:22:23.613Z,1750270943.613 [DAT](INFO): DAT read: TxSync time:18:22:24.4854
2025-06-18T18:22:23.771Z,1750270943.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.43 m.
2025-06-18T18:22:23.774Z,1750270943.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.426544 m,
nav range: 369.266541 m,
bearing: 310.933403 deg,
approach rate: -0.793997 m/s,
LOS rate: -0.002652 deg/s,
cmd heading: 312.806545 deg,
new cmd heading: 312.804059 deg.
2025-06-18T18:22:23.775Z,1750270943.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459461 target range: 399.426544 and range: 403.10 m.
2025-06-18T18:22:24.201Z,1750270944.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:24.203Z,1750270944.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.43 m.
2025-06-18T18:22:24.210Z,1750270944.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.426544 m,
nav range: 368.997284 m,
bearing: 310.932484 deg,
approach rate: -0.623058 m/s,
LOS rate: -0.002129 deg/s,
cmd heading: 312.804059 deg,
new cmd heading: 312.801298 deg.
2025-06-18T18:22:24.211Z,1750270944.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459413 target range: 399.426544 and range: 403.10 m.
2025-06-18T18:22:24.372Z,1750270944.372 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:22:24.372Z,1750270944.372 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:22:24.372Z,1750270944.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:24.568Z,1750270944.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.43 m.
2025-06-18T18:22:24.571Z,1750270944.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.426544 m,
nav range: 368.745270 m,
bearing: 310.931627 deg,
approach rate: -0.689584 m/s,
LOS rate: -0.002346 deg/s,
cmd heading: 312.801299 deg,
new cmd heading: 312.798727 deg.
2025-06-18T18:22:24.580Z,1750270944.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459368 target range: 399.426544 and range: 403.10 m.
2025-06-18T18:22:24.622Z,1750270944.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248511
2025-06-18T18:22:24.874Z,1750270944.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500662
2025-06-18T18:22:24.987Z,1750270944.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.43 m.
2025-06-18T18:22:24.990Z,1750270944.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.426544 m,
nav range: 368.471710 m,
bearing: 310.930695 deg,
approach rate: -0.653019 m/s,
LOS rate: -0.002225 deg/s,
cmd heading: 312.798731 deg,
new cmd heading: 312.795935 deg.
2025-06-18T18:22:24.991Z,1750270944.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459319 target range: 399.426544 and range: 403.10 m.
2025-06-18T18:22:25.127Z,1750270945.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753959
2025-06-18T18:22:25.377Z,1750270945.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003957
2025-06-18T18:22:25.413Z,1750270945.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.43 m.
2025-06-18T18:22:25.428Z,1750270945.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.426544 m,
nav range: 368.203125 m,
bearing: 310.930315 deg,
approach rate: -0.630403 m/s,
LOS rate: -0.000894 deg/s,
cmd heading: 312.795944 deg,
new cmd heading: 312.794802 deg.
2025-06-18T18:22:25.429Z,1750270945.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459299 target range: 399.426544 and range: 403.10 m.
2025-06-18T18:22:25.629Z,1750270945.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256458
2025-06-18T18:22:25.789Z,1750270945.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.43 m.
2025-06-18T18:22:25.792Z,1750270945.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.426544 m,
nav range: 367.946228 m,
bearing: 310.929943 deg,
approach rate: -0.683460 m/s,
LOS rate: -0.000991 deg/s,
cmd heading: 312.794797 deg,
new cmd heading: 312.793680 deg.
2025-06-18T18:22:25.793Z,1750270945.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459280 target range: 399.426544 and range: 403.10 m.
2025-06-18T18:22:25.882Z,1750270945.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508853
2025-06-18T18:22:26.136Z,1750270946.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762550
2025-06-18T18:22:26.227Z,1750270946.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:26.233Z,1750270946.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.43 m.
2025-06-18T18:22:26.240Z,1750270946.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.426544 m,
nav range: 367.667114 m,
bearing: 310.929865 deg,
approach rate: -0.628946 m/s,
LOS rate: -0.000175 deg/s,
cmd heading: 312.793677 deg,
new cmd heading: 312.793444 deg.
2025-06-18T18:22:26.241Z,1750270946.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459275 target range: 399.426544 and range: 403.10 m.
2025-06-18T18:22:26.385Z,1750270946.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011895
2025-06-18T18:22:26.604Z,1750270946.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.43 m.
2025-06-18T18:22:26.607Z,1750270946.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.426544 m,
nav range: 367.424408 m,
bearing: 310.929820 deg,
approach rate: -0.653746 m/s,
LOS rate: -0.000122 deg/s,
cmd heading: 312.793431 deg,
new cmd heading: 312.793294 deg.
2025-06-18T18:22:26.612Z,1750270946.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459273 target range: 399.426544 and range: 403.10 m.
2025-06-18T18:22:26.637Z,1750270946.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264055
2025-06-18T18:22:26.889Z,1750270946.889 [DAT](INFO): DAT read: Rx Time:18:22:27.4232
2025-06-18T18:22:26.890Z,1750270946.890 [DAT](INFO): Rx dataTimestamp_ set to:1750270946.889911
2025-06-18T18:22:26.891Z,1750270946.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518149
2025-06-18T18:22:27.004Z,1750270947.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.43 m.
2025-06-18T18:22:27.006Z,1750270947.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.426544 m,
nav range: 367.152985 m,
bearing: 310.929795 deg,
approach rate: -0.679814 m/s,
LOS rate: -0.000062 deg/s,
cmd heading: 312.793294 deg,
new cmd heading: 312.793220 deg.
2025-06-18T18:22:27.007Z,1750270947.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459271 target range: 399.426544 and range: 403.10 m.
2025-06-18T18:22:27.143Z,1750270947.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770079
2025-06-18T18:22:27.399Z,1750270947.399 [DAT](INFO): DAT read: 18:22:27.4232 LVL= 31136, 32753, 28370, 32755, AGC= 70, IDX= 397,-0.38,-2.295, 2.681,-2.315,-2.848, PHS= 0.641,-0.707, 0.530, RAW= 145.7, -7.2, CAL= 151.7, -16.0, ROT= 358.3, 16.0
2025-06-18T18:22:27.400Z,1750270947.400 [DAT](INFO): got valid direction response:
18:22:27.4232 LVL= 31136, 32753, 28370, 32755, AGC= 70, IDX= 397,-0.38,-2.295, 2.681,-2.315,-2.848, PHS= 0.641,-0.707, 0.530, RAW= 145.7, -7.2, CAL= 151.7, -16.0, ROT= 358.3, 16.0
2025-06-18T18:22:27.401Z,1750270947.401 [DAT](INFO): DAT read: Bearing 358.3, 16.0 (Local)
2025-06-18T18:22:27.401Z,1750270947.401 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.3, 16.0 (Local)
2025-06-18T18:22:27.403Z,1750270947.403 [DAT](INFO): DAT read: Range 10 to 50 : 399.6 m (Round-trip 532.9 ms) speed 0.5 m/s
2025-06-18T18:22:27.404Z,1750270947.404 [DAT](INFO): DAT read: user:1141>
2025-06-18T18:22:27.405Z,1750270947.405 [DAT](INFO): DAT read: Tx time:18:22:28.5362
2025-06-18T18:22:27.405Z,1750270947.405 [DAT](INFO): Ping request sent.
2025-06-18T18:22:27.405Z,1750270947.405 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:22:27.405Z,1750270947.405 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:22:27.406Z,1750270947.406 [DAT](INFO): direction in FSK: [0.960839,-0.028517,-0.275637]
2025-06-18T18:22:27.406Z,1750270947.406 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:27.407Z,1750270947.407 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:27.466Z,1750270947.466 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:27.467Z,1750270947.467 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:27.597Z,1750270947.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 399.600006 m,
deltaT: 4.031879 s,
deltaX: -3.500000 m,
approachRate: -0.868082 m/s,
rangeRepo size: 4
2025-06-18T18:22:27.599Z,1750270947.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 395.957458 m,
bearing: 312.333567 deg,
lat: 36.905789 deg,
lon: -122.115767 deg,
deltaT: 4.031879 s,
deltaX: -3.469086 m,
approachRate: -0.860414 m/s,
posRepo size: 4
2025-06-18T18:22:27.604Z,1750270947.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.96 m.
2025-06-18T18:22:27.607Z,1750270947.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.957458 m,
nav range: 367.284515 m,
bearing: 311.401495 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000062 deg/s,
cmd heading: 312.793212 deg,
new cmd heading: 312.793102 deg.
2025-06-18T18:22:27.612Z,1750270947.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459270 target range: 395.957458 and range: 399.60 m.
2025-06-18T18:22:27.645Z,1750270947.645 [DAT](INFO): DAT read: TxSync time:18:22:28.5354
2025-06-18T18:22:27.927Z,1750270947.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.96 m.
2025-06-18T18:22:27.931Z,1750270947.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.957458 m,
nav range: 367.056549 m,
bearing: 311.402558 deg,
approach rate: -0.689653 m/s,
LOS rate: 0.003218 deg/s,
cmd heading: 312.793103 deg,
new cmd heading: 312.796294 deg.
2025-06-18T18:22:27.932Z,1750270947.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459325 target range: 395.957458 and range: 399.60 m.
2025-06-18T18:22:28.309Z,1750270948.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:28.311Z,1750270948.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.96 m.
2025-06-18T18:22:28.332Z,1750270948.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.957458 m,
nav range: 366.801636 m,
bearing: 311.403601 deg,
approach rate: -0.664394 m/s,
LOS rate: 0.002720 deg/s,
cmd heading: 312.796299 deg,
new cmd heading: 312.799430 deg.
2025-06-18T18:22:28.333Z,1750270948.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459380 target range: 395.957458 and range: 399.60 m.
2025-06-18T18:22:28.401Z,1750270948.401 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:22:28.401Z,1750270948.401 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:22:28.401Z,1750270948.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:28.653Z,1750270948.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247814
2025-06-18T18:22:28.705Z,1750270948.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.96 m.
2025-06-18T18:22:28.709Z,1750270948.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.957458 m,
nav range: 366.542419 m,
bearing: 311.404663 deg,
approach rate: -0.657479 m/s,
LOS rate: 0.002696 deg/s,
cmd heading: 312.799441 deg,
new cmd heading: 312.802630 deg.
2025-06-18T18:22:28.714Z,1750270948.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459436 target range: 395.957458 and range: 399.60 m.
2025-06-18T18:22:28.905Z,1750270948.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500139
2025-06-18T18:22:29.111Z,1750270949.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.96 m.
2025-06-18T18:22:29.118Z,1750270949.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.957458 m,
nav range: 366.281952 m,
bearing: 311.405876 deg,
approach rate: -0.641634 m/s,
LOS rate: 0.002990 deg/s,
cmd heading: 312.802638 deg,
new cmd heading: 312.806280 deg.
2025-06-18T18:22:29.119Z,1750270949.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459499 target range: 395.957458 and range: 399.60 m.
2025-06-18T18:22:29.159Z,1750270949.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753938
2025-06-18T18:22:29.409Z,1750270949.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003957
2025-06-18T18:22:29.529Z,1750270949.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.96 m.
2025-06-18T18:22:29.532Z,1750270949.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.957458 m,
nav range: 365.999146 m,
bearing: 311.408130 deg,
approach rate: -0.676624 m/s,
LOS rate: 0.005398 deg/s,
cmd heading: 312.806272 deg,
new cmd heading: 312.813040 deg.
2025-06-18T18:22:29.533Z,1750270949.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459618 target range: 395.957458 and range: 399.60 m.
2025-06-18T18:22:29.662Z,1750270949.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257054
2025-06-18T18:22:29.913Z,1750270949.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507850
2025-06-18T18:22:29.926Z,1750270949.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.96 m.
2025-06-18T18:22:29.929Z,1750270949.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.957458 m,
nav range: 365.736786 m,
bearing: 311.410175 deg,
approach rate: -0.661079 m/s,
LOS rate: 0.005155 deg/s,
cmd heading: 312.813047 deg,
new cmd heading: 312.819184 deg.
2025-06-18T18:22:29.930Z,1750270949.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459725 target range: 395.957458 and range: 399.60 m.
2025-06-18T18:22:30.168Z,1750270950.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761953
2025-06-18T18:22:30.393Z,1750270950.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:30.395Z,1750270950.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.96 m.
2025-06-18T18:22:30.398Z,1750270950.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.957458 m,
nav range: 365.425964 m,
bearing: 311.412554 deg,
approach rate: -0.662993 m/s,
LOS rate: 0.005080 deg/s,
cmd heading: 312.819194 deg,
new cmd heading: 312.826339 deg.
2025-06-18T18:22:30.399Z,1750270950.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459850 target range: 395.957458 and range: 399.60 m.
2025-06-18T18:22:30.417Z,1750270950.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011814
2025-06-18T18:22:30.669Z,1750270950.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263999
2025-06-18T18:22:30.768Z,1750270950.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.96 m.
2025-06-18T18:22:30.771Z,1750270950.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.957458 m,
nav range: 365.178162 m,
bearing: 311.414431 deg,
approach rate: -0.664372 m/s,
LOS rate: 0.005034 deg/s,
cmd heading: 312.826352 deg,
new cmd heading: 312.831985 deg.
2025-06-18T18:22:30.772Z,1750270950.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459948 target range: 395.957458 and range: 399.60 m.
2025-06-18T18:22:30.921Z,1750270950.921 [DAT](INFO): DAT read: Rx Time:18:22:31.4708
2025-06-18T18:22:30.921Z,1750270950.921 [DAT](INFO): Rx dataTimestamp_ set to:1750270950.921086
2025-06-18T18:22:30.922Z,1750270950.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516912
2025-06-18T18:22:31.175Z,1750270951.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770021
2025-06-18T18:22:31.271Z,1750270951.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.96 m.
2025-06-18T18:22:31.290Z,1750270951.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.957458 m,
nav range: 364.845032 m,
bearing: 311.416720 deg,
approach rate: -0.662048 m/s,
LOS rate: 0.004553 deg/s,
cmd heading: 312.831980 deg,
new cmd heading: 312.838854 deg.
2025-06-18T18:22:31.291Z,1750270951.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460068 target range: 395.957458 and range: 399.60 m.
2025-06-18T18:22:31.434Z,1750270951.434 [DAT](INFO): DAT read: 18:22:31.4708 LVL= 22768, 26289, 18466, 32499, AGC= 73, IDX= 411,-0.02,-1.407,-2.843,-1.419,-2.082, PHS= 0.763,-0.714, 0.660, RAW= 146.4, -10.0, CAL= 153.1, -18.5, ROT= 356.9, 18.5
2025-06-18T18:22:31.435Z,1750270951.435 [DAT](INFO): got valid direction response:
18:22:31.4708 LVL= 22768, 26289, 18466, 32499, AGC= 73, IDX= 411,-0.02,-1.407,-2.843,-1.419,-2.082, PHS= 0.763,-0.714, 0.660, RAW= 146.4, -10.0, CAL= 153.1, -18.5, ROT= 356.9, 18.5
2025-06-18T18:22:31.436Z,1750270951.436 [DAT](INFO): DAT read: Bearing 356.9, 18.5 (Local)
2025-06-18T18:22:31.436Z,1750270951.436 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.9, 18.5 (Local)
2025-06-18T18:22:31.438Z,1750270951.438 [DAT](INFO): DAT read: Range 10 to 50 : 397.8 m (Round-trip 530.4 ms) speed 0.8 m/s
2025-06-18T18:22:31.438Z,1750270951.438 [DAT](INFO): DAT read: user:1142>
2025-06-18T18:22:31.439Z,1750270951.439 [DAT](INFO): DAT read: Tx time:18:22:32.5863
2025-06-18T18:22:31.439Z,1750270951.439 [DAT](INFO): Ping request sent.
2025-06-18T18:22:31.439Z,1750270951.439 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:22:31.441Z,1750270951.441 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:22:31.442Z,1750270951.442 [DAT](INFO): direction in FSK: [0.946936,-0.051284,-0.317305]
2025-06-18T18:22:31.442Z,1750270951.442 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:31.442Z,1750270951.442 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:31.454Z,1750270951.454 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:31.454Z,1750270951.454 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:31.677Z,1750270951.677 [DAT](INFO): DAT read: TxSync time:18:22:32.5855
2025-06-18T18:22:31.752Z,1750270951.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 397.799988 m,
deltaT: 4.033948 s,
deltaX: -1.800018 m,
approachRate: -0.446218 m/s,
rangeRepo size: 4
2025-06-18T18:22:31.755Z,1750270951.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 394.172913 m,
bearing: 311.098776 deg,
lat: 36.905789 deg,
lon: -122.115767 deg,
deltaT: 4.033948 s,
deltaX: -1.784546 m,
approachRate: -0.442382 m/s,
posRepo size: 4
2025-06-18T18:22:31.755Z,1750270951.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:31.758Z,1750270951.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 364.529327 m,
bearing: 311.418869 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004553 deg/s,
cmd heading: 312.838865 deg,
new cmd heading: 312.845429 deg.
2025-06-18T18:22:31.759Z,1750270951.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460183 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:32.043Z,1750270952.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:32.046Z,1750270952.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 364.333405 m,
bearing: 311.420222 deg,
approach rate: -0.671378 m/s,
LOS rate: 0.004641 deg/s,
cmd heading: 312.845422 deg,
new cmd heading: 312.849485 deg.
2025-06-18T18:22:32.047Z,1750270952.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460254 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:32.498Z,1750270952.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:32.504Z,1750270952.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:32.507Z,1750270952.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 364.039032 m,
bearing: 311.421345 deg,
approach rate: -0.644868 m/s,
LOS rate: 0.002461 deg/s,
cmd heading: 312.849493 deg,
new cmd heading: 312.852863 deg.
2025-06-18T18:22:32.512Z,1750270952.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460312 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:32.684Z,1750270952.684 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:22:32.685Z,1750270952.685 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:22:32.685Z,1750270952.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:32.877Z,1750270952.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:32.881Z,1750270952.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 363.773712 m,
bearing: 311.422434 deg,
approach rate: -0.705216 m/s,
LOS rate: 0.002898 deg/s,
cmd heading: 312.852853 deg,
new cmd heading: 312.856124 deg.
2025-06-18T18:22:32.883Z,1750270952.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460370 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:32.937Z,1750270952.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497447
2025-06-18T18:22:33.192Z,1750270953.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751738
2025-06-18T18:22:33.303Z,1750270953.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:33.306Z,1750270953.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 363.477325 m,
bearing: 311.423249 deg,
approach rate: -0.693482 m/s,
LOS rate: 0.001908 deg/s,
cmd heading: 312.856132 deg,
new cmd heading: 312.858578 deg.
2025-06-18T18:22:33.307Z,1750270953.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460413 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:33.441Z,1750270953.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001167
2025-06-18T18:22:33.648Z,1750270953.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:33.651Z,1750270953.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 363.239441 m,
bearing: 311.423855 deg,
approach rate: -0.689528 m/s,
LOS rate: 0.001758 deg/s,
cmd heading: 312.858591 deg,
new cmd heading: 312.860411 deg.
2025-06-18T18:22:33.668Z,1750270953.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460444 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:33.693Z,1750270953.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253478
2025-06-18T18:22:33.945Z,1750270953.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505393
2025-06-18T18:22:34.054Z,1750270954.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:34.057Z,1750270954.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 362.960510 m,
bearing: 311.424538 deg,
approach rate: -0.688247 m/s,
LOS rate: 0.001687 deg/s,
cmd heading: 312.860421 deg,
new cmd heading: 312.862473 deg.
2025-06-18T18:22:34.058Z,1750270954.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460480 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:34.199Z,1750270954.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759212
2025-06-18T18:22:34.449Z,1750270954.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009579
2025-06-18T18:22:34.478Z,1750270954.478 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD89.11, +6284.95, -34.56, 8.30, 0.00
2025-06-18T18:22:34.494Z,1750270954.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:34.497Z,1750270954.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 362.657745 m,
bearing: 311.425259 deg,
approach rate: -0.688216 m/s,
LOS rate: 0.001640 deg/s,
cmd heading: 312.862470 deg,
new cmd heading: 312.864635 deg.
2025-06-18T18:22:34.498Z,1750270954.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460518 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:34.701Z,1750270954.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261802
2025-06-18T18:22:34.859Z,1750270954.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:34.879Z,1750270954.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:34.883Z,1750270954.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 362.404694 m,
bearing: 311.425865 deg,
approach rate: -0.657887 m/s,
LOS rate: 0.001576 deg/s,
cmd heading: 312.864629 deg,
new cmd heading: 312.866447 deg.
2025-06-18T18:22:34.890Z,1750270954.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460550 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:34.954Z,1750270954.954 [DAT](INFO): DAT read: Rx Time:18:22:35.5163
2025-06-18T18:22:34.955Z,1750270954.955 [DAT](INFO): Rx dataTimestamp_ set to:1750270954.954426
2025-06-18T18:22:34.956Z,1750270954.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516069
2025-06-18T18:22:35.205Z,1750270955.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765237
2025-06-18T18:22:35.457Z,1750270955.457 [DAT](INFO): DAT read: $Error in header
2025-06-18T18:22:35.457Z,1750270955.457 [DAT](INFO): Received a bad header
2025-06-18T18:22:35.468Z,1750270955.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028662
2025-06-18T18:22:35.481Z,1750270955.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:35.488Z,1750270955.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 362.001129 m,
bearing: 311.424423 deg,
approach rate: -0.669466 m/s,
LOS rate: -0.002394 deg/s,
cmd heading: 312.866459 deg,
new cmd heading: 312.862129 deg.
2025-06-18T18:22:35.493Z,1750270955.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460474 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:35.710Z,1750270955.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270683
2025-06-18T18:22:35.791Z,1750270955.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:35.794Z,1750270955.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 361.756317 m,
bearing: 311.423547 deg,
approach rate: -0.788970 m/s,
LOS rate: -0.002826 deg/s,
cmd heading: 312.862142 deg,
new cmd heading: 312.859512 deg.
2025-06-18T18:22:35.795Z,1750270955.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460429 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:35.928Z,1750270955.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:22:35.961Z,1750270955.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.521268
2025-06-18T18:22:36.184Z,1750270956.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:36.187Z,1750270956.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 361.483124 m,
bearing: 311.422601 deg,
approach rate: -0.695835 m/s,
LOS rate: -0.002412 deg/s,
cmd heading: 312.859520 deg,
new cmd heading: 312.856679 deg.
2025-06-18T18:22:36.188Z,1750270956.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460379 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:36.214Z,1750270956.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774727
2025-06-18T18:22:36.466Z,1750270956.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026531
2025-06-18T18:22:36.610Z,1750270956.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:36.613Z,1750270956.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 361.195007 m,
bearing: 311.421170 deg,
approach rate: -0.676290 m/s,
LOS rate: -0.003361 deg/s,
cmd heading: 312.856678 deg,
new cmd heading: 312.852382 deg.
2025-06-18T18:22:36.614Z,1750270956.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460304 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:36.718Z,1750270956.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278547
2025-06-18T18:22:36.932Z,1750270956.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:22:36.969Z,1750270956.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.529276
2025-06-18T18:22:37.020Z,1750270957.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:37.022Z,1750270957.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:37.029Z,1750270957.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 360.919830 m,
bearing: 311.419801 deg,
approach rate: -0.667243 m/s,
LOS rate: -0.003321 deg/s,
cmd heading: 312.852389 deg,
new cmd heading: 312.848280 deg.
2025-06-18T18:22:37.030Z,1750270957.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460233 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:37.221Z,1750270957.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.781170
2025-06-18T18:22:37.414Z,1750270957.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:37.417Z,1750270957.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 360.637543 m,
bearing: 311.417413 deg,
approach rate: -0.720618 m/s,
LOS rate: -0.006100 deg/s,
cmd heading: 312.848291 deg,
new cmd heading: 312.841122 deg.
2025-06-18T18:22:37.418Z,1750270957.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460108 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:37.473Z,1750270957.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.033943
2025-06-18T18:22:37.725Z,1750270957.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.285284
2025-06-18T18:22:37.794Z,1750270957.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:37.813Z,1750270957.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 360.382202 m,
bearing: 311.415264 deg,
approach rate: -0.672434 m/s,
LOS rate: -0.005663 deg/s,
cmd heading: 312.841133 deg,
new cmd heading: 312.834681 deg.
2025-06-18T18:22:37.814Z,1750270957.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459995 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:37.977Z,1750270957.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.537331
2025-06-18T18:22:38.203Z,1750270958.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:38.206Z,1750270958.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 360.100067 m,
bearing: 311.412896 deg,
approach rate: -0.689247 m/s,
LOS rate: -0.005789 deg/s,
cmd heading: 312.834685 deg,
new cmd heading: 312.827576 deg.
2025-06-18T18:22:38.207Z,1750270958.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459871 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:38.242Z,1750270958.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802515
2025-06-18T18:22:38.493Z,1750270958.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053297
2025-06-18T18:22:38.629Z,1750270958.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:38.632Z,1750270958.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 359.812866 m,
bearing: 311.410763 deg,
approach rate: -0.673866 m/s,
LOS rate: -0.005009 deg/s,
cmd heading: 312.827582 deg,
new cmd heading: 312.821178 deg.
2025-06-18T18:22:38.633Z,1750270958.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459760 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:38.745Z,1750270958.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305354
2025-06-18T18:22:38.997Z,1750270958.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557438
2025-06-18T18:22:39.021Z,1750270959.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:39.023Z,1750270959.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 359.548950 m,
bearing: 311.408802 deg,
approach rate: -0.674179 m/s,
LOS rate: -0.005015 deg/s,
cmd heading: 312.821189 deg,
new cmd heading: 312.815299 deg.
2025-06-18T18:22:39.025Z,1750270959.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459657 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:39.249Z,1750270959.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809431
2025-06-18T18:22:39.405Z,1750270959.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:39.407Z,1750270959.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:39.410Z,1750270959.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 359.289276 m,
bearing: 311.406852 deg,
approach rate: -0.672245 m/s,
LOS rate: -0.005049 deg/s,
cmd heading: 312.815287 deg,
new cmd heading: 312.809436 deg.
2025-06-18T18:22:39.411Z,1750270959.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459555 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:39.502Z,1750270959.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062564
2025-06-18T18:22:39.753Z,1750270959.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313222
2025-06-18T18:22:39.831Z,1750270959.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:39.845Z,1750270959.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 359.017242 m,
bearing: 311.404795 deg,
approach rate: -0.641867 m/s,
LOS rate: -0.004858 deg/s,
cmd heading: 312.809441 deg,
new cmd heading: 312.803265 deg.
2025-06-18T18:22:39.847Z,1750270959.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459447 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:40.005Z,1750270960.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565273
2025-06-18T18:22:40.218Z,1750270960.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:40.221Z,1750270960.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 358.741943 m,
bearing: 311.402701 deg,
approach rate: -0.711351 m/s,
LOS rate: -0.005416 deg/s,
cmd heading: 312.803266 deg,
new cmd heading: 312.796978 deg.
2025-06-18T18:22:40.222Z,1750270960.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459337 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:40.258Z,1750270960.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818175
2025-06-18T18:22:40.509Z,1750270960.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069516
2025-06-18T18:22:40.623Z,1750270960.623 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061810240088,35.0, +9.9, 0.0,1489.8,A, 0.00, 87.88, 80.07, 85.84, 82.45
2025-06-18T18:22:40.639Z,1750270960.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:40.642Z,1750270960.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 358.458221 m,
bearing: 311.400518 deg,
approach rate: -0.673906 m/s,
LOS rate: -0.005190 deg/s,
cmd heading: 312.796982 deg,
new cmd heading: 312.790428 deg.
2025-06-18T18:22:40.643Z,1750270960.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459223 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:40.761Z,1750270960.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321354
2025-06-18T18:22:41.013Z,1750270961.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573328
2025-06-18T18:22:41.025Z,1750270961.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:41.028Z,1750270961.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 358.197998 m,
bearing: 311.398493 deg,
approach rate: -0.674177 m/s,
LOS rate: -0.005248 deg/s,
cmd heading: 312.790425 deg,
new cmd heading: 312.784348 deg.
2025-06-18T18:22:41.029Z,1750270961.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459117 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:41.265Z,1750270961.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825236
2025-06-18T18:22:41.459Z,1750270961.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:41.461Z,1750270961.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:41.464Z,1750270961.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 357.909637 m,
bearing: 311.399870 deg,
approach rate: -0.661021 m/s,
LOS rate: 0.003159 deg/s,
cmd heading: 312.784360 deg,
new cmd heading: 312.788494 deg.
2025-06-18T18:22:41.465Z,1750270961.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459189 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:41.517Z,1750270961.517 [DAT](INFO): Reached modem response timeout
2025-06-18T18:22:41.518Z,1750270961.518 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:22:41.518Z,1750270961.518 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:41.768Z,1750270961.768 [DAT](INFO): Reached modem response timeout
2025-06-18T18:22:41.769Z,1750270961.769 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:22:41.769Z,1750270961.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:41.848Z,1750270961.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:41.850Z,1750270961.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 357.653503 m,
bearing: 311.401095 deg,
approach rate: -0.662907 m/s,
LOS rate: 0.003173 deg/s,
cmd heading: 312.788486 deg,
new cmd heading: 312.792163 deg.
2025-06-18T18:22:41.851Z,1750270961.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459253 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:42.020Z,1750270962.020 [DAT](INFO): Reached modem response timeout
2025-06-18T18:22:42.021Z,1750270962.021 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:22:42.021Z,1750270962.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:42.234Z,1750270962.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:42.237Z,1750270962.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 357.397705 m,
bearing: 311.402314 deg,
approach rate: -0.661234 m/s,
LOS rate: 0.003152 deg/s,
cmd heading: 312.792174 deg,
new cmd heading: 312.795832 deg.
2025-06-18T18:22:42.238Z,1750270962.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459317 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:42.273Z,1750270962.273 [DAT](INFO): Reached modem response timeout
2025-06-18T18:22:42.274Z,1750270962.274 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:22:42.274Z,1750270962.274 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:42.530Z,1750270962.530 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:22:42.530Z,1750270962.530 [DAT](INFO): response not received
2025-06-18T18:22:42.530Z,1750270962.530 [DAT](INFO): DAT read: user:1144>
2025-06-18T18:22:42.531Z,1750270962.531 [DAT](INFO): DAT read: Tx time:18:22:43.5364
2025-06-18T18:22:42.531Z,1750270962.531 [DAT](INFO): Ping request sent.
2025-06-18T18:22:42.531Z,1750270962.531 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:22:42.532Z,1750270962.532 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:42.532Z,1750270962.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000846
2025-06-18T18:22:42.726Z,1750270962.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:42.745Z,1750270962.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 357.074646 m,
bearing: 311.405093 deg,
approach rate: -0.657738 m/s,
LOS rate: 0.005663 deg/s,
cmd heading: 312.795835 deg,
new cmd heading: 312.804179 deg.
2025-06-18T18:22:42.746Z,1750270962.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459463 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:42.777Z,1750270962.777 [DAT](INFO): DAT read: TxSync time:18:22:43.5356
2025-06-18T18:22:42.778Z,1750270962.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246639
2025-06-18T18:22:43.029Z,1750270963.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497414
2025-06-18T18:22:43.044Z,1750270963.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:43.047Z,1750270963.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 356.865448 m,
bearing: 311.406965 deg,
approach rate: -0.657463 m/s,
LOS rate: 0.005887 deg/s,
cmd heading: 312.804168 deg,
new cmd heading: 312.809787 deg.
2025-06-18T18:22:43.049Z,1750270963.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459561 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:43.281Z,1750270963.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749424
2025-06-18T18:22:43.472Z,1750270963.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:43.474Z,1750270963.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:43.477Z,1750270963.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 356.585114 m,
bearing: 311.411030 deg,
approach rate: -0.651894 m/s,
LOS rate: 0.009461 deg/s,
cmd heading: 312.809796 deg,
new cmd heading: 312.822002 deg.
2025-06-18T18:22:43.478Z,1750270963.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459774 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:43.534Z,1750270963.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002490
2025-06-18T18:22:43.785Z,1750270963.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253452
2025-06-18T18:22:43.863Z,1750270963.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:43.868Z,1750270963.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 356.337921 m,
bearing: 311.414701 deg,
approach rate: -0.634784 m/s,
LOS rate: 0.009434 deg/s,
cmd heading: 312.822008 deg,
new cmd heading: 312.833030 deg.
2025-06-18T18:22:43.870Z,1750270963.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459966 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:44.037Z,1750270964.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505498
2025-06-18T18:22:44.251Z,1750270964.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:44.254Z,1750270964.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 356.077637 m,
bearing: 311.418609 deg,
approach rate: -0.671078 m/s,
LOS rate: 0.010083 deg/s,
cmd heading: 312.833019 deg,
new cmd heading: 312.844750 deg.
2025-06-18T18:22:44.255Z,1750270964.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460171 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:44.289Z,1750270964.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757461
2025-06-18T18:22:44.541Z,1750270964.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009421
2025-06-18T18:22:44.755Z,1750270964.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:44.762Z,1750270964.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 355.750671 m,
bearing: 311.422654 deg,
approach rate: -0.649113 m/s,
LOS rate: 0.008038 deg/s,
cmd heading: 312.844739 deg,
new cmd heading: 312.856886 deg.
2025-06-18T18:22:44.763Z,1750270964.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460383 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:44.793Z,1750270964.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261462
2025-06-18T18:22:45.045Z,1750270965.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513413
2025-06-18T18:22:45.195Z,1750270965.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:45.198Z,1750270965.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 355.454346 m,
bearing: 311.426320 deg,
approach rate: -0.673564 m/s,
LOS rate: 0.008340 deg/s,
cmd heading: 312.856897 deg,
new cmd heading: 312.867904 deg.
2025-06-18T18:22:45.199Z,1750270965.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460575 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:45.297Z,1750270965.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765533
2025-06-18T18:22:45.549Z,1750270965.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017445
2025-06-18T18:22:45.654Z,1750270965.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:45.656Z,1750270965.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:45.659Z,1750270965.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 355.138672 m,
bearing: 311.429612 deg,
approach rate: -0.684437 m/s,
LOS rate: 0.007144 deg/s,
cmd heading: 312.867907 deg,
new cmd heading: 312.877792 deg.
2025-06-18T18:22:45.660Z,1750270965.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460748 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:45.801Z,1750270965.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269467
2025-06-18T18:22:46.005Z,1750270966.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:46.008Z,1750270966.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 354.905640 m,
bearing: 311.432046 deg,
approach rate: -0.667812 m/s,
LOS rate: 0.006978 deg/s,
cmd heading: 312.877797 deg,
new cmd heading: 312.885103 deg.
2025-06-18T18:22:46.009Z,1750270966.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460875 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:46.053Z,1750270966.053 [DAT](INFO): DAT read: Rx Time:18:22:46.4585
2025-06-18T18:22:46.054Z,1750270966.054 [DAT](INFO): Rx dataTimestamp_ set to:1750270966.053951
2025-06-18T18:22:46.055Z,1750270966.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523730
2025-06-18T18:22:46.305Z,1750270966.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773362
2025-06-18T18:22:46.513Z,1750270966.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.17 m.
2025-06-18T18:22:46.515Z,1750270966.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 394.172913 m,
nav range: 354.556152 m,
bearing: 311.434191 deg,
approach rate: -0.688279 m/s,
LOS rate: 0.004229 deg/s,
cmd heading: 312.885092 deg,
new cmd heading: 312.891535 deg.
2025-06-18T18:22:46.521Z,1750270966.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460988 target range: 394.172913 and range: 397.80 m.
2025-06-18T18:22:46.565Z,1750270966.565 [DAT](INFO): DAT read: 18:22:46.4585 LVL= 28752, 31457, 23490, 32755, AGC= 73, IDX= 366,-0.22,-1.227,-2.470,-1.187,-1.841, PHS= 0.702,-0.582, 0.652, RAW= 148.0, -12.2, CAL= 155.1, -20.3, ROT= 354.9, 20.3
2025-06-18T18:22:46.566Z,1750270966.566 [DAT](INFO): got valid direction response:
18:22:46.4585 LVL= 28752, 31457, 23490, 32755, AGC= 73, IDX= 366,-0.22,-1.227,-2.470,-1.187,-1.841, PHS= 0.702,-0.582, 0.652, RAW= 148.0, -12.2, CAL= 155.1, -20.3, ROT= 354.9, 20.3
2025-06-18T18:22:46.567Z,1750270966.567 [DAT](INFO): DAT read: Range 10 to 50 : 388.5 m (Round-trip 518.0 ms) speed 0.4 m/s
2025-06-18T18:22:46.568Z,1750270966.568 [DAT](INFO): DAT read: user:1145>
2025-06-18T18:22:46.569Z,1750270966.569 [DAT](INFO): DAT read: Tx time:18:22:47.5364
2025-06-18T18:22:46.570Z,1750270966.570 [DAT](INFO): Ping request sent.
2025-06-18T18:22:46.570Z,1750270966.570 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:22:46.570Z,1750270966.570 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:22:46.624Z,1750270966.624 [DAT](INFO): direction in FSK: [0.934176,-0.083373,-0.346936]
2025-06-18T18:22:46.625Z,1750270966.625 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:46.625Z,1750270966.625 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:46.634Z,1750270966.634 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:46.635Z,1750270966.635 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:46.809Z,1750270966.809 [DAT](INFO): DAT read: TxSync time:18:22:47.5356
2025-06-18T18:22:46.836Z,1750270966.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 388.500000 m,
deltaT: 15.132288 s,
deltaX: -9.299988 m,
approachRate: -0.614579 m/s,
rangeRepo size: 4
2025-06-18T18:22:46.838Z,1750270966.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 384.956055 m,
bearing: 308.848058 deg,
lat: 36.905784 deg,
lon: -122.115785 deg,
deltaT: 15.132288 s,
deltaX: -9.216858 m,
approachRate: -0.609086 m/s,
posRepo size: 4
2025-06-18T18:22:46.839Z,1750270966.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.96 m.
2025-06-18T18:22:46.845Z,1750270966.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 384.956055 m,
nav range: 355.162628 m,
bearing: 311.192622 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004229 deg/s,
cmd heading: 312.891540 deg,
new cmd heading: 312.895578 deg.
2025-06-18T18:22:46.846Z,1750270966.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461058 target range: 384.956055 and range: 388.50 m.
2025-06-18T18:22:47.207Z,1750270967.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.96 m.
2025-06-18T18:22:47.210Z,1750270967.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 384.956055 m,
nav range: 354.892761 m,
bearing: 311.194148 deg,
approach rate: -0.717764 m/s,
LOS rate: 0.004064 deg/s,
cmd heading: 312.895583 deg,
new cmd heading: 312.900167 deg.
2025-06-18T18:22:47.211Z,1750270967.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461138 target range: 384.956055 and range: 388.50 m.
2025-06-18T18:22:47.642Z,1750270967.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.96 m.
2025-06-18T18:22:47.649Z,1750270967.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 384.956055 m,
nav range: 354.605377 m,
bearing: 311.194446 deg,
approach rate: -0.659969 m/s,
LOS rate: 0.000684 deg/s,
cmd heading: 312.900173 deg,
new cmd heading: 312.901066 deg.
2025-06-18T18:22:47.650Z,1750270967.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461154 target range: 384.956055 and range: 388.50 m.
2025-06-18T18:22:48.015Z,1750270968.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:48.018Z,1750270968.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.96 m.
2025-06-18T18:22:48.021Z,1750270968.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 384.956055 m,
nav range: 354.337463 m,
bearing: 311.194736 deg,
approach rate: -0.713651 m/s,
LOS rate: 0.000774 deg/s,
cmd heading: 312.901075 deg,
new cmd heading: 312.901947 deg.
2025-06-18T18:22:48.022Z,1750270968.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461169 target range: 384.956055 and range: 388.50 m.
2025-06-18T18:22:48.069Z,1750270968.069 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:22:48.069Z,1750270968.069 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:22:48.070Z,1750270968.070 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:48.321Z,1750270968.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751048
2025-06-18T18:22:48.450Z,1750270968.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.96 m.
2025-06-18T18:22:48.459Z,1750270968.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 384.956055 m,
nav range: 354.055359 m,
bearing: 311.194998 deg,
approach rate: -0.656987 m/s,
LOS rate: 0.000611 deg/s,
cmd heading: 312.901949 deg,
new cmd heading: 312.902735 deg.
2025-06-18T18:22:48.493Z,1750270968.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461183 target range: 384.956055 and range: 388.50 m.
2025-06-18T18:22:48.573Z,1750270968.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003166
2025-06-18T18:22:48.825Z,1750270968.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254900
2025-06-18T18:22:48.906Z,1750270968.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.96 m.
2025-06-18T18:22:48.913Z,1750270968.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 384.956055 m,
nav range: 353.751068 m,
bearing: 311.193759 deg,
approach rate: -0.662923 m/s,
LOS rate: -0.002702 deg/s,
cmd heading: 312.902741 deg,
new cmd heading: 312.899020 deg.
2025-06-18T18:22:48.914Z,1750270968.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461118 target range: 384.956055 and range: 388.50 m.
2025-06-18T18:22:49.077Z,1750270969.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507139
2025-06-18T18:22:49.242Z,1750270969.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.96 m.
2025-06-18T18:22:49.249Z,1750270969.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 384.956055 m,
nav range: 353.511383 m,
bearing: 311.192712 deg,
approach rate: -0.713457 m/s,
LOS rate: -0.003120 deg/s,
cmd heading: 312.899026 deg,
new cmd heading: 312.895881 deg.
2025-06-18T18:22:49.250Z,1750270969.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461063 target range: 384.956055 and range: 388.50 m.
2025-06-18T18:22:49.329Z,1750270969.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759107
2025-06-18T18:22:49.581Z,1750270969.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010916
2025-06-18T18:22:49.669Z,1750270969.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.96 m.
2025-06-18T18:22:49.676Z,1750270969.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 384.956055 m,
nav range: 353.217133 m,
bearing: 311.190528 deg,
approach rate: -0.688922 m/s,
LOS rate: -0.005117 deg/s,
cmd heading: 312.895884 deg,
new cmd heading: 312.889328 deg.
2025-06-18T18:22:49.677Z,1750270969.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460949 target range: 384.956055 and range: 388.50 m.
2025-06-18T18:22:49.833Z,1750270969.833 [DAT](INFO): DAT read: Rx Time:18:22:50.4532
2025-06-18T18:22:49.833Z,1750270969.833 [DAT](INFO): Rx dataTimestamp_ set to:1750270969.833110
2025-06-18T18:22:49.834Z,1750270969.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264144
2025-06-18T18:22:50.051Z,1750270970.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:50.053Z,1750270970.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.96 m.
2025-06-18T18:22:50.056Z,1750270970.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 384.956055 m,
nav range: 352.944275 m,
bearing: 311.188500 deg,
approach rate: -0.711039 m/s,
LOS rate: -0.005289 deg/s,
cmd heading: 312.889327 deg,
new cmd heading: 312.883238 deg.
2025-06-18T18:22:50.057Z,1750270970.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460843 target range: 384.956055 and range: 388.50 m.
2025-06-18T18:22:50.085Z,1750270970.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515047
2025-06-18T18:22:50.337Z,1750270970.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766983
2025-06-18T18:22:50.447Z,1750270970.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.96 m.
2025-06-18T18:22:50.450Z,1750270970.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 384.956055 m,
nav range: 352.677094 m,
bearing: 311.186588 deg,
approach rate: -0.677664 m/s,
LOS rate: -0.004853 deg/s,
cmd heading: 312.883234 deg,
new cmd heading: 312.877494 deg.
2025-06-18T18:22:50.451Z,1750270970.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460742 target range: 384.956055 and range: 388.50 m.
2025-06-18T18:22:50.597Z,1750270970.597 [DAT](INFO): DAT read: 18:22:50.4532 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 381, 0.49,-1.288,-2.736,-1.257,-1.889, PHS= 0.689,-0.800, 0.630, RAW= 148.0, -7.2, CAL= 153.7, -15.7, ROT= 356.3, 15.7
2025-06-18T18:22:50.598Z,1750270970.598 [DAT](INFO): got valid direction response:
18:22:50.4532 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 381, 0.49,-1.288,-2.736,-1.257,-1.889, PHS= 0.689,-0.800, 0.630, RAW= 148.0, -7.2, CAL= 153.7, -15.7, ROT= 356.3, 15.7
2025-06-18T18:22:50.601Z,1750270970.601 [DAT](INFO): DAT read: Bearing 356.3, 15.7 (Local)
2025-06-18T18:22:50.601Z,1750270970.601 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.3, 15.7 (Local)
2025-06-18T18:22:50.603Z,1750270970.603 [DAT](INFO): DAT read: Range 10 to 50 : 384.4 m (Round-trip 512.6 ms) speed 0.3 m/s
2025-06-18T18:22:50.605Z,1750270970.605 [DAT](INFO): DAT read: user:1146>
2025-06-18T18:22:50.606Z,1750270970.606 [DAT](INFO): DAT read: Tx time:18:22:51.5364
2025-06-18T18:22:50.606Z,1750270970.606 [DAT](INFO): Ping request sent.
2025-06-18T18:22:50.606Z,1750270970.606 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:22:50.607Z,1750270970.607 [DAT](INFO): DAT read: TxSync time:18:22:51.5356
2025-06-18T18:22:50.607Z,1750270970.607 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:22:50.620Z,1750270970.620 [DAT](INFO): direction in FSK: [0.960685,-0.062125,-0.270600]
2025-06-18T18:22:50.621Z,1750270970.621 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:50.621Z,1750270970.621 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:50.628Z,1750270970.628 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:50.628Z,1750270970.628 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:50.878Z,1750270970.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 384.399994 m,
deltaT: 4.030024 s,
deltaX: -4.100006 m,
approachRate: -1.017365 m/s,
rangeRepo size: 4
2025-06-18T18:22:50.905Z,1750270970.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 380.894012 m,
bearing: 309.828235 deg,
lat: 36.905784 deg,
lon: -122.115794 deg,
deltaT: 4.030024 s,
deltaX: -4.062042 m,
approachRate: -1.007945 m/s,
posRepo size: 4
2025-06-18T18:22:50.906Z,1750270970.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.89 m.
2025-06-18T18:22:50.908Z,1750270970.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.894012 m,
nav range: 352.987305 m,
bearing: 311.097631 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004853 deg/s,
cmd heading: 312.877497 deg,
new cmd heading: 312.871269 deg.
2025-06-18T18:22:50.909Z,1750270970.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460634 target range: 380.894012 and range: 384.40 m.
2025-06-18T18:22:51.248Z,1750270971.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.89 m.
2025-06-18T18:22:51.251Z,1750270971.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.894012 m,
nav range: 352.724335 m,
bearing: 311.094706 deg,
approach rate: -0.705227 m/s,
LOS rate: -0.007849 deg/s,
cmd heading: 312.871268 deg,
new cmd heading: 312.862487 deg.
2025-06-18T18:22:51.252Z,1750270971.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460481 target range: 380.894012 and range: 384.40 m.
2025-06-18T18:22:51.675Z,1750270971.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.89 m.
2025-06-18T18:22:51.677Z,1750270971.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.894012 m,
nav range: 352.425293 m,
bearing: 311.091795 deg,
approach rate: -0.700992 m/s,
LOS rate: -0.006830 deg/s,
cmd heading: 312.862498 deg,
new cmd heading: 312.853757 deg.
2025-06-18T18:22:51.678Z,1750270971.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460328 target range: 380.894012 and range: 384.40 m.
2025-06-18T18:22:52.049Z,1750270972.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.89 m.
2025-06-18T18:22:52.068Z,1750270972.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.894012 m,
nav range: 352.162720 m,
bearing: 311.089210 deg,
approach rate: -0.700674 m/s,
LOS rate: -0.006903 deg/s,
cmd heading: 312.853755 deg,
new cmd heading: 312.845995 deg.
2025-06-18T18:22:52.069Z,1750270972.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460193 target range: 380.894012 and range: 384.40 m.
2025-06-18T18:22:52.458Z,1750270972.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:52.461Z,1750270972.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.89 m.
2025-06-18T18:22:52.463Z,1750270972.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.894012 m,
nav range: 351.874878 m,
bearing: 311.086337 deg,
approach rate: -0.699836 m/s,
LOS rate: -0.006991 deg/s,
cmd heading: 312.845996 deg,
new cmd heading: 312.837370 deg.
2025-06-18T18:22:52.466Z,1750270972.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460042 target range: 380.894012 and range: 384.40 m.
2025-06-18T18:22:52.605Z,1750270972.605 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:22:52.605Z,1750270972.605 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:22:52.605Z,1750270972.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:52.857Z,1750270972.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250970
2025-06-18T18:22:52.910Z,1750270972.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.89 m.
2025-06-18T18:22:52.917Z,1750270972.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.894012 m,
nav range: 351.572662 m,
bearing: 311.083841 deg,
approach rate: -0.671847 m/s,
LOS rate: -0.005553 deg/s,
cmd heading: 312.837363 deg,
new cmd heading: 312.829869 deg.
2025-06-18T18:22:52.918Z,1750270972.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459911 target range: 380.894012 and range: 384.40 m.
2025-06-18T18:22:53.109Z,1750270973.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502784
2025-06-18T18:22:53.269Z,1750270973.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.89 m.
2025-06-18T18:22:53.271Z,1750270973.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.894012 m,
nav range: 351.313843 m,
bearing: 311.081721 deg,
approach rate: -0.724615 m/s,
LOS rate: -0.005941 deg/s,
cmd heading: 312.829877 deg,
new cmd heading: 312.823511 deg.
2025-06-18T18:22:53.273Z,1750270973.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459800 target range: 380.894012 and range: 384.40 m.
2025-06-18T18:22:53.363Z,1750270973.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756717
2025-06-18T18:22:53.613Z,1750270973.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006858
2025-06-18T18:22:53.708Z,1750270973.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.89 m.
2025-06-18T18:22:53.711Z,1750270973.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.894012 m,
nav range: 351.024689 m,
bearing: 311.080249 deg,
approach rate: -0.662676 m/s,
LOS rate: -0.003376 deg/s,
cmd heading: 312.823511 deg,
new cmd heading: 312.819092 deg.
2025-06-18T18:22:53.716Z,1750270973.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459723 target range: 380.894012 and range: 384.40 m.
2025-06-18T18:22:53.865Z,1750270973.865 [DAT](INFO): DAT read: Rx Time:18:22:54.4355
2025-06-18T18:22:53.866Z,1750270973.866 [DAT](INFO): Rx dataTimestamp_ set to:1750270973.865065
2025-06-18T18:22:53.866Z,1750270973.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260169
2025-06-18T18:22:54.076Z,1750270974.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.89 m.
2025-06-18T18:22:54.078Z,1750270974.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 380.894012 m,
nav range: 350.751953 m,
bearing: 311.078848 deg,
approach rate: -0.733965 m/s,
LOS rate: -0.003773 deg/s,
cmd heading: 312.819085 deg,
new cmd heading: 312.814879 deg.
2025-06-18T18:22:54.080Z,1750270974.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459650 target range: 380.894012 and range: 384.40 m.
2025-06-18T18:22:54.117Z,1750270974.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511281
2025-06-18T18:22:54.387Z,1750270974.387 [DAT](INFO): DAT read: 18:22:54.4355 LVL= 28064, 32753, 25026, 32755, AGC= 72, IDX= 416, 0.21, 2.139, 0.888, 2.200, 1.531, PHS= 0.696,-0.597, 0.665, RAW= 148.8, -11.9, CAL= 155.9, -19.9, ROT= 354.1, 19.9
2025-06-18T18:22:54.388Z,1750270974.388 [DAT](INFO): got valid direction response:
18:22:54.4355 LVL= 28064, 32753, 25026, 32755, AGC= 72, IDX= 416, 0.21, 2.139, 0.888, 2.200, 1.531, PHS= 0.696,-0.597, 0.665, RAW= 148.8, -11.9, CAL= 155.9, -19.9, ROT= 354.1, 19.9
2025-06-18T18:22:54.389Z,1750270974.389 [DAT](INFO): DAT read: Bearing 354.1, 19.9 (Local)
2025-06-18T18:22:54.389Z,1750270974.389 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.1, 19.9 (Local)
2025-06-18T18:22:54.391Z,1750270974.391 [DAT](INFO): DAT read: Range 10 to 50 : 371.2 m (Round-trip 495.0 ms) speed 0.4 m/s
2025-06-18T18:22:54.392Z,1750270974.392 [DAT](INFO): DAT read: user:1147>
2025-06-18T18:22:54.393Z,1750270974.393 [DAT](INFO): DAT read: Tx time:18:22:55.5364
2025-06-18T18:22:54.393Z,1750270974.393 [DAT](INFO): Ping request sent.
2025-06-18T18:22:54.393Z,1750270974.393 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:22:54.393Z,1750270974.393 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:22:54.394Z,1750270974.394 [DAT](INFO): direction in FSK: [0.935307,-0.096654,-0.340380]
2025-06-18T18:22:54.395Z,1750270974.395 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:54.395Z,1750270974.395 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:54.398Z,1750270974.398 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:54.398Z,1750270974.398 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:54.593Z,1750270974.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 371.200012 m,
deltaT: 3.781765 s,
deltaX: -13.199982 m,
approachRate: -3.490429 m/s,
rangeRepo size: 4
2025-06-18T18:22:54.595Z,1750270974.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 367.814087 m,
bearing: 308.105060 deg,
lat: 36.905784 deg,
lon: -122.115902 deg,
deltaT: 3.781765 s,
deltaX: -13.079926 m,
approachRate: -3.458683 m/s,
posRepo size: 4
2025-06-18T18:22:54.600Z,1750270974.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.81 m.
2025-06-18T18:22:54.603Z,1750270974.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 367.814087 m,
nav range: 357.746094 m,
bearing: 310.068684 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003773 deg/s,
cmd heading: 312.814878 deg,
new cmd heading: 312.809076 deg.
2025-06-18T18:22:54.608Z,1750270974.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459548 target range: 367.814087 and range: 371.20 m.
2025-06-18T18:22:54.621Z,1750270974.621 [DAT](INFO): DAT read: TxSync time:18:22:55.5356
2025-06-18T18:22:54.929Z,1750270974.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:54.931Z,1750270974.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.81 m.
2025-06-18T18:22:54.938Z,1750270974.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 367.814087 m,
nav range: 357.454926 m,
bearing: 310.067947 deg,
approach rate: -0.850091 m/s,
LOS rate: -0.002153 deg/s,
cmd heading: 312.809086 deg,
new cmd heading: 312.806874 deg.
2025-06-18T18:22:54.939Z,1750270974.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459510 target range: 367.814087 and range: 371.20 m.
2025-06-18T18:22:55.125Z,1750270975.125 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:22:55.125Z,1750270975.125 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:22:55.125Z,1750270975.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:55.353Z,1750270975.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.81 m.
2025-06-18T18:22:55.377Z,1750270975.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983624
2025-06-18T18:22:55.400Z,1750270975.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 367.814087 m,
nav range: 357.196320 m,
bearing: 310.067335 deg,
approach rate: -0.611778 m/s,
LOS rate: -0.001450 deg/s,
cmd heading: 312.806873 deg,
new cmd heading: 312.805034 deg.
2025-06-18T18:22:55.401Z,1750270975.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459478 target range: 367.814087 and range: 371.20 m.
2025-06-18T18:22:55.630Z,1750270975.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236678
2025-06-18T18:22:55.721Z,1750270975.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.81 m.
2025-06-18T18:22:55.724Z,1750270975.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 367.814087 m,
nav range: 356.915924 m,
bearing: 310.067947 deg,
approach rate: -0.761694 m/s,
LOS rate: 0.001664 deg/s,
cmd heading: 312.805042 deg,
new cmd heading: 312.806880 deg.
2025-06-18T18:22:55.725Z,1750270975.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459510 target range: 367.814087 and range: 371.20 m.
2025-06-18T18:22:55.881Z,1750270975.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488365
2025-06-18T18:22:56.091Z,1750270976.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.81 m.
2025-06-18T18:22:56.094Z,1750270976.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 367.814087 m,
nav range: 356.669556 m,
bearing: 310.068485 deg,
approach rate: -0.666615 m/s,
LOS rate: 0.001458 deg/s,
cmd heading: 312.806873 deg,
new cmd heading: 312.808489 deg.
2025-06-18T18:22:56.095Z,1750270976.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459538 target range: 367.814087 and range: 371.20 m.
2025-06-18T18:22:56.133Z,1750270976.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740327
2025-06-18T18:22:56.385Z,1750270976.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991683
2025-06-18T18:22:56.493Z,1750270976.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.81 m.
2025-06-18T18:22:56.495Z,1750270976.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 367.814087 m,
nav range: 356.401276 m,
bearing: 310.069002 deg,
approach rate: -0.667823 m/s,
LOS rate: 0.001287 deg/s,
cmd heading: 312.808485 deg,
new cmd heading: 312.810035 deg.
2025-06-18T18:22:56.497Z,1750270976.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459565 target range: 367.814087 and range: 371.20 m.
2025-06-18T18:22:56.637Z,1750270976.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243830
2025-06-18T18:22:56.890Z,1750270976.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496128
2025-06-18T18:22:56.930Z,1750270976.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.81 m.
2025-06-18T18:22:56.949Z,1750270976.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 367.814087 m,
nav range: 356.113892 m,
bearing: 310.070027 deg,
approach rate: -0.656675 m/s,
LOS rate: 0.002345 deg/s,
cmd heading: 312.810042 deg,
new cmd heading: 312.813121 deg.
2025-06-18T18:22:56.950Z,1750270976.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459619 target range: 367.814087 and range: 371.20 m.
2025-06-18T18:22:57.144Z,1750270977.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750599
2025-06-18T18:22:57.299Z,1750270977.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:57.318Z,1750270977.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.81 m.
2025-06-18T18:22:57.324Z,1750270977.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 367.814087 m,
nav range: 355.870026 m,
bearing: 310.070876 deg,
approach rate: -0.629785 m/s,
LOS rate: 0.002193 deg/s,
cmd heading: 312.813129 deg,
new cmd heading: 312.815676 deg.
2025-06-18T18:22:57.325Z,1750270977.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459663 target range: 367.814087 and range: 371.20 m.
2025-06-18T18:22:57.394Z,1750270977.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000476
2025-06-18T18:22:57.645Z,1750270977.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252121
2025-06-18T18:22:57.740Z,1750270977.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.81 m.
2025-06-18T18:22:57.742Z,1750270977.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 367.814087 m,
nav range: 355.580933 m,
bearing: 310.072628 deg,
approach rate: -0.685074 m/s,
LOS rate: 0.004157 deg/s,
cmd heading: 312.815670 deg,
new cmd heading: 312.820932 deg.
2025-06-18T18:22:57.743Z,1750270977.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459755 target range: 367.814087 and range: 371.20 m.
2025-06-18T18:22:57.898Z,1750270977.898 [DAT](INFO): DAT read: Rx Time:18:22:58.4507
2025-06-18T18:22:57.899Z,1750270977.899 [DAT](INFO): Rx dataTimestamp_ set to:1750270977.898263
2025-06-18T18:22:57.900Z,1750270977.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507085
2025-06-18T18:22:58.110Z,1750270978.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.81 m.
2025-06-18T18:22:58.113Z,1750270978.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 367.814087 m,
nav range: 355.336578 m,
bearing: 310.074105 deg,
approach rate: -0.659355 m/s,
LOS rate: 0.003988 deg/s,
cmd heading: 312.820943 deg,
new cmd heading: 312.825377 deg.
2025-06-18T18:22:58.114Z,1750270978.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459833 target range: 367.814087 and range: 371.20 m.
2025-06-18T18:22:58.149Z,1750270978.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756348
2025-06-18T18:22:58.410Z,1750270978.410 [DAT](INFO): DAT read: 18:22:58.4507 LVL= 22112, 28241, 20082, 32755, AGC= 72, IDX= 79, 0.02,-0.513,-1.920,-0.496,-1.195, PHS= 0.770,-0.678, 0.696, RAW= 147.4, -11.2, CAL= 154.4, -19.5, ROT= 355.6, 19.5
2025-06-18T18:22:58.411Z,1750270978.411 [DAT](INFO): got valid direction response:
18:22:58.4507 LVL= 22112, 28241, 20082, 32755, AGC= 72, IDX= 79, 0.02,-0.513,-1.920,-0.496,-1.195, PHS= 0.770,-0.678, 0.696, RAW= 147.4, -11.2, CAL= 154.4, -19.5, ROT= 355.6, 19.5
2025-06-18T18:22:58.420Z,1750270978.420 [DAT](INFO): DAT read: Bearing 355.6, 19.5 (Local)
2025-06-18T18:22:58.420Z,1750270978.420 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.6, 19.5 (Local)
2025-06-18T18:22:58.422Z,1750270978.422 [DAT](INFO): DAT read: Range 10 to 50 : 382.6 m (Round-trip 510.2 ms) speed 0.6 m/s
2025-06-18T18:22:58.423Z,1750270978.423 [DAT](INFO): DAT read: user:1148>
2025-06-18T18:22:58.423Z,1750270978.423 [DAT](INFO): DAT read: Tx time:18:22:59.5364
2025-06-18T18:22:58.424Z,1750270978.424 [DAT](INFO): Ping request sent.
2025-06-18T18:22:58.424Z,1750270978.424 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:22:58.424Z,1750270978.424 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:22:58.425Z,1750270978.425 [DAT](INFO): direction in FSK: [0.939863,-0.072319,-0.333807]
2025-06-18T18:22:58.425Z,1750270978.425 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:58.426Z,1750270978.426 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:58.437Z,1750270978.437 [DAT](INFO): publishing transmit ping time
2025-06-18T18:22:58.438Z,1750270978.438 [DAT](INFO): publishing direction and range info
2025-06-18T18:22:58.653Z,1750270978.653 [DAT](INFO): DAT read: TxSync time:18:22:59.5356
2025-06-18T18:22:58.741Z,1750270978.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 382.600006 m,
deltaT: 4.032029 s,
deltaX: 11.399994 m,
approachRate: 2.827359 m/s,
rangeRepo size: 4
2025-06-18T18:22:58.743Z,1750270978.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 379.110107 m,
bearing: 309.684316 deg,
lat: 36.905784 deg,
lon: -122.115919 deg,
deltaT: 4.032029 s,
deltaX: 11.296021 m,
approachRate: 2.801572 m/s,
posRepo size: 4
2025-06-18T18:22:58.744Z,1750270978.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.11 m.
2025-06-18T18:22:58.746Z,1750270978.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 379.110107 m,
nav range: 356.094788 m,
bearing: 309.918357 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003988 deg/s,
cmd heading: 312.825369 deg,
new cmd heading: 312.832904 deg.
2025-06-18T18:22:58.747Z,1750270978.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459964 target range: 379.110107 and range: 382.60 m.
2025-06-18T18:22:59.088Z,1750270979.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.11 m.
2025-06-18T18:22:59.091Z,1750270979.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 379.110107 m,
nav range: 355.869049 m,
bearing: 309.919852 deg,
approach rate: -0.647905 m/s,
LOS rate: 0.004294 deg/s,
cmd heading: 312.832909 deg,
new cmd heading: 312.837397 deg.
2025-06-18T18:22:59.093Z,1750270979.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460042 target range: 379.110107 and range: 382.60 m.
2025-06-18T18:22:59.466Z,1750270979.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:22:59.484Z,1750270979.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.11 m.
2025-06-18T18:22:59.487Z,1750270979.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 379.110107 m,
nav range: 355.609467 m,
bearing: 309.921594 deg,
approach rate: -0.684055 m/s,
LOS rate: 0.004595 deg/s,
cmd heading: 312.837390 deg,
new cmd heading: 312.842621 deg.
2025-06-18T18:22:59.492Z,1750270979.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460134 target range: 379.110107 and range: 382.60 m.
2025-06-18T18:22:59.661Z,1750270979.661 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:22:59.661Z,1750270979.661 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:22:59.661Z,1750270979.661 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:22:59.913Z,1750270979.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489028
2025-06-18T18:22:59.928Z,1750270979.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.11 m.
2025-06-18T18:22:59.931Z,1750270979.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 379.110107 m,
nav range: 355.314697 m,
bearing: 309.923782 deg,
approach rate: -0.663620 m/s,
LOS rate: 0.004928 deg/s,
cmd heading: 312.842608 deg,
new cmd heading: 312.849175 deg.
2025-06-18T18:22:59.936Z,1750270979.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460248 target range: 379.110107 and range: 382.60 m.
2025-06-18T18:23:00.165Z,1750270980.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740940
2025-06-18T18:23:00.348Z,1750270980.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.11 m.
2025-06-18T18:23:00.351Z,1750270980.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 379.110107 m,
nav range: 355.025787 m,
bearing: 309.925921 deg,
approach rate: -0.662723 m/s,
LOS rate: 0.004912 deg/s,
cmd heading: 312.849165 deg,
new cmd heading: 312.855589 deg.
2025-06-18T18:23:00.352Z,1750270980.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460360 target range: 379.110107 and range: 382.60 m.
2025-06-18T18:23:00.417Z,1750270980.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993151
2025-06-18T18:23:00.672Z,1750270980.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248567
2025-06-18T18:23:00.793Z,1750270980.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.11 m.
2025-06-18T18:23:00.795Z,1750270980.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 379.110107 m,
nav range: 354.730927 m,
bearing: 309.927938 deg,
approach rate: -0.663191 m/s,
LOS rate: 0.004540 deg/s,
cmd heading: 312.855585 deg,
new cmd heading: 312.861641 deg.
2025-06-18T18:23:00.797Z,1750270980.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460466 target range: 379.110107 and range: 382.60 m.
2025-06-18T18:23:00.921Z,1750270980.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496960
2025-06-18T18:23:01.173Z,1750270981.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749097
2025-06-18T18:23:01.183Z,1750270981.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.11 m.
2025-06-18T18:23:01.186Z,1750270981.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 379.110107 m,
nav range: 354.471252 m,
bearing: 309.929665 deg,
approach rate: -0.664984 m/s,
LOS rate: 0.004425 deg/s,
cmd heading: 312.861651 deg,
new cmd heading: 312.866834 deg.
2025-06-18T18:23:01.187Z,1750270981.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460557 target range: 379.110107 and range: 382.60 m.
2025-06-18T18:23:01.425Z,1750270981.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001229
2025-06-18T18:23:01.619Z,1750270981.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:01.652Z,1750270981.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.11 m.
2025-06-18T18:23:01.669Z,1750270981.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 379.110107 m,
nav range: 354.205231 m,
bearing: 309.931445 deg,
approach rate: -0.574369 m/s,
LOS rate: 0.003848 deg/s,
cmd heading: 312.866842 deg,
new cmd heading: 312.872188 deg.
2025-06-18T18:23:01.677Z,1750270981.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253171
2025-06-18T18:23:01.678Z,1750270981.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460650 target range: 379.110107 and range: 382.60 m.
2025-06-18T18:23:01.929Z,1750270981.929 [DAT](INFO): DAT read: Rx Time:18:23:02.4450
2025-06-18T18:23:01.929Z,1750270981.929 [DAT](INFO): Rx dataTimestamp_ set to:1750270981.929077
2025-06-18T18:23:01.930Z,1750270981.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506073
2025-06-18T18:23:02.028Z,1750270982.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.11 m.
2025-06-18T18:23:02.031Z,1750270982.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 379.110107 m,
nav range: 353.903442 m,
bearing: 309.931615 deg,
approach rate: -0.791456 m/s,
LOS rate: 0.000444 deg/s,
cmd heading: 312.872197 deg,
new cmd heading: 312.872705 deg.
2025-06-18T18:23:02.034Z,1750270982.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460659 target range: 379.110107 and range: 382.60 m.
2025-06-18T18:23:02.181Z,1750270982.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756916
2025-06-18T18:23:02.428Z,1750270982.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.11 m.
2025-06-18T18:23:02.431Z,1750270982.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 379.110107 m,
nav range: 353.631134 m,
bearing: 309.931763 deg,
approach rate: -0.680334 m/s,
LOS rate: 0.000371 deg/s,
cmd heading: 312.872716 deg,
new cmd heading: 312.873161 deg.
2025-06-18T18:23:02.439Z,1750270982.439 [DAT](INFO): DAT read: 18:23:02.4450 LVL= 32752, 32753, 28626, 32755, AGC= 68, IDX= 361, 0.15,-1.268,-2.526,-1.200,-1.782, PHS= 0.602,-0.697, 0.579, RAW= 149.1, -7.6, CAL= 154.8, -15.9, ROT= 355.2, 15.9
2025-06-18T18:23:02.449Z,1750270982.449 [DAT](INFO): got valid direction response:
18:23:02.4450 LVL= 32752, 32753, 28626, 32755, AGC= 68, IDX= 361, 0.15,-1.268,-2.526,-1.200,-1.782, PHS= 0.602,-0.697, 0.579, RAW= 149.1, -7.6, CAL= 154.8, -15.9, ROT= 355.2, 15.9
2025-06-18T18:23:02.450Z,1750270982.450 [DAT](INFO): DAT read: Bearing 355.2, 15.9 (Local)
2025-06-18T18:23:02.450Z,1750270982.450 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.2, 15.9 (Local)
2025-06-18T18:23:02.451Z,1750270982.451 [DAT](INFO): DAT read: Range 10 to 50 : 378.2 m (Round-trip 504.3 ms) speed 0.3 m/s
2025-06-18T18:23:02.453Z,1750270982.453 [DAT](INFO): DAT read: user:1149>
2025-06-18T18:23:02.454Z,1750270982.454 [DAT](INFO): DAT read: Tx time:18:23:03.5365
2025-06-18T18:23:02.454Z,1750270982.454 [DAT](INFO): Ping request sent.
2025-06-18T18:23:02.454Z,1750270982.454 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:02.454Z,1750270982.454 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:23:02.455Z,1750270982.455 [DAT](INFO): direction in FSK: [0.958368,-0.080476,-0.273959]
2025-06-18T18:23:02.464Z,1750270982.464 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:02.464Z,1750270982.464 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:02.467Z,1750270982.467 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:02.467Z,1750270982.467 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:02.471Z,1750270982.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460667 target range: 379.110107 and range: 382.60 m.
2025-06-18T18:23:02.688Z,1750270982.688 [DAT](INFO): DAT read: TxSync time:18:23:03.5357
2025-06-18T18:23:02.889Z,1750270982.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 378.200012 m,
deltaT: 4.030083 s,
deltaX: -4.399994 m,
approachRate: -1.091787 m/s,
rangeRepo size: 4
2025-06-18T18:23:02.897Z,1750270982.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 374.749695 m,
bearing: 308.844399 deg,
lat: 36.905799 deg,
lon: -122.115974 deg,
deltaT: 4.030083 s,
deltaX: -4.360413 m,
approachRate: -1.081966 m/s,
posRepo size: 4
2025-06-18T18:23:02.898Z,1750270982.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.75 m.
2025-06-18T18:23:02.905Z,1750270982.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.749695 m,
nav range: 358.191772 m,
bearing: 309.638524 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000371 deg/s,
cmd heading: 312.873153 deg,
new cmd heading: 312.873656 deg.
2025-06-18T18:23:02.906Z,1750270982.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460675 target range: 374.749695 and range: 378.20 m.
2025-06-18T18:23:03.230Z,1750270983.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.75 m.
2025-06-18T18:23:03.233Z,1750270983.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.749695 m,
nav range: 357.947174 m,
bearing: 309.637994 deg,
approach rate: -0.698934 m/s,
LOS rate: -0.001515 deg/s,
cmd heading: 312.873645 deg,
new cmd heading: 312.872054 deg.
2025-06-18T18:23:03.234Z,1750270983.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460648 target range: 374.749695 and range: 378.20 m.
2025-06-18T18:23:03.618Z,1750270983.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.75 m.
2025-06-18T18:23:03.621Z,1750270983.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.749695 m,
nav range: 357.679901 m,
bearing: 309.637500 deg,
approach rate: -0.692835 m/s,
LOS rate: -0.001281 deg/s,
cmd heading: 312.872060 deg,
new cmd heading: 312.870577 deg.
2025-06-18T18:23:03.622Z,1750270983.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460622 target range: 374.749695 and range: 378.20 m.
2025-06-18T18:23:04.038Z,1750270984.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:04.041Z,1750270984.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.75 m.
2025-06-18T18:23:04.044Z,1750270984.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.749695 m,
nav range: 357.393433 m,
bearing: 309.636068 deg,
approach rate: -0.672953 m/s,
LOS rate: -0.003366 deg/s,
cmd heading: 312.870585 deg,
new cmd heading: 312.866287 deg.
2025-06-18T18:23:04.045Z,1750270984.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460547 target range: 374.749695 and range: 378.20 m.
2025-06-18T18:23:04.197Z,1750270984.197 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:04.197Z,1750270984.197 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:04.197Z,1750270984.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:04.423Z,1750270984.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.75 m.
2025-06-18T18:23:04.426Z,1750270984.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.749695 m,
nav range: 357.143585 m,
bearing: 309.634737 deg,
approach rate: -0.654327 m/s,
LOS rate: -0.003490 deg/s,
cmd heading: 312.866295 deg,
new cmd heading: 312.862298 deg.
2025-06-18T18:23:04.427Z,1750270984.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460477 target range: 374.749695 and range: 378.20 m.
2025-06-18T18:23:04.449Z,1750270984.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994724
2025-06-18T18:23:04.703Z,1750270984.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248782
2025-06-18T18:23:04.866Z,1750270984.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.75 m.
2025-06-18T18:23:04.871Z,1750270984.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.749695 m,
nav range: 356.845337 m,
bearing: 309.632003 deg,
approach rate: -0.673391 m/s,
LOS rate: -0.006178 deg/s,
cmd heading: 312.862306 deg,
new cmd heading: 312.854098 deg.
2025-06-18T18:23:04.881Z,1750270984.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460334 target range: 374.749695 and range: 378.20 m.
2025-06-18T18:23:04.954Z,1750270984.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499371
2025-06-18T18:23:05.205Z,1750270985.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750664
2025-06-18T18:23:05.256Z,1750270985.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.75 m.
2025-06-18T18:23:05.259Z,1750270985.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.749695 m,
nav range: 356.578766 m,
bearing: 309.629534 deg,
approach rate: -0.682974 m/s,
LOS rate: -0.006331 deg/s,
cmd heading: 312.854110 deg,
new cmd heading: 312.846697 deg.
2025-06-18T18:23:05.276Z,1750270985.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460205 target range: 374.749695 and range: 378.20 m.
2025-06-18T18:23:05.457Z,1750270985.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002653
2025-06-18T18:23:05.628Z,1750270985.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.75 m.
2025-06-18T18:23:05.630Z,1750270985.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.749695 m,
nav range: 356.330353 m,
bearing: 309.627206 deg,
approach rate: -0.669168 m/s,
LOS rate: -0.006275 deg/s,
cmd heading: 312.846706 deg,
new cmd heading: 312.839718 deg.
2025-06-18T18:23:05.631Z,1750270985.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460083 target range: 374.749695 and range: 378.20 m.
2025-06-18T18:23:05.711Z,1750270985.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256942
2025-06-18T18:23:05.961Z,1750270985.961 [DAT](INFO): DAT read: Rx Time:18:23:06.4399
2025-06-18T18:23:05.961Z,1750270985.961 [DAT](INFO): Rx dataTimestamp_ set to:1750270985.960994
2025-06-18T18:23:05.962Z,1750270985.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507740
2025-06-18T18:23:06.078Z,1750270986.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:06.084Z,1750270986.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.75 m.
2025-06-18T18:23:06.087Z,1750270986.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.749695 m,
nav range: 356.034485 m,
bearing: 309.624273 deg,
approach rate: -0.647554 m/s,
LOS rate: -0.006425 deg/s,
cmd heading: 312.839712 deg,
new cmd heading: 312.830905 deg.
2025-06-18T18:23:06.093Z,1750270986.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459929 target range: 374.749695 and range: 378.20 m.
2025-06-18T18:23:06.213Z,1750270986.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759013
2025-06-18T18:23:06.444Z,1750270986.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.75 m.
2025-06-18T18:23:06.447Z,1750270986.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.749695 m,
nav range: 355.776031 m,
bearing: 309.621676 deg,
approach rate: -0.717956 m/s,
LOS rate: -0.007219 deg/s,
cmd heading: 312.830915 deg,
new cmd heading: 312.823118 deg.
2025-06-18T18:23:06.448Z,1750270986.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459794 target range: 374.749695 and range: 378.20 m.
2025-06-18T18:23:06.473Z,1750270986.473 [DAT](INFO): DAT read: 18:23:06.4399 LVL= 28464, 32753, 26466, 32755, AGC= 69, IDX= 388, 0.27, 2.984, 1.814, 3.061, 2.386, PHS= 0.686,-0.525, 0.672, RAW= 149.4, -13.7, CAL= 156.2, -21.4, ROT= 353.8, 21.4
2025-06-18T18:23:06.474Z,1750270986.474 [DAT](INFO): got valid direction response:
18:23:06.4399 LVL= 28464, 32753, 26466, 32755, AGC= 69, IDX= 388, 0.27, 2.984, 1.814, 3.061, 2.386, PHS= 0.686,-0.525, 0.672, RAW= 149.4, -13.7, CAL= 156.2, -21.4, ROT= 353.8, 21.4
2025-06-18T18:23:06.475Z,1750270986.475 [DAT](INFO): DAT read: Bearing 353.8, 21.4 (Local)
2025-06-18T18:23:06.475Z,1750270986.475 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.8, 21.4 (Local)
2025-06-18T18:23:06.489Z,1750270986.489 [DAT](INFO): DAT read: Range 10 to 50 : 374.4 m (Round-trip 499.3 ms) speed 0.3 m/s
2025-06-18T18:23:06.491Z,1750270986.491 [DAT](INFO): DAT read: user:1150>
2025-06-18T18:23:06.493Z,1750270986.493 [DAT](INFO): DAT read: Tx time:18:23:07.5365
2025-06-18T18:23:06.493Z,1750270986.493 [DAT](INFO): Ping request sent.
2025-06-18T18:23:06.493Z,1750270986.493 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:06.494Z,1750270986.494 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:23:06.495Z,1750270986.495 [DAT](INFO): direction in FSK: [0.925610,-0.100553,-0.364877]
2025-06-18T18:23:06.496Z,1750270986.496 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:06.496Z,1750270986.496 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:06.509Z,1750270986.509 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:06.510Z,1750270986.510 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:06.720Z,1750270986.720 [DAT](INFO): DAT read: TxSync time:18:23:07.5357
2025-06-18T18:23:06.874Z,1750270986.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 374.399994 m,
deltaT: 4.033739 s,
deltaX: -3.800018 m,
approachRate: -0.942059 m/s,
rangeRepo size: 4
2025-06-18T18:23:06.877Z,1750270986.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 370.985382 m,
bearing: 308.220474 deg,
lat: 36.905799 deg,
lon: -122.115976 deg,
deltaT: 4.033739 s,
deltaX: -3.764313 m,
approachRate: -0.933207 m/s,
posRepo size: 4
2025-06-18T18:23:06.878Z,1750270986.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.99 m.
2025-06-18T18:23:06.882Z,1750270986.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 370.985382 m,
nav range: 355.617401 m,
bearing: 309.601095 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007219 deg/s,
cmd heading: 312.823128 deg,
new cmd heading: 312.813876 deg.
2025-06-18T18:23:06.906Z,1750270986.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459632 target range: 370.985382 and range: 374.40 m.
2025-06-18T18:23:07.056Z,1750270987.056 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:23:07.243Z,1750270987.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.99 m.
2025-06-18T18:23:07.246Z,1750270987.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 370.985382 m,
nav range: 355.356873 m,
bearing: 309.598557 deg,
approach rate: -0.700743 m/s,
LOS rate: -0.006832 deg/s,
cmd heading: 312.813867 deg,
new cmd heading: 312.806247 deg.
2025-06-18T18:23:07.247Z,1750270987.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459499 target range: 370.985382 and range: 374.40 m.
2025-06-18T18:23:07.668Z,1750270987.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.99 m.
2025-06-18T18:23:07.671Z,1750270987.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 370.985382 m,
nav range: 355.068939 m,
bearing: 309.595747 deg,
approach rate: -0.677425 m/s,
LOS rate: -0.006615 deg/s,
cmd heading: 312.806244 deg,
new cmd heading: 312.797809 deg.
2025-06-18T18:23:07.672Z,1750270987.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459352 target range: 370.985382 and range: 374.40 m.
2025-06-18T18:23:08.060Z,1750270988.060 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:23:08.108Z,1750270988.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:08.111Z,1750270988.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.99 m.
2025-06-18T18:23:08.118Z,1750270988.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 370.985382 m,
nav range: 354.783081 m,
bearing: 309.592257 deg,
approach rate: -0.646533 m/s,
LOS rate: -0.007901 deg/s,
cmd heading: 312.797802 deg,
new cmd heading: 312.787322 deg.
2025-06-18T18:23:08.119Z,1750270988.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459168 target range: 370.985382 and range: 374.40 m.
2025-06-18T18:23:08.229Z,1750270988.229 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:08.229Z,1750270988.229 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:08.229Z,1750270988.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:08.463Z,1750270988.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.99 m.
2025-06-18T18:23:08.465Z,1750270988.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 370.985382 m,
nav range: 354.530640 m,
bearing: 309.589058 deg,
approach rate: -0.717212 m/s,
LOS rate: -0.009094 deg/s,
cmd heading: 312.787311 deg,
new cmd heading: 312.777708 deg.
2025-06-18T18:23:08.466Z,1750270988.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459001 target range: 370.985382 and range: 374.40 m.
2025-06-18T18:23:08.481Z,1750270988.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987386
2025-06-18T18:23:08.735Z,1750270988.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241164
2025-06-18T18:23:08.924Z,1750270988.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.99 m.
2025-06-18T18:23:08.927Z,1750270988.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 370.985382 m,
nav range: 354.219635 m,
bearing: 309.586261 deg,
approach rate: -0.680415 m/s,
LOS rate: -0.006125 deg/s,
cmd heading: 312.777721 deg,
new cmd heading: 312.769323 deg.
2025-06-18T18:23:08.936Z,1750270988.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458855 target range: 370.985382 and range: 374.40 m.
2025-06-18T18:23:08.986Z,1750270988.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492702
2025-06-18T18:23:09.237Z,1750270989.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743404
2025-06-18T18:23:09.319Z,1750270989.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.99 m.
2025-06-18T18:23:09.323Z,1750270989.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 370.985382 m,
nav range: 353.936951 m,
bearing: 309.583714 deg,
approach rate: -0.707262 m/s,
LOS rate: -0.006377 deg/s,
cmd heading: 312.769334 deg,
new cmd heading: 312.761687 deg.
2025-06-18T18:23:09.324Z,1750270989.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458721 target range: 370.985382 and range: 374.40 m.
2025-06-18T18:23:09.489Z,1750270989.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995359
2025-06-18T18:23:09.665Z,1750270989.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.99 m.
2025-06-18T18:23:09.668Z,1750270989.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 370.985382 m,
nav range: 353.697510 m,
bearing: 309.581472 deg,
approach rate: -0.692821 m/s,
LOS rate: -0.006493 deg/s,
cmd heading: 312.761684 deg,
new cmd heading: 312.754952 deg.
2025-06-18T18:23:09.669Z,1750270989.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458604 target range: 370.985382 and range: 374.40 m.
2025-06-18T18:23:09.743Z,1750270989.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249559
2025-06-18T18:23:09.993Z,1750270989.993 [DAT](INFO): DAT read: Rx Time:18:23:10.4371
2025-06-18T18:23:09.993Z,1750270989.993 [DAT](INFO): Rx dataTimestamp_ set to:1750270989.993093
2025-06-18T18:23:09.994Z,1750270989.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500470
2025-06-18T18:23:10.105Z,1750270990.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.99 m.
2025-06-18T18:23:10.107Z,1750270990.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 370.985382 m,
nav range: 353.396820 m,
bearing: 309.579170 deg,
approach rate: -0.683804 m/s,
LOS rate: -0.005238 deg/s,
cmd heading: 312.754963 deg,
new cmd heading: 312.748053 deg.
2025-06-18T18:23:10.109Z,1750270990.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458483 target range: 370.985382 and range: 374.40 m.
2025-06-18T18:23:10.245Z,1750270990.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751351
2025-06-18T18:23:10.485Z,1750270990.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:10.487Z,1750270990.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.99 m.
2025-06-18T18:23:10.490Z,1750270990.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 370.985382 m,
nav range: 353.135376 m,
bearing: 309.577103 deg,
approach rate: -0.684366 m/s,
LOS rate: -0.005416 deg/s,
cmd heading: 312.748051 deg,
new cmd heading: 312.741844 deg.
2025-06-18T18:23:10.491Z,1750270990.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458375 target range: 370.985382 and range: 374.40 m.
2025-06-18T18:23:10.503Z,1750270990.503 [DAT](INFO): DAT read: 18:23:10.4371 LVL= 25680, 32753, 23538, 32755, AGC= 70, IDX= 408,-0.40,-0.328,-1.642,-0.225,-0.947, PHS= 0.707,-0.648, 0.719, RAW= 150.4, -11.4, CAL= 157.2, -19.1, ROT= 352.8, 19.1
2025-06-18T18:23:10.504Z,1750270990.504 [DAT](INFO): got valid direction response:
18:23:10.4371 LVL= 25680, 32753, 23538, 32755, AGC= 70, IDX= 408,-0.40,-0.328,-1.642,-0.225,-0.947, PHS= 0.707,-0.648, 0.719, RAW= 150.4, -11.4, CAL= 157.2, -19.1, ROT= 352.8, 19.1
2025-06-18T18:23:10.505Z,1750270990.505 [DAT](INFO): DAT read: Bearing 352.8, 19.1 (Local)
2025-06-18T18:23:10.505Z,1750270990.505 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.8, 19.1 (Local)
2025-06-18T18:23:10.507Z,1750270990.507 [DAT](INFO): DAT read: Range 10 to 50 : 372.3 m (Round-trip 496.4 ms) speed 0.5 m/s
2025-06-18T18:23:10.508Z,1750270990.508 [DAT](INFO): DAT read: user:1151>
2025-06-18T18:23:10.509Z,1750270990.509 [DAT](INFO): DAT read: Tx time:18:23:11.5365
2025-06-18T18:23:10.509Z,1750270990.509 [DAT](INFO): Ping request sent.
2025-06-18T18:23:10.509Z,1750270990.509 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:10.509Z,1750270990.509 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:23:10.510Z,1750270990.510 [DAT](INFO): direction in FSK: [0.937498,-0.118434,-0.327218]
2025-06-18T18:23:10.511Z,1750270990.511 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:10.511Z,1750270990.511 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:10.514Z,1750270990.514 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:10.514Z,1750270990.514 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:10.749Z,1750270990.749 [DAT](INFO): DAT read: TxSync time:18:23:11.5357
2025-06-18T18:23:10.955Z,1750270990.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 372.299988 m,
deltaT: 4.030223 s,
deltaX: -2.100006 m,
approachRate: -0.521065 m/s,
rangeRepo size: 4
2025-06-18T18:23:10.957Z,1750270990.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 368.904999 m,
bearing: 307.203047 deg,
lat: 36.905712 deg,
lon: -122.115994 deg,
deltaT: 4.030223 s,
deltaX: -2.080383 m,
approachRate: -0.516196 m/s,
posRepo size: 4
2025-06-18T18:23:10.958Z,1750270990.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.90 m.
2025-06-18T18:23:10.981Z,1750270990.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.904999 m,
nav range: 348.031158 m,
bearing: 308.184546 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005416 deg/s,
cmd heading: 312.741849 deg,
new cmd heading: 312.734249 deg.
2025-06-18T18:23:10.982Z,1750270990.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458242 target range: 368.904999 and range: 372.30 m.
2025-06-18T18:23:11.285Z,1750270991.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.90 m.
2025-06-18T18:23:11.287Z,1750270991.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.904999 m,
nav range: 347.790131 m,
bearing: 308.181956 deg,
approach rate: -0.729300 m/s,
LOS rate: -0.007842 deg/s,
cmd heading: 312.734254 deg,
new cmd heading: 312.726479 deg.
2025-06-18T18:23:11.289Z,1750270991.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458107 target range: 368.904999 and range: 372.30 m.
2025-06-18T18:23:11.703Z,1750270991.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.90 m.
2025-06-18T18:23:11.706Z,1750270991.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.904999 m,
nav range: 347.530334 m,
bearing: 308.179135 deg,
approach rate: -0.631926 m/s,
LOS rate: -0.006869 deg/s,
cmd heading: 312.726468 deg,
new cmd heading: 312.717996 deg.
2025-06-18T18:23:11.707Z,1750270991.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457959 target range: 368.904999 and range: 372.30 m.
2025-06-18T18:23:12.194Z,1750270992.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.90 m.
2025-06-18T18:23:12.201Z,1750270992.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.904999 m,
nav range: 347.198547 m,
bearing: 308.176003 deg,
approach rate: -0.666720 m/s,
LOS rate: -0.006299 deg/s,
cmd heading: 312.717998 deg,
new cmd heading: 312.708595 deg.
2025-06-18T18:23:12.202Z,1750270992.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457795 target range: 368.904999 and range: 372.30 m.
2025-06-18T18:23:12.501Z,1750270992.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:12.503Z,1750270992.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.90 m.
2025-06-18T18:23:12.506Z,1750270992.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.904999 m,
nav range: 346.979889 m,
bearing: 308.173847 deg,
approach rate: -0.705757 m/s,
LOS rate: -0.006963 deg/s,
cmd heading: 312.708600 deg,
new cmd heading: 312.702128 deg.
2025-06-18T18:23:12.507Z,1750270992.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457682 target range: 368.904999 and range: 372.30 m.
2025-06-18T18:23:12.513Z,1750270992.513 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:12.513Z,1750270992.513 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:12.513Z,1750270992.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:12.768Z,1750270992.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258055
2025-06-18T18:23:12.954Z,1750270992.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.90 m.
2025-06-18T18:23:12.977Z,1750270992.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.904999 m,
nav range: 346.680603 m,
bearing: 308.170683 deg,
approach rate: -0.665047 m/s,
LOS rate: -0.007038 deg/s,
cmd heading: 312.702125 deg,
new cmd heading: 312.692623 deg.
2025-06-18T18:23:12.978Z,1750270992.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457516 target range: 368.904999 and range: 372.30 m.
2025-06-18T18:23:13.017Z,1750270993.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507790
2025-06-18T18:23:13.269Z,1750270993.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759552
2025-06-18T18:23:13.329Z,1750270993.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.90 m.
2025-06-18T18:23:13.332Z,1750270993.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.904999 m,
nav range: 346.431213 m,
bearing: 308.167973 deg,
approach rate: -0.663652 m/s,
LOS rate: -0.007216 deg/s,
cmd heading: 312.692617 deg,
new cmd heading: 312.684482 deg.
2025-06-18T18:23:13.333Z,1750270993.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457374 target range: 368.904999 and range: 372.30 m.
2025-06-18T18:23:13.521Z,1750270993.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011523
2025-06-18T18:23:13.739Z,1750270993.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.90 m.
2025-06-18T18:23:13.742Z,1750270993.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.904999 m,
nav range: 346.171783 m,
bearing: 308.165106 deg,
approach rate: -0.637970 m/s,
LOS rate: -0.007057 deg/s,
cmd heading: 312.684476 deg,
new cmd heading: 312.675867 deg.
2025-06-18T18:23:13.743Z,1750270993.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457223 target range: 368.904999 and range: 372.30 m.
2025-06-18T18:23:13.775Z,1750270993.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265122
2025-06-18T18:23:14.025Z,1750270994.025 [DAT](INFO): DAT read: Rx Time:18:23:14.4341
2025-06-18T18:23:14.025Z,1750270994.025 [DAT](INFO): Rx dataTimestamp_ set to:1750270994.025095
2025-06-18T18:23:14.026Z,1750270994.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516730
2025-06-18T18:23:14.141Z,1750270994.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.90 m.
2025-06-18T18:23:14.143Z,1750270994.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.904999 m,
nav range: 345.896759 m,
bearing: 308.162980 deg,
approach rate: -0.679762 m/s,
LOS rate: -0.005257 deg/s,
cmd heading: 312.675870 deg,
new cmd heading: 312.669488 deg.
2025-06-18T18:23:14.145Z,1750270994.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457112 target range: 368.904999 and range: 372.30 m.
2025-06-18T18:23:14.277Z,1750270994.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767548
2025-06-18T18:23:14.521Z,1750270994.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:14.523Z,1750270994.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.90 m.
2025-06-18T18:23:14.526Z,1750270994.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.904999 m,
nav range: 345.646484 m,
bearing: 308.161086 deg,
approach rate: -0.653824 m/s,
LOS rate: -0.004952 deg/s,
cmd heading: 312.669477 deg,
new cmd heading: 312.663790 deg.
2025-06-18T18:23:14.527Z,1750270994.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457013 target range: 368.904999 and range: 372.30 m.
2025-06-18T18:23:14.535Z,1750270994.535 [DAT](INFO): DAT read: 18:23:14.4342 LVL= 32752, 32753, 29618, 32755, AGC= 66, IDX= 409, 0.29,-2.533, 2.366,-2.482, 3.021, PHS= 0.817,-0.608, 0.777, RAW= 148.6, -13.9, CAL= 155.3, -21.7, ROT= 354.7, 21.7
2025-06-18T18:23:14.536Z,1750270994.536 [DAT](INFO): got valid direction response:
18:23:14.4342 LVL= 32752, 32753, 29618, 32755, AGC= 66, IDX= 409, 0.29,-2.533, 2.366,-2.482, 3.021, PHS= 0.817,-0.608, 0.777, RAW= 148.6, -13.9, CAL= 155.3, -21.7, ROT= 354.7, 21.7
2025-06-18T18:23:14.537Z,1750270994.537 [DAT](INFO): DAT read: Bearing 354.7, 21.7 (Local)
2025-06-18T18:23:14.537Z,1750270994.537 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.7, 21.7 (Local)
2025-06-18T18:23:14.539Z,1750270994.539 [DAT](INFO): DAT read: Range 10 to 50 : 370.1 m (Round-trip 493.5 ms) speed 0.3 m/s
2025-06-18T18:23:14.540Z,1750270994.540 [DAT](INFO): DAT read: user:1152>
2025-06-18T18:23:14.541Z,1750270994.541 [DAT](INFO): DAT read: Tx time:18:23:15.5366
2025-06-18T18:23:14.541Z,1750270994.541 [DAT](INFO): Ping request sent.
2025-06-18T18:23:14.541Z,1750270994.541 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:14.542Z,1750270994.542 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:23:14.543Z,1750270994.543 [DAT](INFO): direction in FSK: [0.925160,-0.085824,-0.369747]
2025-06-18T18:23:14.543Z,1750270994.543 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:14.543Z,1750270994.543 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:14.547Z,1750270994.547 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:14.547Z,1750270994.547 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:14.783Z,1750270994.783 [DAT](INFO): DAT read: TxSync time:18:23:15.5358
2025-06-18T18:23:14.988Z,1750270994.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 370.100006 m,
deltaT: 4.032033 s,
deltaX: -2.199982 m,
approachRate: -0.545626 m/s,
rangeRepo size: 4
2025-06-18T18:23:14.990Z,1750270994.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 366.725189 m,
bearing: 309.175043 deg,
lat: 36.905761 deg,
lon: -122.115994 deg,
deltaT: 4.032033 s,
deltaX: -2.179810 m,
approachRate: -0.540623 m/s,
posRepo size: 4
2025-06-18T18:23:14.991Z,1750270994.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:14.994Z,1750270994.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 348.746735 m,
bearing: 308.863127 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004952 deg/s,
cmd heading: 312.663794 deg,
new cmd heading: 312.656963 deg.
2025-06-18T18:23:14.995Z,1750270994.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456893 target range: 366.725189 and range: 370.10 m.
2025-06-18T18:23:15.326Z,1750270995.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:15.329Z,1750270995.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 348.503143 m,
bearing: 308.862694 deg,
approach rate: -0.710494 m/s,
LOS rate: -0.001265 deg/s,
cmd heading: 312.656964 deg,
new cmd heading: 312.655662 deg.
2025-06-18T18:23:15.330Z,1750270995.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456871 target range: 366.725189 and range: 370.10 m.
2025-06-18T18:23:15.728Z,1750270995.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:15.731Z,1750270995.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 348.236542 m,
bearing: 308.862359 deg,
approach rate: -0.662489 m/s,
LOS rate: -0.000832 deg/s,
cmd heading: 312.655652 deg,
new cmd heading: 312.654648 deg.
2025-06-18T18:23:15.732Z,1750270995.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456853 target range: 366.725189 and range: 370.10 m.
2025-06-18T18:23:16.161Z,1750270996.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:16.163Z,1750270996.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 347.951538 m,
bearing: 308.860941 deg,
approach rate: -0.659027 m/s,
LOS rate: -0.003281 deg/s,
cmd heading: 312.654641 deg,
new cmd heading: 312.650385 deg.
2025-06-18T18:23:16.165Z,1750270996.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456779 target range: 366.725189 and range: 370.10 m.
2025-06-18T18:23:16.533Z,1750270996.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:16.535Z,1750270996.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:16.538Z,1750270996.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 347.705261 m,
bearing: 308.859733 deg,
approach rate: -0.658295 m/s,
LOS rate: -0.003232 deg/s,
cmd heading: 312.650379 deg,
new cmd heading: 312.646752 deg.
2025-06-18T18:23:16.539Z,1750270996.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456715 target range: 366.725189 and range: 370.10 m.
2025-06-18T18:23:16.545Z,1750270996.545 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:16.545Z,1750270996.545 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:16.545Z,1750270996.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:16.797Z,1750270996.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255167
2025-06-18T18:23:16.985Z,1750270996.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:16.987Z,1750270996.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 347.414001 m,
bearing: 308.859262 deg,
approach rate: -0.647414 m/s,
LOS rate: -0.001047 deg/s,
cmd heading: 312.646746 deg,
new cmd heading: 312.645332 deg.
2025-06-18T18:23:16.993Z,1750270996.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456690 target range: 366.725189 and range: 370.10 m.
2025-06-18T18:23:17.051Z,1750270997.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508795
2025-06-18T18:23:17.301Z,1750270997.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759215
2025-06-18T18:23:17.347Z,1750270997.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:17.350Z,1750270997.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 347.171082 m,
bearing: 308.858896 deg,
approach rate: -0.671307 m/s,
LOS rate: -0.001013 deg/s,
cmd heading: 312.645325 deg,
new cmd heading: 312.644225 deg.
2025-06-18T18:23:17.351Z,1750270997.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456671 target range: 366.725189 and range: 370.10 m.
2025-06-18T18:23:17.553Z,1750270997.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011905
2025-06-18T18:23:17.744Z,1750270997.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:17.747Z,1750270997.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 346.909424 m,
bearing: 308.858504 deg,
approach rate: -0.658968 m/s,
LOS rate: -0.000988 deg/s,
cmd heading: 312.644232 deg,
new cmd heading: 312.643055 deg.
2025-06-18T18:23:17.764Z,1750270997.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456651 target range: 366.725189 and range: 370.10 m.
2025-06-18T18:23:17.805Z,1750270997.805 [DAT](INFO): DAT read: Rx Time:18:23:18.4304
2025-06-18T18:23:17.806Z,1750270997.806 [DAT](INFO): Rx dataTimestamp_ set to:1750270997.805316
2025-06-18T18:23:17.806Z,1750270997.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264615
2025-06-18T18:23:18.057Z,1750270998.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515238
2025-06-18T18:23:18.196Z,1750270998.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:18.202Z,1750270998.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 346.616425 m,
bearing: 308.858055 deg,
approach rate: -0.648495 m/s,
LOS rate: -0.000994 deg/s,
cmd heading: 312.643057 deg,
new cmd heading: 312.641710 deg.
2025-06-18T18:23:18.203Z,1750270998.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456627 target range: 366.725189 and range: 370.10 m.
2025-06-18T18:23:18.309Z,1750270998.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767298
2025-06-18T18:23:18.559Z,1750270998.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:18.562Z,1750270998.562 [DAT](INFO): DAT read: Range 10 to 50 : 367.2 m (Round-trip 489.7 ms) speed 0.4 m/s
2025-06-18T18:23:18.563Z,1750270998.563 [DAT](INFO): DAT read: user:1153>
2025-06-18T18:23:18.564Z,1750270998.564 [DAT](INFO): DAT read: Tx time:18:23:19.5366
2025-06-18T18:23:18.564Z,1750270998.564 [DAT](INFO): Ping request sent.
2025-06-18T18:23:18.564Z,1750270998.564 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:18.564Z,1750270998.564 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:23:18.564Z,1750270998.564 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:18.565Z,1750270998.565 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:18.569Z,1750270998.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 367.200012 m,
deltaT: 4.032012 s,
deltaX: -2.899994 m,
approachRate: -0.719242 m/s,
rangeRepo size: 4
2025-06-18T18:23:18.569Z,1750270998.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:18.573Z,1750270998.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 346.370117 m,
bearing: 308.857677 deg,
approach rate: -0.662090 m/s,
LOS rate: -0.001017 deg/s,
cmd heading: 312.641719 deg,
new cmd heading: 312.640584 deg.
2025-06-18T18:23:18.578Z,1750270998.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456607 target range: 366.725189 and range: 367.20 m.
2025-06-18T18:23:18.813Z,1750270998.813 [DAT](INFO): DAT read: TxSync time:18:23:19.5358
2025-06-18T18:23:19.002Z,1750270999.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:19.005Z,1750270999.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 346.083405 m,
bearing: 308.856836 deg,
approach rate: -0.660583 m/s,
LOS rate: -0.001940 deg/s,
cmd heading: 312.640571 deg,
new cmd heading: 312.638046 deg.
2025-06-18T18:23:19.006Z,1750270999.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456563 target range: 366.725189 and range: 367.20 m.
2025-06-18T18:23:19.380Z,1750270999.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:19.383Z,1750270999.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 345.835449 m,
bearing: 308.856136 deg,
approach rate: -0.655379 m/s,
LOS rate: -0.001852 deg/s,
cmd heading: 312.638058 deg,
new cmd heading: 312.635956 deg.
2025-06-18T18:23:19.384Z,1750270999.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456527 target range: 366.725189 and range: 367.20 m.
2025-06-18T18:23:19.769Z,1750270999.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:19.788Z,1750270999.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 345.581390 m,
bearing: 308.855445 deg,
approach rate: -0.652757 m/s,
LOS rate: -0.001778 deg/s,
cmd heading: 312.635954 deg,
new cmd heading: 312.633877 deg.
2025-06-18T18:23:19.789Z,1750270999.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456491 target range: 366.725189 and range: 367.20 m.
2025-06-18T18:23:20.200Z,1750271000.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:20.203Z,1750271000.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 345.301270 m,
bearing: 308.854801 deg,
approach rate: -0.650267 m/s,
LOS rate: -0.001495 deg/s,
cmd heading: 312.633878 deg,
new cmd heading: 312.631945 deg.
2025-06-18T18:23:20.204Z,1750271000.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456457 target range: 366.725189 and range: 367.20 m.
2025-06-18T18:23:20.587Z,1750271000.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:20.589Z,1750271000.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:20.592Z,1750271000.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 345.048096 m,
bearing: 308.854218 deg,
approach rate: -0.650301 m/s,
LOS rate: -0.001498 deg/s,
cmd heading: 312.631938 deg,
new cmd heading: 312.630189 deg.
2025-06-18T18:23:20.593Z,1750271000.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456426 target range: 366.725189 and range: 367.20 m.
2025-06-18T18:23:20.829Z,1750271000.829 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:20.829Z,1750271000.829 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:20.829Z,1750271000.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:21.030Z,1750271001.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:21.033Z,1750271001.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 344.751892 m,
bearing: 308.852473 deg,
approach rate: -0.671979 m/s,
LOS rate: -0.003963 deg/s,
cmd heading: 312.630189 deg,
new cmd heading: 312.624948 deg.
2025-06-18T18:23:21.034Z,1750271001.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456335 target range: 366.725189 and range: 367.20 m.
2025-06-18T18:23:21.082Z,1750271001.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517638
2025-06-18T18:23:21.333Z,1750271001.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768714
2025-06-18T18:23:21.407Z,1750271001.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:21.410Z,1750271001.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 344.511169 m,
bearing: 308.851027 deg,
approach rate: -0.673205 m/s,
LOS rate: -0.004047 deg/s,
cmd heading: 312.624944 deg,
new cmd heading: 312.620602 deg.
2025-06-18T18:23:21.411Z,1750271001.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456259 target range: 366.725189 and range: 367.20 m.
2025-06-18T18:23:21.586Z,1750271001.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022221
2025-06-18T18:23:21.789Z,1750271001.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:21.791Z,1750271001.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 344.241669 m,
bearing: 308.849374 deg,
approach rate: -0.672095 m/s,
LOS rate: -0.004123 deg/s,
cmd heading: 312.620600 deg,
new cmd heading: 312.615639 deg.
2025-06-18T18:23:21.793Z,1750271001.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456172 target range: 366.725189 and range: 367.20 m.
2025-06-18T18:23:21.837Z,1750271001.837 [DAT](INFO): DAT read: Rx Time:18:23:22.4275
2025-06-18T18:23:21.837Z,1750271001.837 [DAT](INFO): Rx dataTimestamp_ set to:1750271001.837150
2025-06-18T18:23:21.838Z,1750271001.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273916
2025-06-18T18:23:22.089Z,1750271002.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524741
2025-06-18T18:23:22.220Z,1750271002.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.73 m.
2025-06-18T18:23:22.223Z,1750271002.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.725189 m,
nav range: 343.951508 m,
bearing: 308.847375 deg,
approach rate: -0.673047 m/s,
LOS rate: -0.004642 deg/s,
cmd heading: 312.615627 deg,
new cmd heading: 312.609624 deg.
2025-06-18T18:23:22.225Z,1750271002.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456067 target range: 366.725189 and range: 367.20 m.
2025-06-18T18:23:22.346Z,1750271002.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779552
2025-06-18T18:23:22.599Z,1750271002.599 [DAT](INFO): DAT read: 18:23:22.4275 LVL= 28656, 32753, 26898, 32755, AGC= 68, IDX= 404,-0.15,-0.216,-1.809,-0.115,-1.054, PHS= 0.926,-0.709, 0.936, RAW= 150.3, -14.0, CAL= 157.0, -21.5, ROT= 353.0, 21.5
2025-06-18T18:23:22.600Z,1750271002.600 [DAT](INFO): got valid direction response:
18:23:22.4275 LVL= 28656, 32753, 26898, 32755, AGC= 68, IDX= 404,-0.15,-0.216,-1.809,-0.115,-1.054, PHS= 0.926,-0.709, 0.936, RAW= 150.3, -14.0, CAL= 157.0, -21.5, ROT= 353.0, 21.5
2025-06-18T18:23:22.601Z,1750271002.601 [DAT](INFO): DAT read: Bearing 353.0, 21.5 (Local)
2025-06-18T18:23:22.602Z,1750271002.602 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.0, 21.5 (Local)
2025-06-18T18:23:22.603Z,1750271002.603 [DAT](INFO): DAT read: Range 10 to 50 : 365.1 m (Round-trip 486.8 ms) speed 0.5 m/s
2025-06-18T18:23:22.604Z,1750271002.604 [DAT](INFO): DAT read: user:1154>
2025-06-18T18:23:22.605Z,1750271002.605 [DAT](INFO): DAT read: Tx time:18:23:23.5366
2025-06-18T18:23:22.605Z,1750271002.605 [DAT](INFO): Ping request sent.
2025-06-18T18:23:22.605Z,1750271002.605 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:22.606Z,1750271002.606 [DAT](INFO): DAT read: TxSync time:18:23:23.5358
2025-06-18T18:23:22.607Z,1750271002.607 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:23:22.612Z,1750271002.612 [DAT](INFO): direction in FSK: [0.923482,-0.113389,-0.366501]
2025-06-18T18:23:22.612Z,1750271002.612 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:22.612Z,1750271002.612 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:22.615Z,1750271002.615 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:22.620Z,1750271002.620 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:22.623Z,1750271002.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 365.100006 m,
deltaT: 4.031937 s,
deltaX: -2.100006 m,
approachRate: -0.520843 m/s,
rangeRepo size: 4
2025-06-18T18:23:22.667Z,1750271002.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 361.771423 m,
bearing: 307.191729 deg,
lat: 36.905712 deg,
lon: -122.116037 deg,
deltaT: 8.063949 s,
deltaX: -4.953766 m,
approachRate: -0.614310 m/s,
posRepo size: 4
2025-06-18T18:23:22.672Z,1750271002.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.77 m.
2025-06-18T18:23:22.675Z,1750271002.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 361.771423 m,
nav range: 343.314026 m,
bearing: 307.738990 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004642 deg/s,
cmd heading: 312.609617 deg,
new cmd heading: 312.604005 deg.
2025-06-18T18:23:22.684Z,1750271002.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455969 target range: 361.771423 and range: 365.10 m.
2025-06-18T18:23:23.125Z,1750271003.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.77 m.
2025-06-18T18:23:23.132Z,1750271003.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 361.771423 m,
nav range: 342.966949 m,
bearing: 307.735596 deg,
approach rate: -0.697930 m/s,
LOS rate: -0.006833 deg/s,
cmd heading: 312.604016 deg,
new cmd heading: 312.593822 deg.
2025-06-18T18:23:23.133Z,1750271003.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455791 target range: 361.771423 and range: 365.10 m.
2025-06-18T18:23:23.422Z,1750271003.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:23.425Z,1750271003.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.77 m.
2025-06-18T18:23:23.427Z,1750271003.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 361.771423 m,
nav range: 342.747223 m,
bearing: 307.733519 deg,
approach rate: -0.721271 m/s,
LOS rate: -0.006820 deg/s,
cmd heading: 312.593825 deg,
new cmd heading: 312.587592 deg.
2025-06-18T18:23:23.429Z,1750271003.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455683 target range: 361.771423 and range: 365.10 m.
2025-06-18T18:23:23.601Z,1750271003.601 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:23.601Z,1750271003.601 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:23.601Z,1750271003.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:23.853Z,1750271003.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247499
2025-06-18T18:23:23.853Z,1750271003.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.77 m.
2025-06-18T18:23:23.856Z,1750271003.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 361.771423 m,
nav range: 342.453705 m,
bearing: 307.730837 deg,
approach rate: -0.687344 m/s,
LOS rate: -0.006286 deg/s,
cmd heading: 312.587596 deg,
new cmd heading: 312.579543 deg.
2025-06-18T18:23:23.857Z,1750271003.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455542 target range: 361.771423 and range: 365.10 m.
2025-06-18T18:23:24.105Z,1750271004.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499849
2025-06-18T18:23:24.306Z,1750271004.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.77 m.
2025-06-18T18:23:24.328Z,1750271004.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 361.771423 m,
nav range: 342.168762 m,
bearing: 307.727683 deg,
approach rate: -0.634284 m/s,
LOS rate: -0.007027 deg/s,
cmd heading: 312.579537 deg,
new cmd heading: 312.570066 deg.
2025-06-18T18:23:24.329Z,1750271004.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455377 target range: 361.771423 and range: 365.10 m.
2025-06-18T18:23:24.358Z,1750271004.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752029
2025-06-18T18:23:24.609Z,1750271004.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003441
2025-06-18T18:23:24.652Z,1750271004.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.77 m.
2025-06-18T18:23:24.654Z,1750271004.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 361.771423 m,
nav range: 341.908264 m,
bearing: 307.724696 deg,
approach rate: -0.742773 m/s,
LOS rate: -0.008522 deg/s,
cmd heading: 312.570056 deg,
new cmd heading: 312.561090 deg.
2025-06-18T18:23:24.655Z,1750271004.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455220 target range: 361.771423 and range: 365.10 m.
2025-06-18T18:23:24.862Z,1750271004.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256538
2025-06-18T18:23:25.087Z,1750271005.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.77 m.
2025-06-18T18:23:25.091Z,1750271005.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 361.771423 m,
nav range: 341.608246 m,
bearing: 307.720708 deg,
approach rate: -0.688728 m/s,
LOS rate: -0.009163 deg/s,
cmd heading: 312.561095 deg,
new cmd heading: 312.549121 deg.
2025-06-18T18:23:25.092Z,1750271005.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455011 target range: 361.771423 and range: 365.10 m.
2025-06-18T18:23:25.113Z,1750271005.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507330
2025-06-18T18:23:25.365Z,1750271005.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759361
2025-06-18T18:23:25.510Z,1750271005.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:25.512Z,1750271005.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.77 m.
2025-06-18T18:23:25.515Z,1750271005.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 361.771423 m,
nav range: 341.316376 m,
bearing: 307.716787 deg,
approach rate: -0.687420 m/s,
LOS rate: -0.009244 deg/s,
cmd heading: 312.549129 deg,
new cmd heading: 312.537354 deg.
2025-06-18T18:23:25.516Z,1750271005.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454806 target range: 361.771423 and range: 365.10 m.
2025-06-18T18:23:25.617Z,1750271005.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011431
2025-06-18T18:23:25.857Z,1750271005.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.77 m.
2025-06-18T18:23:25.860Z,1750271005.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 361.771423 m,
nav range: 341.077728 m,
bearing: 307.713555 deg,
approach rate: -0.690861 m/s,
LOS rate: -0.009364 deg/s,
cmd heading: 312.537353 deg,
new cmd heading: 312.527649 deg.
2025-06-18T18:23:25.861Z,1750271005.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454637 target range: 361.771423 and range: 365.10 m.
2025-06-18T18:23:25.870Z,1750271005.870 [DAT](INFO): DAT read: Rx Time:18:23:26.4235
2025-06-18T18:23:25.870Z,1750271005.870 [DAT](INFO): Rx dataTimestamp_ set to:1750271005.869854
2025-06-18T18:23:25.871Z,1750271005.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265545
2025-06-18T18:23:26.122Z,1750271006.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516131
2025-06-18T18:23:26.304Z,1750271006.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.77 m.
2025-06-18T18:23:26.307Z,1750271006.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 361.771423 m,
nav range: 340.768341 m,
bearing: 307.709483 deg,
approach rate: -0.691925 m/s,
LOS rate: -0.009115 deg/s,
cmd heading: 312.527654 deg,
new cmd heading: 312.515427 deg.
2025-06-18T18:23:26.308Z,1750271006.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454423 target range: 361.771423 and range: 365.10 m.
2025-06-18T18:23:26.384Z,1750271006.384 [DAT](INFO): DAT read: 18:23:26.4236 LVL= 30096, 32753, 28194, 32755, AGC= 69, IDX= 395,-0.06,-0.987,-2.230,-0.962,-1.576, PHS= 0.678,-0.606, 0.612, RAW= 147.4, -10.9, CAL= 154.3, -19.3, ROT= 355.7, 19.3
2025-06-18T18:23:26.385Z,1750271006.385 [DAT](INFO): got valid direction response:
18:23:26.4236 LVL= 30096, 32753, 28194, 32755, AGC= 69, IDX= 395,-0.06,-0.987,-2.230,-0.962,-1.576, PHS= 0.678,-0.606, 0.612, RAW= 147.4, -10.9, CAL= 154.3, -19.3, ROT= 355.7, 19.3
2025-06-18T18:23:26.386Z,1750271006.386 [DAT](INFO): DAT read: Bearing 355.7, 19.3 (Local)
2025-06-18T18:23:26.386Z,1750271006.386 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.7, 19.3 (Local)
2025-06-18T18:23:26.405Z,1750271006.405 [DAT](INFO): DAT read: Range 10 to 50 : 362.1 m (Round-trip 482.8 ms) speed 0.4 m/s
2025-06-18T18:23:26.406Z,1750271006.406 [DAT](INFO): DAT read: user:1155>
2025-06-18T18:23:26.407Z,1750271006.407 [DAT](INFO): DAT read: Tx time:18:23:27.5367
2025-06-18T18:23:26.407Z,1750271006.407 [DAT](INFO): Ping request sent.
2025-06-18T18:23:26.407Z,1750271006.407 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:26.407Z,1750271006.407 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:23:26.409Z,1750271006.409 [DAT](INFO): direction in FSK: [0.941144,-0.070765,-0.330514]
2025-06-18T18:23:26.409Z,1750271006.409 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:26.409Z,1750271006.409 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:26.421Z,1750271006.421 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:26.421Z,1750271006.421 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:26.625Z,1750271006.625 [DAT](INFO): DAT read: TxSync time:18:23:27.5359
2025-06-18T18:23:26.722Z,1750271006.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 362.100006 m,
deltaT: 3.781751 s,
deltaX: -3.000000 m,
approachRate: -0.793283 m/s,
rangeRepo size: 4
2025-06-18T18:23:26.737Z,1750271006.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 358.799744 m,
bearing: 309.740708 deg,
lat: 36.905697 deg,
lon: -122.116037 deg,
deltaT: 3.781751 s,
deltaX: -2.971680 m,
approachRate: -0.785795 m/s,
posRepo size: 4
2025-06-18T18:23:26.738Z,1750271006.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:26.748Z,1750271006.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 339.431885 m,
bearing: 307.473255 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.009115 deg/s,
cmd heading: 312.515415 deg,
new cmd heading: 312.504024 deg.
2025-06-18T18:23:26.750Z,1750271006.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454224 target range: 358.799744 and range: 362.10 m.
2025-06-18T18:23:27.133Z,1750271007.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:27.136Z,1750271007.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 339.138763 m,
bearing: 307.468710 deg,
approach rate: -0.711643 m/s,
LOS rate: -0.011046 deg/s,
cmd heading: 312.504022 deg,
new cmd heading: 312.490373 deg.
2025-06-18T18:23:27.137Z,1750271007.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453986 target range: 358.799744 and range: 362.10 m.
2025-06-18T18:23:27.504Z,1750271007.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:27.507Z,1750271007.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 338.886963 m,
bearing: 307.464915 deg,
approach rate: -0.678651 m/s,
LOS rate: -0.010236 deg/s,
cmd heading: 312.490362 deg,
new cmd heading: 312.478968 deg.
2025-06-18T18:23:27.511Z,1750271007.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453787 target range: 358.799744 and range: 362.10 m.
2025-06-18T18:23:27.925Z,1750271007.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:27.927Z,1750271007.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:27.931Z,1750271007.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 338.591431 m,
bearing: 307.460537 deg,
approach rate: -0.697706 m/s,
LOS rate: -0.010345 deg/s,
cmd heading: 312.478969 deg,
new cmd heading: 312.465824 deg.
2025-06-18T18:23:27.932Z,1750271007.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453557 target range: 358.799744 and range: 362.10 m.
2025-06-18T18:23:28.137Z,1750271008.137 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:28.137Z,1750271008.137 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:28.137Z,1750271008.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:28.359Z,1750271008.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:28.362Z,1750271008.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 338.307617 m,
bearing: 307.456672 deg,
approach rate: -0.659478 m/s,
LOS rate: -0.008989 deg/s,
cmd heading: 312.465828 deg,
new cmd heading: 312.454222 deg.
2025-06-18T18:23:28.363Z,1750271008.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453355 target range: 358.799744 and range: 362.10 m.
2025-06-18T18:23:28.389Z,1750271008.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981906
2025-06-18T18:23:28.641Z,1750271008.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233624
2025-06-18T18:23:28.741Z,1750271008.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:28.748Z,1750271008.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 338.046967 m,
bearing: 307.453023 deg,
approach rate: -0.680449 m/s,
LOS rate: -0.009531 deg/s,
cmd heading: 312.454216 deg,
new cmd heading: 312.443263 deg.
2025-06-18T18:23:28.749Z,1750271008.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453164 target range: 358.799744 and range: 362.10 m.
2025-06-18T18:23:28.893Z,1750271008.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486192
2025-06-18T18:23:29.145Z,1750271009.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737769
2025-06-18T18:23:29.149Z,1750271009.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:29.151Z,1750271009.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 337.767487 m,
bearing: 307.449025 deg,
approach rate: -0.687316 m/s,
LOS rate: -0.009842 deg/s,
cmd heading: 312.443261 deg,
new cmd heading: 312.431255 deg.
2025-06-18T18:23:29.152Z,1750271009.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452954 target range: 358.799744 and range: 362.10 m.
2025-06-18T18:23:29.397Z,1750271009.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989860
2025-06-18T18:23:29.540Z,1750271009.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:29.543Z,1750271009.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 337.503632 m,
bearing: 307.445244 deg,
approach rate: -0.672947 m/s,
LOS rate: -0.009651 deg/s,
cmd heading: 312.431267 deg,
new cmd heading: 312.419915 deg.
2025-06-18T18:23:29.544Z,1750271009.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452756 target range: 358.799744 and range: 362.10 m.
2025-06-18T18:23:29.649Z,1750271009.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242099
2025-06-18T18:23:29.902Z,1750271009.902 [DAT](INFO): DAT read: Rx Time:18:23:30.4214
2025-06-18T18:23:29.902Z,1750271009.902 [DAT](INFO): Rx dataTimestamp_ set to:1750271009.901901
2025-06-18T18:23:29.903Z,1750271009.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495888
2025-06-18T18:23:29.926Z,1750271009.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:29.928Z,1750271009.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:29.931Z,1750271009.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 337.243317 m,
bearing: 307.441483 deg,
approach rate: -0.669519 m/s,
LOS rate: -0.009680 deg/s,
cmd heading: 312.419901 deg,
new cmd heading: 312.408610 deg.
2025-06-18T18:23:29.949Z,1750271009.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452559 target range: 358.799744 and range: 362.10 m.
2025-06-18T18:23:30.153Z,1750271010.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.745676
2025-06-18T18:23:30.359Z,1750271010.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:30.362Z,1750271010.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 336.958862 m,
bearing: 307.437291 deg,
approach rate: -0.660027 m/s,
LOS rate: -0.009735 deg/s,
cmd heading: 312.408618 deg,
new cmd heading: 312.396031 deg.
2025-06-18T18:23:30.363Z,1750271010.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452339 target range: 358.799744 and range: 362.10 m.
2025-06-18T18:23:30.406Z,1750271010.406 [DAT](INFO): DAT read: Range 10 to 50 : 360.4 m (Round-trip 480.6 ms) speed 0.4 m/s
2025-06-18T18:23:30.407Z,1750271010.407 [DAT](INFO): DAT read: user:1156>
2025-06-18T18:23:30.408Z,1750271010.408 [DAT](INFO): DAT read: Tx time:18:23:31.5367
2025-06-18T18:23:30.408Z,1750271010.408 [DAT](INFO): Ping request sent.
2025-06-18T18:23:30.408Z,1750271010.408 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:30.409Z,1750271010.409 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:23:30.409Z,1750271010.409 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:30.409Z,1750271010.409 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:30.657Z,1750271010.657 [DAT](INFO): DAT read: TxSync time:18:23:31.5359
2025-06-18T18:23:30.737Z,1750271010.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 360.399994 m,
deltaT: 4.030586 s,
deltaX: -1.700012 m,
approachRate: -0.421778 m/s,
rangeRepo size: 4
2025-06-18T18:23:30.738Z,1750271010.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:30.741Z,1750271010.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 336.708588 m,
bearing: 307.433569 deg,
approach rate: -0.663582 m/s,
LOS rate: -0.009876 deg/s,
cmd heading: 312.396023 deg,
new cmd heading: 312.384848 deg.
2025-06-18T18:23:30.742Z,1750271010.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452144 target range: 358.799744 and range: 360.40 m.
2025-06-18T18:23:31.171Z,1750271011.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:31.174Z,1750271011.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 336.426178 m,
bearing: 307.429710 deg,
approach rate: -0.650194 m/s,
LOS rate: -0.008890 deg/s,
cmd heading: 312.384849 deg,
new cmd heading: 312.373264 deg.
2025-06-18T18:23:31.175Z,1750271011.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451942 target range: 358.799744 and range: 360.40 m.
2025-06-18T18:23:31.540Z,1750271011.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:31.543Z,1750271011.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 336.186310 m,
bearing: 307.426401 deg,
approach rate: -0.650742 m/s,
LOS rate: -0.008985 deg/s,
cmd heading: 312.373265 deg,
new cmd heading: 312.363329 deg.
2025-06-18T18:23:31.544Z,1750271011.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451768 target range: 358.799744 and range: 360.40 m.
2025-06-18T18:23:31.942Z,1750271011.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:31.960Z,1750271011.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:31.963Z,1750271011.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 335.923584 m,
bearing: 307.422768 deg,
approach rate: -0.649728 m/s,
LOS rate: -0.008990 deg/s,
cmd heading: 312.363320 deg,
new cmd heading: 312.352414 deg.
2025-06-18T18:23:31.969Z,1750271011.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451578 target range: 358.799744 and range: 360.40 m.
2025-06-18T18:23:32.169Z,1750271012.169 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:32.169Z,1750271012.169 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:32.169Z,1750271012.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:32.366Z,1750271012.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:32.369Z,1750271012.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 335.654358 m,
bearing: 307.419774 deg,
approach rate: -0.638161 m/s,
LOS rate: -0.007104 deg/s,
cmd heading: 312.352419 deg,
new cmd heading: 312.343428 deg.
2025-06-18T18:23:32.370Z,1750271012.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451421 target range: 358.799744 and range: 360.40 m.
2025-06-18T18:23:32.422Z,1750271012.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013978
2025-06-18T18:23:32.673Z,1750271012.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264704
2025-06-18T18:23:32.769Z,1750271012.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:32.772Z,1750271012.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 335.396851 m,
bearing: 307.416906 deg,
approach rate: -0.638596 m/s,
LOS rate: -0.007118 deg/s,
cmd heading: 312.343431 deg,
new cmd heading: 312.334820 deg.
2025-06-18T18:23:32.773Z,1750271012.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451271 target range: 358.799744 and range: 360.40 m.
2025-06-18T18:23:32.925Z,1750271012.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516570
2025-06-18T18:23:33.177Z,1750271013.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768382
2025-06-18T18:23:33.229Z,1750271013.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:33.239Z,1750271013.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 335.112610 m,
bearing: 307.414540 deg,
approach rate: -0.642227 m/s,
LOS rate: -0.005349 deg/s,
cmd heading: 312.334825 deg,
new cmd heading: 312.327722 deg.
2025-06-18T18:23:33.244Z,1750271013.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451147 target range: 358.799744 and range: 360.40 m.
2025-06-18T18:23:33.429Z,1750271013.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020454
2025-06-18T18:23:33.555Z,1750271013.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:33.558Z,1750271013.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 334.892395 m,
bearing: 307.412609 deg,
approach rate: -0.641366 m/s,
LOS rate: -0.005630 deg/s,
cmd heading: 312.327721 deg,
new cmd heading: 312.321922 deg.
2025-06-18T18:23:33.559Z,1750271013.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451046 target range: 358.799744 and range: 360.40 m.
2025-06-18T18:23:33.681Z,1750271013.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273146
2025-06-18T18:23:33.933Z,1750271013.933 [DAT](INFO): DAT read: Rx Time:18:23:34.4186
2025-06-18T18:23:33.933Z,1750271013.933 [DAT](INFO): Rx dataTimestamp_ set to:1750271013.933128
2025-06-18T18:23:33.934Z,1750271013.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525647
2025-06-18T18:23:33.979Z,1750271013.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:33.983Z,1750271013.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.80 m.
2025-06-18T18:23:34.008Z,1750271014.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.799744 m,
nav range: 334.623688 m,
bearing: 307.410253 deg,
approach rate: -0.628410 m/s,
LOS rate: -0.005513 deg/s,
cmd heading: 312.321929 deg,
new cmd heading: 312.314857 deg.
2025-06-18T18:23:34.009Z,1750271014.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450922 target range: 358.799744 and range: 360.40 m.
2025-06-18T18:23:34.185Z,1750271014.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776718
2025-06-18T18:23:34.443Z,1750271014.443 [DAT](INFO): DAT read: 18:23:34.4186 LVL= 30704, 32753, 28322, 32755, AGC= 69, IDX= 409,-0.34,-2.995, 1.982,-2.956, 2.618, PHS= 0.759,-0.589, 0.707, RAW= 148.0, -13.2, CAL= 154.9, -21.2, ROT= 355.1, 21.2
2025-06-18T18:23:34.444Z,1750271014.444 [DAT](INFO): got valid direction response:
18:23:34.4186 LVL= 30704, 32753, 28322, 32755, AGC= 69, IDX= 409,-0.34,-2.995, 1.982,-2.956, 2.618, PHS= 0.759,-0.589, 0.707, RAW= 148.0, -13.2, CAL= 154.9, -21.2, ROT= 355.1, 21.2
2025-06-18T18:23:34.445Z,1750271014.445 [DAT](INFO): DAT read: Bearing 355.1, 21.2 (Local)
2025-06-18T18:23:34.445Z,1750271014.445 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.1, 21.2 (Local)
2025-06-18T18:23:34.447Z,1750271014.447 [DAT](INFO): DAT read: Range 10 to 50 : 358.3 m (Round-trip 477.8 ms) speed 0.4 m/s
2025-06-18T18:23:34.448Z,1750271014.448 [DAT](INFO): DAT read: user:1157>
2025-06-18T18:23:34.449Z,1750271014.449 [DAT](INFO): DAT read: Tx time:18:23:35.5367
2025-06-18T18:23:34.449Z,1750271014.449 [DAT](INFO): Ping request sent.
2025-06-18T18:23:34.449Z,1750271014.449 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:34.449Z,1750271014.449 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:23:34.450Z,1750271014.450 [DAT](INFO): direction in FSK: [0.928916,-0.079636,-0.361625]
2025-06-18T18:23:34.450Z,1750271014.450 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:34.451Z,1750271014.451 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:34.458Z,1750271014.458 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:34.458Z,1750271014.458 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:34.463Z,1750271014.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 358.299988 m,
deltaT: 4.031726 s,
deltaX: -2.100006 m,
approachRate: -0.520870 m/s,
rangeRepo size: 4
2025-06-18T18:23:34.484Z,1750271014.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 355.034576 m,
bearing: 309.354311 deg,
lat: 36.905761 deg,
lon: -122.115975 deg,
deltaT: 8.062312 s,
deltaX: -3.765167 m,
approachRate: -0.467008 m/s,
posRepo size: 4
2025-06-18T18:23:34.485Z,1750271014.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:34.487Z,1750271014.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 334.474792 m,
bearing: 308.955794 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005513 deg/s,
cmd heading: 312.314853 deg,
new cmd heading: 312.306917 deg.
2025-06-18T18:23:34.496Z,1750271014.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450784 target range: 355.034576 and range: 358.30 m.
2025-06-18T18:23:34.689Z,1750271014.689 [DAT](INFO): DAT read: TxSync time:18:23:35.5359
2025-06-18T18:23:34.818Z,1750271014.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:34.829Z,1750271014.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 334.225037 m,
bearing: 308.955287 deg,
approach rate: -0.702811 m/s,
LOS rate: -0.001428 deg/s,
cmd heading: 312.306930 deg,
new cmd heading: 312.305407 deg.
2025-06-18T18:23:34.830Z,1750271014.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450758 target range: 355.034576 and range: 358.30 m.
2025-06-18T18:23:35.232Z,1750271015.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:35.235Z,1750271015.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 333.944946 m,
bearing: 308.954860 deg,
approach rate: -0.676249 m/s,
LOS rate: -0.001031 deg/s,
cmd heading: 312.305400 deg,
new cmd heading: 312.304119 deg.
2025-06-18T18:23:35.236Z,1750271015.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450735 target range: 355.034576 and range: 358.30 m.
2025-06-18T18:23:35.605Z,1750271015.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:35.607Z,1750271015.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 333.699921 m,
bearing: 308.954615 deg,
approach rate: -0.657399 m/s,
LOS rate: -0.000659 deg/s,
cmd heading: 312.304116 deg,
new cmd heading: 312.303379 deg.
2025-06-18T18:23:35.609Z,1750271015.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450722 target range: 355.034576 and range: 358.30 m.
2025-06-18T18:23:35.999Z,1750271015.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:36.002Z,1750271016.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:36.029Z,1750271016.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 333.439331 m,
bearing: 308.954445 deg,
approach rate: -0.656652 m/s,
LOS rate: -0.000428 deg/s,
cmd heading: 312.303378 deg,
new cmd heading: 312.302869 deg.
2025-06-18T18:23:36.030Z,1750271016.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450713 target range: 355.034576 and range: 358.30 m.
2025-06-18T18:23:36.200Z,1750271016.200 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:36.201Z,1750271016.201 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:36.201Z,1750271016.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:36.422Z,1750271016.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:36.425Z,1750271016.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 333.158173 m,
bearing: 308.954206 deg,
approach rate: -0.668627 m/s,
LOS rate: -0.000568 deg/s,
cmd heading: 312.302859 deg,
new cmd heading: 312.302143 deg.
2025-06-18T18:23:36.426Z,1750271016.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450701 target range: 355.034576 and range: 358.30 m.
2025-06-18T18:23:36.453Z,1750271016.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004158
2025-06-18T18:23:36.705Z,1750271016.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255876
2025-06-18T18:23:36.802Z,1750271016.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:36.805Z,1750271016.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 332.902710 m,
bearing: 308.953992 deg,
approach rate: -0.672137 m/s,
LOS rate: -0.000564 deg/s,
cmd heading: 312.302149 deg,
new cmd heading: 312.301506 deg.
2025-06-18T18:23:36.806Z,1750271016.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450689 target range: 355.034576 and range: 358.30 m.
2025-06-18T18:23:36.957Z,1750271016.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507799
2025-06-18T18:23:37.211Z,1750271017.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761739
2025-06-18T18:23:37.264Z,1750271017.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:37.267Z,1750271017.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 332.592926 m,
bearing: 308.953062 deg,
approach rate: -0.671108 m/s,
LOS rate: -0.002018 deg/s,
cmd heading: 312.301493 deg,
new cmd heading: 312.298699 deg.
2025-06-18T18:23:37.268Z,1750271017.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450641 target range: 355.034576 and range: 358.30 m.
2025-06-18T18:23:37.461Z,1750271017.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011902
2025-06-18T18:23:37.627Z,1750271017.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:37.630Z,1750271017.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 332.359406 m,
bearing: 308.952375 deg,
approach rate: -0.642362 m/s,
LOS rate: -0.001890 deg/s,
cmd heading: 312.298707 deg,
new cmd heading: 312.296645 deg.
2025-06-18T18:23:37.631Z,1750271017.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450605 target range: 355.034576 and range: 358.30 m.
2025-06-18T18:23:37.714Z,1750271017.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264572
2025-06-18T18:23:37.965Z,1750271017.965 [DAT](INFO): DAT read: Rx Time:18:23:38.4151
2025-06-18T18:23:37.965Z,1750271017.965 [DAT](INFO): Rx dataTimestamp_ set to:1750271017.965077
2025-06-18T18:23:37.966Z,1750271017.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516937
2025-06-18T18:23:38.020Z,1750271018.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:38.022Z,1750271018.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:38.038Z,1750271018.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 332.084259 m,
bearing: 308.951554 deg,
approach rate: -0.697248 m/s,
LOS rate: -0.002083 deg/s,
cmd heading: 312.296657 deg,
new cmd heading: 312.294192 deg.
2025-06-18T18:23:38.039Z,1750271018.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450562 target range: 355.034576 and range: 358.30 m.
2025-06-18T18:23:38.185Z,1750271018.185 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:23:38.217Z,1750271018.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767955
2025-06-18T18:23:38.445Z,1750271018.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:38.448Z,1750271018.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 331.795166 m,
bearing: 308.949276 deg,
approach rate: -0.682567 m/s,
LOS rate: -0.005382 deg/s,
cmd heading: 312.294199 deg,
new cmd heading: 312.287360 deg.
2025-06-18T18:23:38.449Z,1750271018.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450443 target range: 355.034576 and range: 358.30 m.
2025-06-18T18:23:38.470Z,1750271018.470 [DAT](INFO): DAT read: Range 10 to 50 : 355.7 m (Round-trip 474.3 ms) speed 0.6 m/s
2025-06-18T18:23:38.471Z,1750271018.471 [DAT](INFO): DAT read: user:1158>
2025-06-18T18:23:38.473Z,1750271018.473 [DAT](INFO): DAT read: Tx time:18:23:39.5367
2025-06-18T18:23:38.473Z,1750271018.473 [DAT](INFO): Ping request sent.
2025-06-18T18:23:38.473Z,1750271018.473 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:38.474Z,1750271018.474 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:23:38.474Z,1750271018.474 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:38.476Z,1750271018.476 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:38.721Z,1750271018.721 [DAT](INFO): DAT read: TxSync time:18:23:39.5359
2025-06-18T18:23:38.903Z,1750271018.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 355.700012 m,
deltaT: 4.032117 s,
deltaX: -2.599976 m,
approachRate: -0.644817 m/s,
rangeRepo size: 4
2025-06-18T18:23:38.904Z,1750271018.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:38.907Z,1750271018.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 331.486145 m,
bearing: 308.946858 deg,
approach rate: -0.676415 m/s,
LOS rate: -0.005298 deg/s,
cmd heading: 312.287368 deg,
new cmd heading: 312.280107 deg.
2025-06-18T18:23:38.908Z,1750271018.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450316 target range: 355.034576 and range: 355.70 m.
2025-06-18T18:23:39.189Z,1750271019.189 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:23:39.351Z,1750271019.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:39.354Z,1750271019.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 331.181335 m,
bearing: 308.943673 deg,
approach rate: -0.679220 m/s,
LOS rate: -0.007104 deg/s,
cmd heading: 312.280101 deg,
new cmd heading: 312.270537 deg.
2025-06-18T18:23:39.355Z,1750271019.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450149 target range: 355.034576 and range: 355.70 m.
2025-06-18T18:23:39.777Z,1750271019.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:39.780Z,1750271019.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 330.895050 m,
bearing: 308.940837 deg,
approach rate: -0.671680 m/s,
LOS rate: -0.006659 deg/s,
cmd heading: 312.270539 deg,
new cmd heading: 312.262024 deg.
2025-06-18T18:23:39.781Z,1750271019.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450000 target range: 355.034576 and range: 355.70 m.
2025-06-18T18:23:40.246Z,1750271020.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:40.252Z,1750271020.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:40.255Z,1750271020.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 330.611359 m,
bearing: 308.938022 deg,
approach rate: -0.603148 m/s,
LOS rate: -0.005990 deg/s,
cmd heading: 312.262015 deg,
new cmd heading: 312.253563 deg.
2025-06-18T18:23:40.261Z,1750271020.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449853 target range: 355.034576 and range: 355.70 m.
2025-06-18T18:23:40.493Z,1750271020.493 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:40.493Z,1750271020.493 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:40.493Z,1750271020.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:40.714Z,1750271020.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:40.716Z,1750271020.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 330.276733 m,
bearing: 308.933343 deg,
approach rate: -0.718163 m/s,
LOS rate: -0.010052 deg/s,
cmd heading: 312.253573 deg,
new cmd heading: 312.239521 deg.
2025-06-18T18:23:40.717Z,1750271020.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449608 target range: 355.034576 and range: 355.70 m.
2025-06-18T18:23:40.746Z,1750271020.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272085
2025-06-18T18:23:40.997Z,1750271020.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523478
2025-06-18T18:23:41.126Z,1750271021.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:41.133Z,1750271021.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 330.001373 m,
bearing: 308.929389 deg,
approach rate: -0.667187 m/s,
LOS rate: -0.009590 deg/s,
cmd heading: 312.239530 deg,
new cmd heading: 312.227656 deg.
2025-06-18T18:23:41.134Z,1750271021.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449400 target range: 355.034576 and range: 355.70 m.
2025-06-18T18:23:41.252Z,1750271021.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778183
2025-06-18T18:23:41.501Z,1750271021.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027591
2025-06-18T18:23:41.533Z,1750271021.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:41.536Z,1750271021.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 329.709442 m,
bearing: 308.926300 deg,
approach rate: -0.717038 m/s,
LOS rate: -0.007592 deg/s,
cmd heading: 312.227645 deg,
new cmd heading: 312.218373 deg.
2025-06-18T18:23:41.537Z,1750271021.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449239 target range: 355.034576 and range: 355.70 m.
2025-06-18T18:23:41.753Z,1750271021.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279737
2025-06-18T18:23:41.926Z,1750271021.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:41.928Z,1750271021.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 329.438690 m,
bearing: 308.923487 deg,
approach rate: -0.690486 m/s,
LOS rate: -0.007180 deg/s,
cmd heading: 312.218383 deg,
new cmd heading: 312.209937 deg.
2025-06-18T18:23:41.929Z,1750271021.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449091 target range: 355.034576 and range: 355.70 m.
2025-06-18T18:23:42.005Z,1750271022.005 [DAT](INFO): DAT read: Rx Time:18:23:42.4107
2025-06-18T18:23:42.006Z,1750271022.006 [DAT](INFO): Rx dataTimestamp_ set to:1750271022.005244
2025-06-18T18:23:42.006Z,1750271022.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532787
2025-06-18T18:23:42.259Z,1750271022.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785546
2025-06-18T18:23:42.394Z,1750271022.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:42.397Z,1750271022.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.03 m.
2025-06-18T18:23:42.399Z,1750271022.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 355.034576 m,
nav range: 329.115753 m,
bearing: 308.920163 deg,
approach rate: -0.685321 m/s,
LOS rate: -0.007062 deg/s,
cmd heading: 312.209941 deg,
new cmd heading: 312.199958 deg.
2025-06-18T18:23:42.417Z,1750271022.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448917 target range: 355.034576 and range: 355.70 m.
2025-06-18T18:23:42.517Z,1750271022.517 [DAT](INFO): DAT read: 18:23:42.4107 LVL= 27664, 32753, 25826, 32755, AGC= 67, IDX= 390,-0.11, 2.124, 0.862, 2.188, 1.571, PHS= 0.641,-0.661, 0.614, RAW= 149.0, -9.3, CAL= 155.2, -17.5, ROT= 354.8, 17.5
2025-06-18T18:23:42.518Z,1750271022.518 [DAT](INFO): got valid direction response:
18:23:42.4107 LVL= 27664, 32753, 25826, 32755, AGC= 67, IDX= 390,-0.11, 2.124, 0.862, 2.188, 1.571, PHS= 0.641,-0.661, 0.614, RAW= 149.0, -9.3, CAL= 155.2, -17.5, ROT= 354.8, 17.5
2025-06-18T18:23:42.520Z,1750271022.520 [DAT](INFO): DAT read: Bearing 354.8, 17.5 (Local)
2025-06-18T18:23:42.522Z,1750271022.522 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.8, 17.5 (Local)
2025-06-18T18:23:42.529Z,1750271022.529 [DAT](INFO): DAT read: Range 10 to 50 : 352.3 m (Round-trip 469.8 ms) speed 0.0 m/s
2025-06-18T18:23:42.530Z,1750271022.530 [DAT](INFO): DAT read: user:1159>
2025-06-18T18:23:42.531Z,1750271022.531 [DAT](INFO): DAT read: Tx time:18:23:43.5368
2025-06-18T18:23:42.531Z,1750271022.531 [DAT](INFO): Ping request sent.
2025-06-18T18:23:42.531Z,1750271022.531 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:42.531Z,1750271022.531 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:23:42.541Z,1750271022.541 [DAT](INFO): direction in FSK: [0.949792,-0.086438,-0.300706]
2025-06-18T18:23:42.541Z,1750271022.541 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:42.541Z,1750271022.541 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:42.557Z,1750271022.557 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:42.557Z,1750271022.557 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:42.749Z,1750271022.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 352.299988 m,
deltaT: 4.040187 s,
deltaX: -3.400024 m,
approachRate: -0.841551 m/s,
rangeRepo size: 4
2025-06-18T18:23:42.751Z,1750271022.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 349.089966 m,
bearing: 307.919954 deg,
lat: 36.905780 deg,
lon: -122.115975 deg,
deltaT: 8.072304 s,
deltaX: -5.944611 m,
approachRate: -0.736421 m/s,
posRepo size: 4
2025-06-18T18:23:42.757Z,1750271022.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:42.759Z,1750271022.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 330.184204 m,
bearing: 309.195551 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007062 deg/s,
cmd heading: 312.199969 deg,
new cmd heading: 312.192710 deg.
2025-06-18T18:23:42.761Z,1750271022.761 [DAT](INFO): DAT read: TxSync time:18:23:43.5360
2025-06-18T18:23:42.765Z,1750271022.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448791 target range: 349.089966 and range: 352.30 m.
2025-06-18T18:23:43.151Z,1750271023.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:43.154Z,1750271023.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 329.893066 m,
bearing: 309.192854 deg,
approach rate: -0.706875 m/s,
LOS rate: -0.006553 deg/s,
cmd heading: 312.192702 deg,
new cmd heading: 312.184605 deg.
2025-06-18T18:23:43.155Z,1750271023.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448649 target range: 349.089966 and range: 352.30 m.
2025-06-18T18:23:43.557Z,1750271023.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:43.559Z,1750271023.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 329.611389 m,
bearing: 309.191369 deg,
approach rate: -0.694907 m/s,
LOS rate: -0.003667 deg/s,
cmd heading: 312.184615 deg,
new cmd heading: 312.180155 deg.
2025-06-18T18:23:43.560Z,1750271023.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448572 target range: 349.089966 and range: 352.30 m.
2025-06-18T18:23:43.937Z,1750271023.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:43.940Z,1750271023.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 329.346527 m,
bearing: 309.189999 deg,
approach rate: -0.696194 m/s,
LOS rate: -0.003606 deg/s,
cmd heading: 312.180162 deg,
new cmd heading: 312.176047 deg.
2025-06-18T18:23:43.941Z,1750271023.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448500 target range: 349.089966 and range: 352.30 m.
2025-06-18T18:23:44.382Z,1750271024.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:44.401Z,1750271024.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 329.053223 m,
bearing: 309.189427 deg,
approach rate: -0.659190 m/s,
LOS rate: -0.001285 deg/s,
cmd heading: 312.176036 deg,
new cmd heading: 312.174321 deg.
2025-06-18T18:23:44.402Z,1750271024.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448470 target range: 349.089966 and range: 352.30 m.
2025-06-18T18:23:44.743Z,1750271024.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:44.745Z,1750271024.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:44.768Z,1750271024.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 328.814758 m,
bearing: 309.188853 deg,
approach rate: -0.656124 m/s,
LOS rate: -0.001582 deg/s,
cmd heading: 312.174315 deg,
new cmd heading: 312.172591 deg.
2025-06-18T18:23:44.769Z,1750271024.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448440 target range: 349.089966 and range: 352.30 m.
2025-06-18T18:23:44.777Z,1750271024.777 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:44.777Z,1750271024.777 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:44.777Z,1750271024.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:45.029Z,1750271025.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497799
2025-06-18T18:23:45.149Z,1750271025.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:45.151Z,1750271025.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 328.548492 m,
bearing: 309.188111 deg,
approach rate: -0.662053 m/s,
LOS rate: -0.001846 deg/s,
cmd heading: 312.172594 deg,
new cmd heading: 312.170366 deg.
2025-06-18T18:23:45.153Z,1750271025.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448400 target range: 349.089966 and range: 352.30 m.
2025-06-18T18:23:45.285Z,1750271025.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752429
2025-06-18T18:23:45.533Z,1750271025.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001975
2025-06-18T18:23:45.598Z,1750271025.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:45.601Z,1750271025.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 328.252838 m,
bearing: 309.187540 deg,
approach rate: -0.656158 m/s,
LOS rate: -0.001268 deg/s,
cmd heading: 312.170354 deg,
new cmd heading: 312.168640 deg.
2025-06-18T18:23:45.602Z,1750271025.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448370 target range: 349.089966 and range: 352.30 m.
2025-06-18T18:23:45.785Z,1750271025.785 [DAT](INFO): DAT read: Rx Time:18:23:46.4078
2025-06-18T18:23:45.785Z,1750271025.785 [DAT](INFO): Rx dataTimestamp_ set to:1750271025.785036
2025-06-18T18:23:45.786Z,1750271025.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254831
2025-06-18T18:23:45.972Z,1750271025.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:45.975Z,1750271025.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 328.007782 m,
bearing: 309.187066 deg,
approach rate: -0.655842 m/s,
LOS rate: -0.001269 deg/s,
cmd heading: 312.168632 deg,
new cmd heading: 312.167210 deg.
2025-06-18T18:23:45.976Z,1750271025.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448346 target range: 349.089966 and range: 352.30 m.
2025-06-18T18:23:46.037Z,1750271026.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505905
2025-06-18T18:23:46.293Z,1750271026.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761161
2025-06-18T18:23:46.408Z,1750271026.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:46.411Z,1750271026.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 327.733673 m,
bearing: 309.188008 deg,
approach rate: -0.628481 m/s,
LOS rate: 0.002160 deg/s,
cmd heading: 312.167212 deg,
new cmd heading: 312.170038 deg.
2025-06-18T18:23:46.412Z,1750271026.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448395 target range: 349.089966 and range: 352.30 m.
2025-06-18T18:23:46.542Z,1750271026.542 [DAT](INFO): DAT read: Range 10 to 50 : 350.1 m (Round-trip 466.8 ms) speed 0.3 m/s
2025-06-18T18:23:46.543Z,1750271026.543 [DAT](INFO): DAT read: user:1160>
2025-06-18T18:23:46.544Z,1750271026.544 [DAT](INFO): DAT read: Tx time:18:23:47.4868
2025-06-18T18:23:46.544Z,1750271026.544 [DAT](INFO): Ping request sent.
2025-06-18T18:23:46.544Z,1750271026.544 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:46.545Z,1750271026.545 [DAT](INFO): DAT read: TxSync time:18:23:47.4860
2025-06-18T18:23:46.545Z,1750271026.545 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:23:46.545Z,1750271026.545 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:46.546Z,1750271026.546 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:46.774Z,1750271026.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:46.782Z,1750271026.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 350.100006 m,
deltaT: 4.031529 s,
deltaX: -2.199982 m,
approachRate: -0.545694 m/s,
rangeRepo size: 4
2025-06-18T18:23:46.783Z,1750271026.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:46.789Z,1750271026.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 327.507263 m,
bearing: 309.188761 deg,
approach rate: -0.606526 m/s,
LOS rate: 0.002020 deg/s,
cmd heading: 312.170026 deg,
new cmd heading: 312.172288 deg.
2025-06-18T18:23:46.790Z,1750271026.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448434 target range: 349.089966 and range: 350.10 m.
2025-06-18T18:23:46.793Z,1750271026.793 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:46.793Z,1750271026.793 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:46.793Z,1750271026.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:47.045Z,1750271027.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500724
2025-06-18T18:23:47.185Z,1750271027.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:47.188Z,1750271027.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 327.241455 m,
bearing: 309.189647 deg,
approach rate: -0.658275 m/s,
LOS rate: 0.002196 deg/s,
cmd heading: 312.172293 deg,
new cmd heading: 312.174954 deg.
2025-06-18T18:23:47.189Z,1750271027.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448481 target range: 349.089966 and range: 350.10 m.
2025-06-18T18:23:47.300Z,1750271027.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755262
2025-06-18T18:23:47.549Z,1750271027.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004713
2025-06-18T18:23:47.615Z,1750271027.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:47.618Z,1750271027.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 326.988678 m,
bearing: 309.191015 deg,
approach rate: -0.587621 m/s,
LOS rate: 0.003181 deg/s,
cmd heading: 312.174943 deg,
new cmd heading: 312.179049 deg.
2025-06-18T18:23:47.619Z,1750271027.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448552 target range: 349.089966 and range: 350.10 m.
2025-06-18T18:23:47.801Z,1750271027.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256619
2025-06-18T18:23:47.979Z,1750271027.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:47.982Z,1750271027.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 326.748138 m,
bearing: 309.192302 deg,
approach rate: -0.661403 m/s,
LOS rate: 0.003541 deg/s,
cmd heading: 312.179042 deg,
new cmd heading: 312.182905 deg.
2025-06-18T18:23:47.983Z,1750271027.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448619 target range: 349.089966 and range: 350.10 m.
2025-06-18T18:23:48.053Z,1750271028.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508694
2025-06-18T18:23:48.307Z,1750271028.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762779
2025-06-18T18:23:48.421Z,1750271028.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:48.423Z,1750271028.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 326.473358 m,
bearing: 309.194181 deg,
approach rate: -0.622262 m/s,
LOS rate: 0.004259 deg/s,
cmd heading: 312.182894 deg,
new cmd heading: 312.188535 deg.
2025-06-18T18:23:48.424Z,1750271028.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448718 target range: 349.089966 and range: 350.10 m.
2025-06-18T18:23:48.557Z,1750271028.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012640
2025-06-18T18:23:48.799Z,1750271028.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:48.805Z,1750271028.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:48.809Z,1750271028.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264831
2025-06-18T18:23:48.807Z,1750271028.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 326.239258 m,
bearing: 309.195721 deg,
approach rate: -0.608975 m/s,
LOS rate: 0.004011 deg/s,
cmd heading: 312.188522 deg,
new cmd heading: 312.193148 deg.
2025-06-18T18:23:48.813Z,1750271028.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448798 target range: 349.089966 and range: 350.10 m.
2025-06-18T18:23:49.061Z,1750271029.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516702
2025-06-18T18:23:49.197Z,1750271029.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:49.199Z,1750271029.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 325.989258 m,
bearing: 309.197321 deg,
approach rate: -0.638090 m/s,
LOS rate: 0.004087 deg/s,
cmd heading: 312.193139 deg,
new cmd heading: 312.197943 deg.
2025-06-18T18:23:49.201Z,1750271029.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448882 target range: 349.089966 and range: 350.10 m.
2025-06-18T18:23:49.315Z,1750271029.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770777
2025-06-18T18:23:49.565Z,1750271029.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020772
2025-06-18T18:23:49.583Z,1750271029.583 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250618105.0, +9.9, 0.0,1489.8, 0
2025-06-18T18:23:49.672Z,1750271029.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:49.675Z,1750271029.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 325.726135 m,
bearing: 309.198993 deg,
approach rate: -0.558519 m/s,
LOS rate: 0.003551 deg/s,
cmd heading: 312.197948 deg,
new cmd heading: 312.202966 deg.
2025-06-18T18:23:49.688Z,1750271029.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448970 target range: 349.089966 and range: 350.10 m.
2025-06-18T18:23:49.817Z,1750271029.817 [DAT](INFO): DAT read: Rx Time:18:23:50.3552
2025-06-18T18:23:49.818Z,1750271029.818 [DAT](INFO): Rx dataTimestamp_ set to:1750271029.817281
2025-06-18T18:23:49.818Z,1750271029.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273962
2025-06-18T18:23:50.012Z,1750271030.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.09 m.
2025-06-18T18:23:50.015Z,1750271030.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 349.089966 m,
nav range: 325.491394 m,
bearing: 309.200479 deg,
approach rate: -0.682288 m/s,
LOS rate: 0.004322 deg/s,
cmd heading: 312.202975 deg,
new cmd heading: 312.207436 deg.
2025-06-18T18:23:50.022Z,1750271030.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449048 target range: 349.089966 and range: 350.10 m.
2025-06-18T18:23:50.069Z,1750271030.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524791
2025-06-18T18:23:50.342Z,1750271030.342 [DAT](INFO): DAT read: 18:23:50.3552 LVL= 25968, 32753, 22130, 32755, AGC= 68, IDX= 411, 0.01, 0.257,-1.146, 0.273,-0.400, PHS= 0.745,-0.699, 0.670, RAW= 147.4, -10.2, CAL= 154.0, -18.6, ROT= 356.0, 18.6
2025-06-18T18:23:50.347Z,1750271030.347 [DAT](INFO): got valid direction response:
18:23:50.3552 LVL= 25968, 32753, 22130, 32755, AGC= 68, IDX= 411, 0.01, 0.257,-1.146, 0.273,-0.400, PHS= 0.745,-0.699, 0.670, RAW= 147.4, -10.2, CAL= 154.0, -18.6, ROT= 356.0, 18.6
2025-06-18T18:23:50.350Z,1750271030.350 [DAT](INFO): DAT read: Bearing 356.0, 18.6 (Local)
2025-06-18T18:23:50.351Z,1750271030.351 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.0, 18.6 (Local)
2025-06-18T18:23:50.358Z,1750271030.358 [DAT](INFO): DAT read: Range 10 to 50 : 348.2 m (Round-trip 464.3 ms) speed 0.7 m/s
2025-06-18T18:23:50.361Z,1750271030.361 [DAT](INFO): DAT read: user:1161>
2025-06-18T18:23:50.363Z,1750271030.363 [DAT](INFO): DAT read: Tx time:18:23:51.4368
2025-06-18T18:23:50.365Z,1750271030.365 [DAT](INFO): Ping request sent.
2025-06-18T18:23:50.365Z,1750271030.365 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:50.366Z,1750271030.366 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:23:50.381Z,1750271030.381 [DAT](INFO): direction in FSK: [0.945460,-0.066113,-0.318959]
2025-06-18T18:23:50.382Z,1750271030.382 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:50.383Z,1750271030.383 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:50.407Z,1750271030.407 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:50.407Z,1750271030.407 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:50.570Z,1750271030.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 348.200012 m,
deltaT: 3.780051 s,
deltaX: -1.899994 m,
approachRate: -0.502637 m/s,
rangeRepo size: 4
2025-06-18T18:23:50.573Z,1750271030.573 [DAT](INFO): DAT read: TxSync time:18:23:51.4360
2025-06-18T18:23:50.577Z,1750271030.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 345.026215 m,
bearing: 309.672409 deg,
lat: 36.905780 deg,
lon: -122.115975 deg,
deltaT: 7.811580 s,
deltaX: -4.063751 m,
approachRate: -0.520221 m/s,
posRepo size: 4
2025-06-18T18:23:50.577Z,1750271030.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.03 m.
2025-06-18T18:23:50.584Z,1750271030.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 345.026215 m,
nav range: 325.176727 m,
bearing: 309.209104 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004322 deg/s,
cmd heading: 312.207428 deg,
new cmd heading: 312.214661 deg.
2025-06-18T18:23:50.585Z,1750271030.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449174 target range: 345.026215 and range: 348.20 m.
2025-06-18T18:23:50.861Z,1750271030.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:50.863Z,1750271030.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.03 m.
2025-06-18T18:23:50.867Z,1750271030.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 345.026215 m,
nav range: 324.971985 m,
bearing: 309.209488 deg,
approach rate: -0.697007 m/s,
LOS rate: 0.001305 deg/s,
cmd heading: 312.214668 deg,
new cmd heading: 312.215818 deg.
2025-06-18T18:23:50.869Z,1750271030.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449194 target range: 345.026215 and range: 348.20 m.
2025-06-18T18:23:51.077Z,1750271031.077 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:51.077Z,1750271031.077 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:51.077Z,1750271031.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:51.273Z,1750271031.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.03 m.
2025-06-18T18:23:51.276Z,1750271031.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 345.026215 m,
nav range: 324.708160 m,
bearing: 309.210006 deg,
approach rate: -0.643770 m/s,
LOS rate: 0.001265 deg/s,
cmd heading: 312.215815 deg,
new cmd heading: 312.217371 deg.
2025-06-18T18:23:51.277Z,1750271031.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449221 target range: 345.026215 and range: 348.20 m.
2025-06-18T18:23:51.330Z,1750271031.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.964549
2025-06-18T18:23:51.581Z,1750271031.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216259
2025-06-18T18:23:51.706Z,1750271031.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.03 m.
2025-06-18T18:23:51.709Z,1750271031.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 345.026215 m,
nav range: 324.425751 m,
bearing: 309.209817 deg,
approach rate: -0.652872 m/s,
LOS rate: -0.000437 deg/s,
cmd heading: 312.217373 deg,
new cmd heading: 312.216806 deg.
2025-06-18T18:23:51.710Z,1750271031.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449211 target range: 345.026215 and range: 348.20 m.
2025-06-18T18:23:51.833Z,1750271031.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468165
2025-06-18T18:23:52.071Z,1750271032.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.03 m.
2025-06-18T18:23:52.085Z,1750271032.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720058
2025-06-18T18:23:52.093Z,1750271032.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 345.026215 m,
nav range: 324.186981 m,
bearing: 309.209688 deg,
approach rate: -0.654556 m/s,
LOS rate: -0.000355 deg/s,
cmd heading: 312.216799 deg,
new cmd heading: 312.216411 deg.
2025-06-18T18:23:52.094Z,1750271032.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449204 target range: 345.026215 and range: 348.20 m.
2025-06-18T18:23:52.339Z,1750271032.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974494
2025-06-18T18:23:52.500Z,1750271032.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.03 m.
2025-06-18T18:23:52.502Z,1750271032.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 345.026215 m,
nav range: 323.901398 m,
bearing: 309.207762 deg,
approach rate: -0.665679 m/s,
LOS rate: -0.004492 deg/s,
cmd heading: 312.216416 deg,
new cmd heading: 312.210635 deg.
2025-06-18T18:23:52.503Z,1750271032.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449103 target range: 345.026215 and range: 348.20 m.
2025-06-18T18:23:52.589Z,1750271032.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224273
2025-06-18T18:23:52.841Z,1750271032.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476174
2025-06-18T18:23:52.962Z,1750271032.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:52.965Z,1750271032.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.03 m.
2025-06-18T18:23:52.967Z,1750271032.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 345.026215 m,
nav range: 323.591888 m,
bearing: 309.205647 deg,
approach rate: -0.665365 m/s,
LOS rate: -0.004551 deg/s,
cmd heading: 312.210624 deg,
new cmd heading: 312.204274 deg.
2025-06-18T18:23:52.969Z,1750271032.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448993 target range: 345.026215 and range: 348.20 m.
2025-06-18T18:23:53.093Z,1750271033.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728045
2025-06-18T18:23:53.296Z,1750271033.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.03 m.
2025-06-18T18:23:53.299Z,1750271033.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 345.026215 m,
nav range: 323.370300 m,
bearing: 309.204131 deg,
approach rate: -0.669066 m/s,
LOS rate: -0.004582 deg/s,
cmd heading: 312.204286 deg,
new cmd heading: 312.199733 deg.
2025-06-18T18:23:53.300Z,1750271033.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448913 target range: 345.026215 and range: 348.20 m.
2025-06-18T18:23:53.346Z,1750271033.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981523
2025-06-18T18:23:53.597Z,1750271033.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232024
2025-06-18T18:23:53.738Z,1750271033.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.03 m.
2025-06-18T18:23:53.746Z,1750271033.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 345.026215 m,
nav range: 323.090210 m,
bearing: 309.200911 deg,
approach rate: -0.633159 m/s,
LOS rate: -0.007285 deg/s,
cmd heading: 312.199723 deg,
new cmd heading: 312.190056 deg.
2025-06-18T18:23:53.747Z,1750271033.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448744 target range: 345.026215 and range: 348.20 m.
2025-06-18T18:23:53.853Z,1750271033.853 [DAT](INFO): DAT read: Rx Time:18:23:54.3041
2025-06-18T18:23:53.853Z,1750271033.853 [DAT](INFO): Rx dataTimestamp_ set to:1750271033.853155
2025-06-18T18:23:53.854Z,1750271033.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489259
2025-06-18T18:23:54.105Z,1750271034.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740190
2025-06-18T18:23:54.126Z,1750271034.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.03 m.
2025-06-18T18:23:54.134Z,1750271034.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 345.026215 m,
nav range: 322.831604 m,
bearing: 309.197898 deg,
approach rate: -0.666515 m/s,
LOS rate: -0.007772 deg/s,
cmd heading: 312.190052 deg,
new cmd heading: 312.181006 deg.
2025-06-18T18:23:54.135Z,1750271034.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448586 target range: 345.026215 and range: 348.20 m.
2025-06-18T18:23:54.371Z,1750271034.371 [DAT](INFO): DAT read: 18:23:54.3041 LVL= 28832, 32753, 27954, 32755, AGC= 65, IDX= 429, 0.23, 1.768, 0.547, 1.794, 1.231, PHS= 0.625,-0.638, 0.560, RAW= 147.4, -8.9, CAL= 153.7, -17.4, ROT= 356.3, 17.4
2025-06-18T18:23:54.373Z,1750271034.373 [DAT](INFO): got valid direction response:
18:23:54.3041 LVL= 28832, 32753, 27954, 32755, AGC= 65, IDX= 429, 0.23, 1.768, 0.547, 1.794, 1.231, PHS= 0.625,-0.638, 0.560, RAW= 147.4, -8.9, CAL= 153.7, -17.4, ROT= 356.3, 17.4
2025-06-18T18:23:54.375Z,1750271034.375 [DAT](INFO): DAT read: Bearing 356.3, 17.4 (Local)
2025-06-18T18:23:54.375Z,1750271034.375 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.3, 17.4 (Local)
2025-06-18T18:23:54.377Z,1750271034.377 [DAT](INFO): DAT read: Range 10 to 50 : 347.3 m (Round-trip 463.1 ms) speed 0.3 m/s
2025-06-18T18:23:54.378Z,1750271034.378 [DAT](INFO): DAT read: user:1162>
2025-06-18T18:23:54.379Z,1750271034.379 [DAT](INFO): DAT read: Tx time:18:23:55.3868
2025-06-18T18:23:54.379Z,1750271034.379 [DAT](INFO): Ping request sent.
2025-06-18T18:23:54.379Z,1750271034.379 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:54.379Z,1750271034.379 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:23:54.381Z,1750271034.381 [DAT](INFO): direction in FSK: [0.952251,-0.061580,-0.299041]
2025-06-18T18:23:54.381Z,1750271034.381 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:54.382Z,1750271034.382 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:54.476Z,1750271034.476 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:54.476Z,1750271034.476 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:54.590Z,1750271034.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 347.299988 m,
deltaT: 4.037266 s,
deltaX: -0.900024 m,
approachRate: -0.222929 m/s,
rangeRepo size: 4
2025-06-18T18:23:54.605Z,1750271034.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 344.134064 m,
bearing: 309.792824 deg,
lat: 36.905780 deg,
lon: -122.115982 deg,
deltaT: 4.037266 s,
deltaX: -0.892151 m,
approachRate: -0.220979 m/s,
posRepo size: 4
2025-06-18T18:23:54.606Z,1750271034.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.13 m.
2025-06-18T18:23:54.609Z,1750271034.609 [DAT](INFO): DAT read: TxSync time:18:23:55.3860
2025-06-18T18:23:54.612Z,1750271034.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.134064 m,
nav range: 322.947174 m,
bearing: 309.130461 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007772 deg/s,
cmd heading: 312.181009 deg,
new cmd heading: 312.170205 deg.
2025-06-18T18:23:54.613Z,1750271034.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448398 target range: 344.134064 and range: 347.30 m.
2025-06-18T18:23:55.009Z,1750271035.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:55.011Z,1750271035.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.13 m.
2025-06-18T18:23:55.019Z,1750271035.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.134064 m,
nav range: 322.670746 m,
bearing: 309.126308 deg,
approach rate: -0.655445 m/s,
LOS rate: -0.009855 deg/s,
cmd heading: 312.170217 deg,
new cmd heading: 312.157749 deg.
2025-06-18T18:23:55.024Z,1750271035.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448181 target range: 344.134064 and range: 347.30 m.
2025-06-18T18:23:55.113Z,1750271035.113 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:55.113Z,1750271035.113 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:55.113Z,1750271035.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:55.365Z,1750271035.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986034
2025-06-18T18:23:55.554Z,1750271035.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.13 m.
2025-06-18T18:23:55.558Z,1750271035.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.134064 m,
nav range: 322.301758 m,
bearing: 309.120333 deg,
approach rate: -0.720142 m/s,
LOS rate: -0.011675 deg/s,
cmd heading: 312.157759 deg,
new cmd heading: 312.139813 deg.
2025-06-18T18:23:55.559Z,1750271035.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447867 target range: 344.134064 and range: 347.30 m.
2025-06-18T18:23:55.618Z,1750271035.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238710
2025-06-18T18:23:55.832Z,1750271035.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.13 m.
2025-06-18T18:23:55.835Z,1750271035.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.134064 m,
nav range: 322.090149 m,
bearing: 309.116939 deg,
approach rate: -0.686904 m/s,
LOS rate: -0.011024 deg/s,
cmd heading: 312.139809 deg,
new cmd heading: 312.129621 deg.
2025-06-18T18:23:55.852Z,1750271035.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447690 target range: 344.134064 and range: 347.30 m.
2025-06-18T18:23:55.869Z,1750271035.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490389
2025-06-18T18:23:56.121Z,1750271036.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741687
2025-06-18T18:23:56.231Z,1750271036.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.13 m.
2025-06-18T18:23:56.234Z,1750271036.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.134064 m,
nav range: 321.816223 m,
bearing: 309.112448 deg,
approach rate: -0.686742 m/s,
LOS rate: -0.011269 deg/s,
cmd heading: 312.129618 deg,
new cmd heading: 312.116134 deg.
2025-06-18T18:23:56.235Z,1750271036.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447454 target range: 344.134064 and range: 347.30 m.
2025-06-18T18:23:56.373Z,1750271036.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993761
2025-06-18T18:23:56.625Z,1750271036.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245764
2025-06-18T18:23:56.664Z,1750271036.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.13 m.
2025-06-18T18:23:56.667Z,1750271036.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.134064 m,
nav range: 321.521545 m,
bearing: 309.108914 deg,
approach rate: -0.680854 m/s,
LOS rate: -0.008172 deg/s,
cmd heading: 312.116122 deg,
new cmd heading: 312.105511 deg.
2025-06-18T18:23:56.668Z,1750271036.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447269 target range: 344.134064 and range: 347.30 m.
2025-06-18T18:23:56.879Z,1750271036.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499720
2025-06-18T18:23:57.046Z,1750271037.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:57.048Z,1750271037.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.13 m.
2025-06-18T18:23:57.051Z,1750271037.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.134064 m,
nav range: 321.259521 m,
bearing: 309.105705 deg,
approach rate: -0.681873 m/s,
LOS rate: -0.008359 deg/s,
cmd heading: 312.105521 deg,
new cmd heading: 312.095886 deg.
2025-06-18T18:23:57.052Z,1750271037.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447101 target range: 344.134064 and range: 347.30 m.
2025-06-18T18:23:57.130Z,1750271037.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750514
2025-06-18T18:23:57.381Z,1750271037.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001693
2025-06-18T18:23:57.481Z,1750271037.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.13 m.
2025-06-18T18:23:57.499Z,1750271037.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.134064 m,
nav range: 320.987793 m,
bearing: 309.102327 deg,
approach rate: -0.628886 m/s,
LOS rate: -0.007823 deg/s,
cmd heading: 312.095877 deg,
new cmd heading: 312.085737 deg.
2025-06-18T18:23:57.507Z,1750271037.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446924 target range: 344.134064 and range: 347.30 m.
2025-06-18T18:23:57.633Z,1750271037.633 [DAT](INFO): DAT read: Rx Time:18:23:58.2480
2025-06-18T18:23:57.634Z,1750271037.634 [DAT](INFO): Rx dataTimestamp_ set to:1750271037.633310
2025-06-18T18:23:57.634Z,1750271037.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255063
2025-06-18T18:23:57.886Z,1750271037.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506280
2025-06-18T18:23:57.889Z,1750271037.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.13 m.
2025-06-18T18:23:57.893Z,1750271037.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.134064 m,
nav range: 320.699615 m,
bearing: 309.098320 deg,
approach rate: -0.706575 m/s,
LOS rate: -0.009835 deg/s,
cmd heading: 312.085741 deg,
new cmd heading: 312.073708 deg.
2025-06-18T18:23:57.894Z,1750271037.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446714 target range: 344.134064 and range: 347.30 m.
2025-06-18T18:23:58.140Z,1750271038.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760120
2025-06-18T18:23:58.265Z,1750271038.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.13 m.
2025-06-18T18:23:58.272Z,1750271038.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.134064 m,
nav range: 320.454590 m,
bearing: 309.094891 deg,
approach rate: -0.649498 m/s,
LOS rate: -0.009097 deg/s,
cmd heading: 312.073720 deg,
new cmd heading: 312.063425 deg.
2025-06-18T18:23:58.273Z,1750271038.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446534 target range: 344.134064 and range: 347.30 m.
2025-06-18T18:23:58.397Z,1750271038.397 [DAT](INFO): DAT read: 18:23:58.2481 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 372,-0.41,-2.279, 2.798,-2.262,-2.854, PHS= 0.663,-0.584, 0.589, RAW= 147.0, -11.0, CAL= 153.9, -19.4, ROT= 356.1, 19.4
2025-06-18T18:23:58.398Z,1750271038.398 [DAT](INFO): got valid direction response:
18:23:58.2481 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 372,-0.41,-2.279, 2.798,-2.262,-2.854, PHS= 0.663,-0.584, 0.589, RAW= 147.0, -11.0, CAL= 153.9, -19.4, ROT= 356.1, 19.4
2025-06-18T18:23:58.399Z,1750271038.399 [DAT](INFO): DAT read: Bearing 356.1, 19.4 (Local)
2025-06-18T18:23:58.400Z,1750271038.400 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.1, 19.4 (Local)
2025-06-18T18:23:58.401Z,1750271038.401 [DAT](INFO): DAT read: Range 10 to 50 : 342.8 m (Round-trip 457.1 ms) speed 0.3 m/s
2025-06-18T18:23:58.402Z,1750271038.402 [DAT](INFO): DAT read: user:1163>
2025-06-18T18:23:58.403Z,1750271038.403 [DAT](INFO): DAT read: Tx time:18:23:59.3369
2025-06-18T18:23:58.403Z,1750271038.403 [DAT](INFO): Ping request sent.
2025-06-18T18:23:58.403Z,1750271038.403 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:23:58.404Z,1750271038.404 [DAT](INFO): DAT read: TxSync time:18:23:59.3361
2025-06-18T18:23:58.405Z,1750271038.405 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:23:58.406Z,1750271038.406 [DAT](INFO): direction in FSK: [0.941038,-0.064154,-0.332161]
2025-06-18T18:23:58.406Z,1750271038.406 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:58.406Z,1750271038.406 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:58.410Z,1750271038.410 [DAT](INFO): publishing transmit ping time
2025-06-18T18:23:58.410Z,1750271038.410 [DAT](INFO): publishing direction and range info
2025-06-18T18:23:58.687Z,1750271038.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 342.799988 m,
deltaT: 4.031084 s,
deltaX: -4.500000 m,
approachRate: -1.116325 m/s,
rangeRepo size: 4
2025-06-18T18:23:58.690Z,1750271038.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 339.675781 m,
bearing: 309.965182 deg,
lat: 36.905815 deg,
lon: -122.115982 deg,
deltaT: 4.031084 s,
deltaX: -4.458282 m,
approachRate: -1.105976 m/s,
posRepo size: 4
2025-06-18T18:23:58.690Z,1750271038.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:23:58.693Z,1750271038.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 322.634094 m,
bearing: 309.628277 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.009097 deg/s,
cmd heading: 312.063420 deg,
new cmd heading: 312.051911 deg.
2025-06-18T18:23:58.694Z,1750271038.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446333 target range: 339.675781 and range: 342.80 m.
2025-06-18T18:23:59.057Z,1750271039.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:23:59.059Z,1750271039.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:23:59.062Z,1750271039.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 322.384521 m,
bearing: 309.626608 deg,
approach rate: -0.669708 m/s,
LOS rate: -0.004483 deg/s,
cmd heading: 312.051918 deg,
new cmd heading: 312.046906 deg.
2025-06-18T18:23:59.063Z,1750271039.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446246 target range: 339.675781 and range: 342.80 m.
2025-06-18T18:23:59.146Z,1750271039.146 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:23:59.146Z,1750271039.146 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:23:59.146Z,1750271039.146 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:23:59.397Z,1750271039.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993526
2025-06-18T18:23:59.468Z,1750271039.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:23:59.471Z,1750271039.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 322.114410 m,
bearing: 309.624860 deg,
approach rate: -0.661765 m/s,
LOS rate: -0.004286 deg/s,
cmd heading: 312.046918 deg,
new cmd heading: 312.041670 deg.
2025-06-18T18:23:59.473Z,1750271039.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446155 target range: 339.675781 and range: 342.80 m.
2025-06-18T18:23:59.649Z,1750271039.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245414
2025-06-18T18:23:59.902Z,1750271039.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498807
2025-06-18T18:23:59.958Z,1750271039.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:23:59.965Z,1750271039.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 321.801605 m,
bearing: 309.624895 deg,
approach rate: -0.638261 m/s,
LOS rate: 0.000071 deg/s,
cmd heading: 312.041673 deg,
new cmd heading: 312.041778 deg.
2025-06-18T18:23:59.966Z,1750271039.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446157 target range: 339.675781 and range: 342.80 m.
2025-06-18T18:24:00.153Z,1750271040.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749499
2025-06-18T18:24:00.289Z,1750271040.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:00.296Z,1750271040.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 321.593597 m,
bearing: 309.624838 deg,
approach rate: -0.626951 m/s,
LOS rate: -0.000171 deg/s,
cmd heading: 312.041782 deg,
new cmd heading: 312.041612 deg.
2025-06-18T18:24:00.297Z,1750271040.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446154 target range: 339.675781 and range: 342.80 m.
2025-06-18T18:24:00.405Z,1750271040.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001442
2025-06-18T18:24:00.657Z,1750271040.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253473
2025-06-18T18:24:00.709Z,1750271040.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:00.711Z,1750271040.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 321.316803 m,
bearing: 309.624160 deg,
approach rate: -0.660246 m/s,
LOS rate: -0.001619 deg/s,
cmd heading: 312.041618 deg,
new cmd heading: 312.039581 deg.
2025-06-18T18:24:00.713Z,1750271040.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446118 target range: 339.675781 and range: 342.80 m.
2025-06-18T18:24:00.909Z,1750271040.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506061
2025-06-18T18:24:01.092Z,1750271041.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:01.094Z,1750271041.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:01.097Z,1750271041.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 321.073761 m,
bearing: 309.623495 deg,
approach rate: -0.630844 m/s,
LOS rate: -0.001726 deg/s,
cmd heading: 312.039569 deg,
new cmd heading: 312.037574 deg.
2025-06-18T18:24:01.098Z,1750271041.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446083 target range: 339.675781 and range: 342.80 m.
2025-06-18T18:24:01.161Z,1750271041.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757737
2025-06-18T18:24:01.413Z,1750271041.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009733
2025-06-18T18:24:01.529Z,1750271041.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:01.546Z,1750271041.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 320.814728 m,
bearing: 309.622782 deg,
approach rate: -0.603139 m/s,
LOS rate: -0.001662 deg/s,
cmd heading: 312.037575 deg,
new cmd heading: 312.035434 deg.
2025-06-18T18:24:01.554Z,1750271041.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446046 target range: 339.675781 and range: 342.80 m.
2025-06-18T18:24:01.665Z,1750271041.665 [DAT](INFO): DAT read: Rx Time:18:24:02.1968
2025-06-18T18:24:01.665Z,1750271041.665 [DAT](INFO): Rx dataTimestamp_ set to:1750271041.665202
2025-06-18T18:24:01.666Z,1750271041.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262733
2025-06-18T18:24:01.917Z,1750271041.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513560
2025-06-18T18:24:01.931Z,1750271041.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:01.934Z,1750271041.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 320.547699 m,
bearing: 309.624653 deg,
approach rate: -0.655598 m/s,
LOS rate: 0.004597 deg/s,
cmd heading: 312.035444 deg,
new cmd heading: 312.041061 deg.
2025-06-18T18:24:01.935Z,1750271041.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446144 target range: 339.675781 and range: 342.80 m.
2025-06-18T18:24:02.171Z,1750271042.171 [DAT](INFO): DAT read: Range 10 to 50 : 341.8 m (Round-trip 455.8 ms) speed 0.2 m/s
2025-06-18T18:24:02.173Z,1750271042.173 [DAT](INFO): DAT read: user:1164>
2025-06-18T18:24:02.174Z,1750271042.174 [DAT](INFO): DAT read: Tx time:18:24:03.2869
2025-06-18T18:24:02.175Z,1750271042.175 [DAT](INFO): Ping request sent.
2025-06-18T18:24:02.175Z,1750271042.175 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:02.175Z,1750271042.175 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:24:02.176Z,1750271042.176 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:02.177Z,1750271042.177 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:02.314Z,1750271042.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 341.799988 m,
deltaT: 3.779692 s,
deltaX: -1.000000 m,
approachRate: -0.264572 m/s,
rangeRepo size: 4
2025-06-18T18:24:02.315Z,1750271042.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:02.318Z,1750271042.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 320.321320 m,
bearing: 309.626239 deg,
approach rate: -0.591214 m/s,
LOS rate: 0.004144 deg/s,
cmd heading: 312.041072 deg,
new cmd heading: 312.045832 deg.
2025-06-18T18:24:02.319Z,1750271042.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446227 target range: 339.675781 and range: 341.80 m.
2025-06-18T18:24:02.421Z,1750271042.421 [DAT](INFO): DAT read: TxSync time:18:24:03.2861
2025-06-18T18:24:02.719Z,1750271042.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:02.722Z,1750271042.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 320.057678 m,
bearing: 309.628981 deg,
approach rate: -0.649734 m/s,
LOS rate: 0.006765 deg/s,
cmd heading: 312.045826 deg,
new cmd heading: 312.054061 deg.
2025-06-18T18:24:02.723Z,1750271042.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446371 target range: 339.675781 and range: 341.80 m.
2025-06-18T18:24:03.096Z,1750271043.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:03.098Z,1750271043.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:03.101Z,1750271043.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 319.824341 m,
bearing: 309.631483 deg,
approach rate: -0.616522 m/s,
LOS rate: 0.006615 deg/s,
cmd heading: 312.054049 deg,
new cmd heading: 312.061560 deg.
2025-06-18T18:24:03.102Z,1750271043.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446502 target range: 339.675781 and range: 341.80 m.
2025-06-18T18:24:03.177Z,1750271043.177 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:03.177Z,1750271043.177 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:03.178Z,1750271043.178 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:03.429Z,1750271043.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253933
2025-06-18T18:24:03.501Z,1750271043.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:03.520Z,1750271043.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 319.575165 m,
bearing: 309.634219 deg,
approach rate: -0.617725 m/s,
LOS rate: 0.006787 deg/s,
cmd heading: 312.061562 deg,
new cmd heading: 312.069776 deg.
2025-06-18T18:24:03.521Z,1750271043.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446645 target range: 339.675781 and range: 341.80 m.
2025-06-18T18:24:03.681Z,1750271043.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506265
2025-06-18T18:24:03.933Z,1750271043.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758140
2025-06-18T18:24:03.943Z,1750271043.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:03.946Z,1750271043.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 319.298798 m,
bearing: 309.636642 deg,
approach rate: -0.625829 m/s,
LOS rate: 0.005492 deg/s,
cmd heading: 312.069786 deg,
new cmd heading: 312.077062 deg.
2025-06-18T18:24:03.947Z,1750271043.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446772 target range: 339.675781 and range: 341.80 m.
2025-06-18T18:24:04.185Z,1750271044.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010448
2025-06-18T18:24:04.312Z,1750271044.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:04.315Z,1750271044.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 319.067505 m,
bearing: 309.638632 deg,
approach rate: -0.626080 m/s,
LOS rate: 0.005389 deg/s,
cmd heading: 312.077053 deg,
new cmd heading: 312.083025 deg.
2025-06-18T18:24:04.316Z,1750271044.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446877 target range: 339.675781 and range: 341.80 m.
2025-06-18T18:24:04.438Z,1750271044.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262751
2025-06-18T18:24:04.689Z,1750271044.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514107
2025-06-18T18:24:04.744Z,1750271044.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:04.747Z,1750271044.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 318.793488 m,
bearing: 309.640680 deg,
approach rate: -0.635077 m/s,
LOS rate: 0.004751 deg/s,
cmd heading: 312.083036 deg,
new cmd heading: 312.089186 deg.
2025-06-18T18:24:04.748Z,1750271044.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446984 target range: 339.675781 and range: 341.80 m.
2025-06-18T18:24:04.941Z,1750271044.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766638
2025-06-18T18:24:05.121Z,1750271045.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:05.123Z,1750271045.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:05.126Z,1750271045.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 318.552399 m,
bearing: 309.642484 deg,
approach rate: -0.636038 m/s,
LOS rate: 0.004763 deg/s,
cmd heading: 312.089184 deg,
new cmd heading: 312.094600 deg.
2025-06-18T18:24:05.127Z,1750271045.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447078 target range: 339.675781 and range: 341.80 m.
2025-06-18T18:24:05.193Z,1750271045.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018226
2025-06-18T18:24:05.445Z,1750271045.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270092
2025-06-18T18:24:05.522Z,1750271045.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:05.528Z,1750271045.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 318.298676 m,
bearing: 309.644399 deg,
approach rate: -0.636312 m/s,
LOS rate: 0.004806 deg/s,
cmd heading: 312.094593 deg,
new cmd heading: 312.100343 deg.
2025-06-18T18:24:05.529Z,1750271045.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447178 target range: 339.675781 and range: 341.80 m.
2025-06-18T18:24:05.697Z,1750271045.697 [DAT](INFO): DAT read: Rx Time:18:24:06.1420
2025-06-18T18:24:05.697Z,1750271045.697 [DAT](INFO): Rx dataTimestamp_ set to:1750271045.697089
2025-06-18T18:24:05.698Z,1750271045.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523107
2025-06-18T18:24:05.949Z,1750271045.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773956
2025-06-18T18:24:05.969Z,1750271045.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.68 m.
2025-06-18T18:24:05.972Z,1750271045.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 339.675781 m,
nav range: 318.009888 m,
bearing: 309.645699 deg,
approach rate: -0.645345 m/s,
LOS rate: 0.002909 deg/s,
cmd heading: 312.100331 deg,
new cmd heading: 312.104236 deg.
2025-06-18T18:24:05.973Z,1750271045.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447247 target range: 339.675781 and range: 341.80 m.
2025-06-18T18:24:06.220Z,1750271046.220 [DAT](INFO): DAT read: 18:24:06.1420 LVL= 25536, 30497, 22306, 32755, AGC= 72, IDX= 404,-0.39,-1.306,-2.739,-1.342,-2.041, PHS= 0.823,-0.651, 0.696, RAW= 145.5, -12.2, CAL= 152.5, -20.8, ROT= 357.5, 20.8
2025-06-18T18:24:06.222Z,1750271046.222 [DAT](INFO): got valid direction response:
18:24:06.1420 LVL= 25536, 30497, 22306, 32755, AGC= 72, IDX= 404,-0.39,-1.306,-2.739,-1.342,-2.041, PHS= 0.823,-0.651, 0.696, RAW= 145.5, -12.2, CAL= 152.5, -20.8, ROT= 357.5, 20.8
2025-06-18T18:24:06.222Z,1750271046.222 [DAT](INFO): DAT read: Bearing 357.5, 20.8 (Local)
2025-06-18T18:24:06.223Z,1750271046.223 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.5, 20.8 (Local)
2025-06-18T18:24:06.225Z,1750271046.225 [DAT](INFO): DAT read: Range 10 to 50 : 338.2 m (Round-trip 451.0 ms) speed 0.6 m/s
2025-06-18T18:24:06.225Z,1750271046.225 [DAT](INFO): DAT read: user:1165>
2025-06-18T18:24:06.226Z,1750271046.226 [DAT](INFO): DAT read: Tx time:18:24:07.2369
2025-06-18T18:24:06.226Z,1750271046.226 [DAT](INFO): Ping request sent.
2025-06-18T18:24:06.226Z,1750271046.226 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:06.227Z,1750271046.227 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:24:06.228Z,1750271046.228 [DAT](INFO): direction in FSK: [0.933936,-0.040777,-0.355107]
2025-06-18T18:24:06.228Z,1750271046.228 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:06.228Z,1750271046.228 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:06.231Z,1750271046.231 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:06.232Z,1750271046.232 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:06.453Z,1750271046.453 [DAT](INFO): DAT read: TxSync time:18:24:07.2361
2025-06-18T18:24:06.516Z,1750271046.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 338.200012 m,
deltaT: 4.032450 s,
deltaX: -3.599976 m,
approachRate: -0.892751 m/s,
rangeRepo size: 4
2025-06-18T18:24:06.518Z,1750271046.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 335.117676 m,
bearing: 311.286612 deg,
lat: 36.905818 deg,
lon: -122.115982 deg,
deltaT: 7.812142 s,
deltaX: -4.558105 m,
approachRate: -0.583464 m/s,
posRepo size: 4
2025-06-18T18:24:06.519Z,1750271046.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.12 m.
2025-06-18T18:24:06.522Z,1750271046.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.117676 m,
nav range: 317.839264 m,
bearing: 309.686740 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002909 deg/s,
cmd heading: 312.104237 deg,
new cmd heading: 312.109004 deg.
2025-06-18T18:24:06.523Z,1750271046.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447330 target range: 335.117676 and range: 338.20 m.
2025-06-18T18:24:06.829Z,1750271046.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.12 m.
2025-06-18T18:24:06.848Z,1750271046.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.117676 m,
nav range: 317.629608 m,
bearing: 309.686598 deg,
approach rate: -0.667574 m/s,
LOS rate: -0.000453 deg/s,
cmd heading: 312.108991 deg,
new cmd heading: 312.108565 deg.
2025-06-18T18:24:06.849Z,1750271046.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447322 target range: 335.117676 and range: 338.20 m.
2025-06-18T18:24:07.207Z,1750271047.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:07.209Z,1750271047.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.12 m.
2025-06-18T18:24:07.213Z,1750271047.213 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:07.213Z,1750271047.213 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:07.213Z,1750271047.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:07.216Z,1750271047.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.117676 m,
nav range: 317.374908 m,
bearing: 309.686578 deg,
approach rate: -0.669952 m/s,
LOS rate: -0.000052 deg/s,
cmd heading: 312.108554 deg,
new cmd heading: 312.108495 deg.
2025-06-18T18:24:07.218Z,1750271047.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447321 target range: 335.117676 and range: 338.20 m.
2025-06-18T18:24:07.465Z,1750271047.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238302
2025-06-18T18:24:07.675Z,1750271047.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.12 m.
2025-06-18T18:24:07.682Z,1750271047.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.117676 m,
nav range: 317.074860 m,
bearing: 309.686632 deg,
approach rate: -0.644342 m/s,
LOS rate: 0.000115 deg/s,
cmd heading: 312.108499 deg,
new cmd heading: 312.108660 deg.
2025-06-18T18:24:07.683Z,1750271047.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447324 target range: 335.117676 and range: 338.20 m.
2025-06-18T18:24:07.717Z,1750271047.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490432
2025-06-18T18:24:07.969Z,1750271047.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742352
2025-06-18T18:24:08.027Z,1750271048.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.12 m.
2025-06-18T18:24:08.030Z,1750271048.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.117676 m,
nav range: 316.830109 m,
bearing: 309.685356 deg,
approach rate: -0.696191 m/s,
LOS rate: -0.003632 deg/s,
cmd heading: 312.108663 deg,
new cmd heading: 312.104833 deg.
2025-06-18T18:24:08.031Z,1750271048.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447257 target range: 335.117676 and range: 338.20 m.
2025-06-18T18:24:08.222Z,1750271048.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995441
2025-06-18T18:24:08.414Z,1750271048.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.12 m.
2025-06-18T18:24:08.417Z,1750271048.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.117676 m,
nav range: 316.571808 m,
bearing: 309.684007 deg,
approach rate: -0.667285 m/s,
LOS rate: -0.003486 deg/s,
cmd heading: 312.104838 deg,
new cmd heading: 312.100790 deg.
2025-06-18T18:24:08.418Z,1750271048.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447186 target range: 335.117676 and range: 338.20 m.
2025-06-18T18:24:08.474Z,1750271048.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247378
2025-06-18T18:24:08.725Z,1750271048.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498320
2025-06-18T18:24:08.840Z,1750271048.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.12 m.
2025-06-18T18:24:08.843Z,1750271048.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.117676 m,
nav range: 316.294006 m,
bearing: 309.681563 deg,
approach rate: -0.651951 m/s,
LOS rate: -0.005741 deg/s,
cmd heading: 312.100795 deg,
new cmd heading: 312.093456 deg.
2025-06-18T18:24:08.848Z,1750271048.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447058 target range: 335.117676 and range: 338.20 m.
2025-06-18T18:24:08.977Z,1750271048.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750359
2025-06-18T18:24:09.209Z,1750271049.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:09.211Z,1750271049.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.12 m.
2025-06-18T18:24:09.214Z,1750271049.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.117676 m,
nav range: 316.031494 m,
bearing: 309.679238 deg,
approach rate: -0.708027 m/s,
LOS rate: -0.006277 deg/s,
cmd heading: 312.093446 deg,
new cmd heading: 312.086464 deg.
2025-06-18T18:24:09.215Z,1750271049.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446936 target range: 335.117676 and range: 338.20 m.
2025-06-18T18:24:09.229Z,1750271049.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002460
2025-06-18T18:24:09.320Z,1750271049.320 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:24:09.481Z,1750271049.481 [DAT](INFO): DAT read: Rx Time:18:24:10.0891
2025-06-18T18:24:09.481Z,1750271049.481 [DAT](INFO): Rx dataTimestamp_ set to:1750271049.481076
2025-06-18T18:24:09.482Z,1750271049.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255450
2025-06-18T18:24:09.622Z,1750271049.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.12 m.
2025-06-18T18:24:09.654Z,1750271049.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.117676 m,
nav range: 315.752991 m,
bearing: 309.676788 deg,
approach rate: -0.679070 m/s,
LOS rate: -0.005978 deg/s,
cmd heading: 312.086452 deg,
new cmd heading: 312.079097 deg.
2025-06-18T18:24:09.662Z,1750271049.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446808 target range: 335.117676 and range: 338.20 m.
2025-06-18T18:24:09.733Z,1750271049.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506728
2025-06-18T18:24:09.988Z,1750271049.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761012
2025-06-18T18:24:10.107Z,1750271050.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.12 m.
2025-06-18T18:24:10.110Z,1750271050.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 335.117676 m,
nav range: 315.424957 m,
bearing: 309.671944 deg,
approach rate: -0.675301 m/s,
LOS rate: -0.009982 deg/s,
cmd heading: 312.079102 deg,
new cmd heading: 312.064556 deg.
2025-06-18T18:24:10.111Z,1750271050.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446554 target range: 335.117676 and range: 338.20 m.
2025-06-18T18:24:10.243Z,1750271050.243 [DAT](INFO): DAT read: 18:24:10.0891 LVL= 31008, 32753, 27538, 32755, AGC= 66, IDX= 412, 0.14,-1.571,-2.911,-1.580,-2.111, PHS= 0.628,-0.753, 0.529, RAW= 146.3, -6.1, CAL= 151.8, -14.9, ROT= 358.2, 14.9
2025-06-18T18:24:10.245Z,1750271050.245 [DAT](INFO): got valid direction response:
18:24:10.0891 LVL= 31008, 32753, 27538, 32755, AGC= 66, IDX= 412, 0.14,-1.571,-2.911,-1.580,-2.111, PHS= 0.628,-0.753, 0.529, RAW= 146.3, -6.1, CAL= 151.8, -14.9, ROT= 358.2, 14.9
2025-06-18T18:24:10.246Z,1750271050.246 [DAT](INFO): DAT read: Bearing 358.2, 14.9 (Local)
2025-06-18T18:24:10.246Z,1750271050.246 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.2, 14.9 (Local)
2025-06-18T18:24:10.248Z,1750271050.248 [DAT](INFO): DAT read: Range 10 to 50 : 336.0 m (Round-trip 448.1 ms) speed 0.7 m/s
2025-06-18T18:24:10.249Z,1750271050.249 [DAT](INFO): DAT read: user:1166>
2025-06-18T18:24:10.250Z,1750271050.250 [DAT](INFO): DAT read: Tx time:18:24:11.1869
2025-06-18T18:24:10.250Z,1750271050.250 [DAT](INFO): Ping request sent.
2025-06-18T18:24:10.250Z,1750271050.250 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:10.251Z,1750271050.251 [DAT](INFO): DAT read: TxSync time:18:24:11.1861
2025-06-18T18:24:10.251Z,1750271050.251 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:24:10.285Z,1750271050.285 [DAT](INFO): direction in FSK: [0.965899,-0.030354,-0.257133]
2025-06-18T18:24:10.285Z,1750271050.285 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:10.285Z,1750271050.285 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:10.288Z,1750271050.288 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:10.288Z,1750271050.288 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:10.325Z,1750271050.325 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:24:10.446Z,1750271050.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 336.000000 m,
deltaT: 4.035552 s,
deltaX: -2.200012 m,
approachRate: -0.545158 m/s,
rangeRepo size: 4
2025-06-18T18:24:10.452Z,1750271050.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 332.938232 m,
bearing: 311.327794 deg,
lat: 36.905842 deg,
lon: -122.115970 deg,
deltaT: 4.035552 s,
deltaX: -2.179443 m,
approachRate: -0.540061 m/s,
posRepo size: 4
2025-06-18T18:24:10.453Z,1750271050.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.94 m.
2025-06-18T18:24:10.460Z,1750271050.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.938232 m,
nav range: 316.130585 m,
bearing: 310.161530 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.009982 deg/s,
cmd heading: 312.064568 deg,
new cmd heading: 312.054437 deg.
2025-06-18T18:24:10.461Z,1750271050.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446377 target range: 332.938232 and range: 336.00 m.
2025-06-18T18:24:10.865Z,1750271050.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.94 m.
2025-06-18T18:24:10.873Z,1750271050.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.938232 m,
nav range: 315.834625 m,
bearing: 310.156970 deg,
approach rate: -0.704811 m/s,
LOS rate: -0.010869 deg/s,
cmd heading: 312.054432 deg,
new cmd heading: 312.040740 deg.
2025-06-18T18:24:10.875Z,1750271050.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446138 target range: 332.938232 and range: 336.00 m.
2025-06-18T18:24:11.243Z,1750271051.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:11.245Z,1750271051.245 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:11.245Z,1750271051.245 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:11.245Z,1750271051.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:11.249Z,1750271051.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.94 m.
2025-06-18T18:24:11.252Z,1750271051.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.938232 m,
nav range: 315.579224 m,
bearing: 310.153163 deg,
approach rate: -0.664364 m/s,
LOS rate: -0.009912 deg/s,
cmd heading: 312.040744 deg,
new cmd heading: 312.029313 deg.
2025-06-18T18:24:11.253Z,1750271051.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445939 target range: 332.938232 and range: 336.00 m.
2025-06-18T18:24:11.497Z,1750271051.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246536
2025-06-18T18:24:11.725Z,1750271051.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.94 m.
2025-06-18T18:24:11.733Z,1750271051.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.938232 m,
nav range: 315.291382 m,
bearing: 310.148861 deg,
approach rate: -0.605166 m/s,
LOS rate: -0.009054 deg/s,
cmd heading: 312.029324 deg,
new cmd heading: 312.016404 deg.
2025-06-18T18:24:11.734Z,1750271051.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445714 target range: 332.938232 and range: 336.00 m.
2025-06-18T18:24:11.749Z,1750271051.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498574
2025-06-18T18:24:12.001Z,1750271052.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750700
2025-06-18T18:24:12.075Z,1750271052.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.94 m.
2025-06-18T18:24:12.078Z,1750271052.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.938232 m,
nav range: 315.022369 m,
bearing: 310.145047 deg,
approach rate: -0.768783 m/s,
LOS rate: -0.010908 deg/s,
cmd heading: 312.016401 deg,
new cmd heading: 312.004950 deg.
2025-06-18T18:24:12.079Z,1750271052.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445514 target range: 332.938232 and range: 336.00 m.
2025-06-18T18:24:12.253Z,1750271052.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002612
2025-06-18T18:24:12.457Z,1750271052.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.94 m.
2025-06-18T18:24:12.464Z,1750271052.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.938232 m,
nav range: 314.768616 m,
bearing: 310.141366 deg,
approach rate: -0.663901 m/s,
LOS rate: -0.009640 deg/s,
cmd heading: 312.004954 deg,
new cmd heading: 311.993900 deg.
2025-06-18T18:24:12.465Z,1750271052.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445321 target range: 332.938232 and range: 336.00 m.
2025-06-18T18:24:12.506Z,1750271052.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255325
2025-06-18T18:24:12.757Z,1750271052.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506403
2025-06-18T18:24:12.902Z,1750271052.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.94 m.
2025-06-18T18:24:12.909Z,1750271052.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.938232 m,
nav range: 314.491943 m,
bearing: 310.137839 deg,
approach rate: -0.622422 m/s,
LOS rate: -0.007940 deg/s,
cmd heading: 311.993889 deg,
new cmd heading: 311.983301 deg.
2025-06-18T18:24:12.910Z,1750271052.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445136 target range: 332.938232 and range: 336.00 m.
2025-06-18T18:24:13.010Z,1750271053.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759017
2025-06-18T18:24:13.261Z,1750271053.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010561
2025-06-18T18:24:13.264Z,1750271053.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:13.266Z,1750271053.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.94 m.
2025-06-18T18:24:13.269Z,1750271053.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.938232 m,
nav range: 314.234253 m,
bearing: 310.134553 deg,
approach rate: -0.706875 m/s,
LOS rate: -0.009021 deg/s,
cmd heading: 311.983288 deg,
new cmd heading: 311.973422 deg.
2025-06-18T18:24:13.270Z,1750271053.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444963 target range: 332.938232 and range: 336.00 m.
2025-06-18T18:24:13.513Z,1750271053.513 [DAT](INFO): DAT read: Rx Time:18:24:14.0348
2025-06-18T18:24:13.514Z,1750271053.514 [DAT](INFO): Rx dataTimestamp_ set to:1750271053.513316
2025-06-18T18:24:13.514Z,1750271053.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263833
2025-06-18T18:24:13.658Z,1750271053.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.94 m.
2025-06-18T18:24:13.661Z,1750271053.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 332.938232 m,
nav range: 313.962677 m,
bearing: 310.131106 deg,
approach rate: -0.693245 m/s,
LOS rate: -0.008808 deg/s,
cmd heading: 311.973426 deg,
new cmd heading: 311.963075 deg.
2025-06-18T18:24:13.662Z,1750271053.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444783 target range: 332.938232 and range: 336.00 m.
2025-06-18T18:24:13.765Z,1750271053.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515059
2025-06-18T18:24:14.023Z,1750271054.023 [DAT](INFO): DAT read: 18:24:14.0348 LVL= 27888, 31793, 26098, 32755, AGC= 69, IDX= 395, 0.17, 1.720, 0.253, 1.699, 0.967, PHS= 0.841,-0.667, 0.729, RAW= 146.2, -12.4, CAL= 153.2, -20.8, ROT= 356.8, 20.8
2025-06-18T18:24:14.024Z,1750271054.024 [DAT](INFO): got valid direction response:
18:24:14.0348 LVL= 27888, 31793, 26098, 32755, AGC= 69, IDX= 395, 0.17, 1.720, 0.253, 1.699, 0.967, PHS= 0.841,-0.667, 0.729, RAW= 146.2, -12.4, CAL= 153.2, -20.8, ROT= 356.8, 20.8
2025-06-18T18:24:14.025Z,1750271054.025 [DAT](INFO): DAT read: Bearing 356.8, 20.8 (Local)
2025-06-18T18:24:14.025Z,1750271054.025 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.8, 20.8 (Local)
2025-06-18T18:24:14.027Z,1750271054.027 [DAT](INFO): DAT read: Range 10 to 50 : 332.7 m (Round-trip 443.7 ms) speed 0.1 m/s
2025-06-18T18:24:14.027Z,1750271054.027 [DAT](INFO): DAT read: user:1167>
2025-06-18T18:24:14.040Z,1750271054.040 [DAT](INFO): DAT read: Tx time:18:24:15.1370
2025-06-18T18:24:14.041Z,1750271054.041 [DAT](INFO): Ping request sent.
2025-06-18T18:24:14.041Z,1750271054.041 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:14.041Z,1750271054.041 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:24:14.042Z,1750271054.042 [DAT](INFO): direction in FSK: [0.933368,-0.052184,-0.355107]
2025-06-18T18:24:14.042Z,1750271054.042 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:14.043Z,1750271054.043 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:14.048Z,1750271054.048 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:14.048Z,1750271054.048 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:14.186Z,1750271054.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 332.700012 m,
deltaT: 3.779894 s,
deltaX: -3.299988 m,
approachRate: -0.873037 m/s,
rangeRepo size: 4
2025-06-18T18:24:14.192Z,1750271054.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 329.668732 m,
bearing: 310.492097 deg,
lat: 36.905842 deg,
lon: -122.115952 deg,
deltaT: 3.779894 s,
deltaX: -3.269501 m,
approachRate: -0.864972 m/s,
posRepo size: 4
2025-06-18T18:24:14.193Z,1750271054.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.67 m.
2025-06-18T18:24:14.195Z,1750271054.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.668732 m,
nav range: 312.414673 m,
bearing: 310.315774 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008808 deg/s,
cmd heading: 311.963071 deg,
new cmd heading: 311.949137 deg.
2025-06-18T18:24:14.201Z,1750271054.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444540 target range: 329.668732 and range: 332.70 m.
2025-06-18T18:24:14.270Z,1750271054.270 [DAT](INFO): DAT read: TxSync time:18:24:15.1362
2025-06-18T18:24:14.474Z,1750271054.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.67 m.
2025-06-18T18:24:14.477Z,1750271054.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.668732 m,
nav range: 312.206635 m,
bearing: 310.313980 deg,
approach rate: -0.719945 m/s,
LOS rate: -0.006216 deg/s,
cmd heading: 311.949137 deg,
new cmd heading: 311.943749 deg.
2025-06-18T18:24:14.478Z,1750271054.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444446 target range: 329.668732 and range: 332.70 m.
2025-06-18T18:24:14.928Z,1750271054.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.67 m.
2025-06-18T18:24:14.931Z,1750271054.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.668732 m,
nav range: 311.911621 m,
bearing: 310.313298 deg,
approach rate: -0.649922 m/s,
LOS rate: -0.001502 deg/s,
cmd heading: 311.943755 deg,
new cmd heading: 311.941710 deg.
2025-06-18T18:24:14.932Z,1750271054.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444410 target range: 329.668732 and range: 332.70 m.
2025-06-18T18:24:15.282Z,1750271055.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:15.301Z,1750271055.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.67 m.
2025-06-18T18:24:15.308Z,1750271055.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.668732 m,
nav range: 311.681885 m,
bearing: 310.312776 deg,
approach rate: -0.615180 m/s,
LOS rate: -0.001401 deg/s,
cmd heading: 311.941706 deg,
new cmd heading: 311.940137 deg.
2025-06-18T18:24:15.309Z,1750271055.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444383 target range: 329.668732 and range: 332.70 m.
2025-06-18T18:24:15.529Z,1750271055.529 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:15.529Z,1750271055.529 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:15.529Z,1750271055.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:15.706Z,1750271055.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.67 m.
2025-06-18T18:24:15.714Z,1750271055.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.668732 m,
nav range: 311.409790 m,
bearing: 310.312205 deg,
approach rate: -0.671887 m/s,
LOS rate: -0.001411 deg/s,
cmd heading: 311.940149 deg,
new cmd heading: 311.938435 deg.
2025-06-18T18:24:15.718Z,1750271055.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444353 target range: 329.668732 and range: 332.70 m.
2025-06-18T18:24:15.782Z,1750271055.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741394
2025-06-18T18:24:16.033Z,1750271056.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992053
2025-06-18T18:24:16.127Z,1750271056.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.67 m.
2025-06-18T18:24:16.130Z,1750271056.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.668732 m,
nav range: 311.132538 m,
bearing: 310.312407 deg,
approach rate: -0.658896 m/s,
LOS rate: 0.000480 deg/s,
cmd heading: 311.938428 deg,
new cmd heading: 311.939034 deg.
2025-06-18T18:24:16.131Z,1750271056.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444363 target range: 329.668732 and range: 332.70 m.
2025-06-18T18:24:16.285Z,1750271056.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243994
2025-06-18T18:24:16.499Z,1750271056.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.67 m.
2025-06-18T18:24:16.502Z,1750271056.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.668732 m,
nav range: 310.891998 m,
bearing: 310.312579 deg,
approach rate: -0.646546 m/s,
LOS rate: 0.000463 deg/s,
cmd heading: 311.939029 deg,
new cmd heading: 311.939546 deg.
2025-06-18T18:24:16.503Z,1750271056.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444372 target range: 329.668732 and range: 332.70 m.
2025-06-18T18:24:16.537Z,1750271056.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496355
2025-06-18T18:24:16.789Z,1750271056.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748088
2025-06-18T18:24:16.968Z,1750271056.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.67 m.
2025-06-18T18:24:16.971Z,1750271056.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.668732 m,
nav range: 310.601196 m,
bearing: 310.313774 deg,
approach rate: -0.626183 m/s,
LOS rate: 0.002575 deg/s,
cmd heading: 311.939548 deg,
new cmd heading: 311.943136 deg.
2025-06-18T18:24:16.976Z,1750271056.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444435 target range: 329.668732 and range: 332.70 m.
2025-06-18T18:24:17.042Z,1750271057.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000817
2025-06-18T18:24:17.293Z,1750271057.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252427
2025-06-18T18:24:17.315Z,1750271057.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:17.319Z,1750271057.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.67 m.
2025-06-18T18:24:17.332Z,1750271057.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.668732 m,
nav range: 310.370850 m,
bearing: 310.314758 deg,
approach rate: -0.648767 m/s,
LOS rate: 0.002774 deg/s,
cmd heading: 311.943127 deg,
new cmd heading: 311.946082 deg.
2025-06-18T18:24:17.333Z,1750271057.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444486 target range: 329.668732 and range: 332.70 m.
2025-06-18T18:24:17.546Z,1750271057.546 [DAT](INFO): DAT read: Rx Time:18:24:17.9833
2025-06-18T18:24:17.547Z,1750271057.547 [DAT](INFO): Rx dataTimestamp_ set to:1750271057.546269
2025-06-18T18:24:17.547Z,1750271057.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506346
2025-06-18T18:24:17.711Z,1750271057.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.67 m.
2025-06-18T18:24:17.731Z,1750271057.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.668732 m,
nav range: 310.119171 m,
bearing: 310.315883 deg,
approach rate: -0.640785 m/s,
LOS rate: 0.002867 deg/s,
cmd heading: 311.946078 deg,
new cmd heading: 311.949455 deg.
2025-06-18T18:24:17.736Z,1750271057.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444545 target range: 329.668732 and range: 332.70 m.
2025-06-18T18:24:17.799Z,1750271057.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758213
2025-06-18T18:24:18.060Z,1750271058.060 [DAT](INFO): DAT read: 18:24:17.9833 LVL= 30528, 27601, 28642, 32755, AGC= 66, IDX= 422,-0.22,-1.773,-3.022,-1.805,-2.314, PHS= 0.629,-0.661, 0.506, RAW= 145.1, -7.7, CAL= 151.2, -16.6, ROT= 358.8, 16.6
2025-06-18T18:24:18.061Z,1750271058.061 [DAT](INFO): got valid direction response:
18:24:17.9833 LVL= 30528, 27601, 28642, 32755, AGC= 66, IDX= 422,-0.22,-1.773,-3.022,-1.805,-2.314, PHS= 0.629,-0.661, 0.506, RAW= 145.1, -7.7, CAL= 151.2, -16.6, ROT= 358.8, 16.6
2025-06-18T18:24:18.062Z,1750271058.062 [DAT](INFO): DAT read: Bearing 358.8, 16.6 (Local)
2025-06-18T18:24:18.063Z,1750271058.063 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.8, 16.6 (Local)
2025-06-18T18:24:18.069Z,1750271058.069 [DAT](INFO): DAT read: Range 10 to 50 : 331.5 m (Round-trip 442.1 ms) speed 0.2 m/s
2025-06-18T18:24:18.069Z,1750271058.069 [DAT](INFO): DAT read: user:1168>
2025-06-18T18:24:18.070Z,1750271058.070 [DAT](INFO): DAT read: Tx time:18:24:19.0870
2025-06-18T18:24:18.070Z,1750271058.070 [DAT](INFO): Ping request sent.
2025-06-18T18:24:18.070Z,1750271058.070 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:18.071Z,1750271058.071 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:24:18.072Z,1750271058.072 [DAT](INFO): direction in FSK: [0.958112,-0.020070,-0.285688]
2025-06-18T18:24:18.072Z,1750271058.072 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:18.072Z,1750271058.072 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:18.075Z,1750271058.075 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:18.096Z,1750271058.096 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:18.243Z,1750271058.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 331.500000 m,
deltaT: 4.032581 s,
deltaX: -1.200012 m,
approachRate: -0.297579 m/s,
rangeRepo size: 4
2025-06-18T18:24:18.245Z,1750271058.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 328.478241 m,
bearing: 311.778549 deg,
lat: 36.905852 deg,
lon: -122.115934 deg,
deltaT: 4.032581 s,
deltaX: -1.190491 m,
approachRate: -0.295218 m/s,
posRepo size: 4
2025-06-18T18:24:18.246Z,1750271058.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.48 m.
2025-06-18T18:24:18.253Z,1750271058.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 328.478241 m,
nav range: 309.282074 m,
bearing: 310.670301 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002867 deg/s,
cmd heading: 311.949465 deg,
new cmd heading: 311.954028 deg.
2025-06-18T18:24:18.254Z,1750271058.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444625 target range: 328.478241 and range: 331.50 m.
2025-06-18T18:24:18.302Z,1750271058.302 [DAT](INFO): DAT read: TxSync time:18:24:19.0862
2025-06-18T18:24:18.542Z,1750271058.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.48 m.
2025-06-18T18:24:18.549Z,1750271058.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 328.478241 m,
nav range: 309.090637 m,
bearing: 310.672219 deg,
approach rate: -0.637483 m/s,
LOS rate: 0.006390 deg/s,
cmd heading: 311.954028 deg,
new cmd heading: 311.959785 deg.
2025-06-18T18:24:18.550Z,1750271058.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444726 target range: 328.478241 and range: 331.50 m.
2025-06-18T18:24:18.960Z,1750271058.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.48 m.
2025-06-18T18:24:18.963Z,1750271058.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 328.478241 m,
nav range: 308.815277 m,
bearing: 310.675320 deg,
approach rate: -0.659894 m/s,
LOS rate: 0.007438 deg/s,
cmd heading: 311.959793 deg,
new cmd heading: 311.969104 deg.
2025-06-18T18:24:18.964Z,1750271058.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444888 target range: 328.478241 and range: 331.50 m.
2025-06-18T18:24:19.361Z,1750271059.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:19.363Z,1750271059.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.48 m.
2025-06-18T18:24:19.402Z,1750271059.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 328.478241 m,
nav range: 308.573792 m,
bearing: 310.678192 deg,
approach rate: -0.598265 m/s,
LOS rate: 0.007121 deg/s,
cmd heading: 311.969109 deg,
new cmd heading: 311.977732 deg.
2025-06-18T18:24:19.403Z,1750271059.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445039 target range: 328.478241 and range: 331.50 m.
2025-06-18T18:24:19.561Z,1750271059.561 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:19.561Z,1750271059.561 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:19.561Z,1750271059.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:19.817Z,1750271059.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746322
2025-06-18T18:24:19.911Z,1750271059.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.48 m.
2025-06-18T18:24:19.918Z,1750271059.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 328.478241 m,
nav range: 308.225098 m,
bearing: 310.683078 deg,
approach rate: -0.637090 m/s,
LOS rate: 0.008937 deg/s,
cmd heading: 311.977742 deg,
new cmd heading: 311.992416 deg.
2025-06-18T18:24:19.919Z,1750271059.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445295 target range: 328.478241 and range: 331.50 m.
2025-06-18T18:24:20.069Z,1750271060.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998179
2025-06-18T18:24:20.241Z,1750271060.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.48 m.
2025-06-18T18:24:20.248Z,1750271060.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 328.478241 m,
nav range: 308.014465 m,
bearing: 310.686001 deg,
approach rate: -0.636817 m/s,
LOS rate: 0.008845 deg/s,
cmd heading: 311.992414 deg,
new cmd heading: 312.001190 deg.
2025-06-18T18:24:20.249Z,1750271060.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445448 target range: 328.478241 and range: 331.50 m.
2025-06-18T18:24:20.321Z,1750271060.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250913
2025-06-18T18:24:20.573Z,1750271060.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502368
2025-06-18T18:24:20.633Z,1750271060.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.48 m.
2025-06-18T18:24:20.636Z,1750271060.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 328.478241 m,
nav range: 307.750244 m,
bearing: 310.689671 deg,
approach rate: -0.674096 m/s,
LOS rate: 0.009370 deg/s,
cmd heading: 312.001183 deg,
new cmd heading: 312.012201 deg.
2025-06-18T18:24:20.637Z,1750271060.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445640 target range: 328.478241 and range: 331.50 m.
2025-06-18T18:24:20.829Z,1750271060.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757923
2025-06-18T18:24:21.057Z,1750271061.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.48 m.
2025-06-18T18:24:21.061Z,1750271061.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 328.478241 m,
nav range: 307.477478 m,
bearing: 310.692639 deg,
approach rate: -0.643315 m/s,
LOS rate: 0.007006 deg/s,
cmd heading: 312.012194 deg,
new cmd heading: 312.021106 deg.
2025-06-18T18:24:21.062Z,1750271061.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445796 target range: 328.478241 and range: 331.50 m.
2025-06-18T18:24:21.079Z,1750271061.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008930
2025-06-18T18:24:21.329Z,1750271061.329 [DAT](INFO): DAT read: Rx Time:18:24:21.9311
2025-06-18T18:24:21.329Z,1750271061.329 [DAT](INFO): Rx dataTimestamp_ set to:1750271061.329068
2025-06-18T18:24:21.330Z,1750271061.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259356
2025-06-18T18:24:21.485Z,1750271061.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:21.487Z,1750271061.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.48 m.
2025-06-18T18:24:21.490Z,1750271061.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 328.478241 m,
nav range: 307.200928 m,
bearing: 310.695625 deg,
approach rate: -0.643158 m/s,
LOS rate: 0.006951 deg/s,
cmd heading: 312.021100 deg,
new cmd heading: 312.030067 deg.
2025-06-18T18:24:21.491Z,1750271061.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445952 target range: 328.478241 and range: 331.50 m.
2025-06-18T18:24:21.581Z,1750271061.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510375
2025-06-18T18:24:21.838Z,1750271061.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766900
2025-06-18T18:24:21.967Z,1750271061.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.48 m.
2025-06-18T18:24:21.974Z,1750271061.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 328.478241 m,
nav range: 306.893158 m,
bearing: 310.698133 deg,
approach rate: -0.641819 m/s,
LOS rate: 0.005236 deg/s,
cmd heading: 312.030062 deg,
new cmd heading: 312.037595 deg.
2025-06-18T18:24:21.975Z,1750271061.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446084 target range: 328.478241 and range: 331.50 m.
2025-06-18T18:24:22.092Z,1750271062.092 [DAT](INFO): DAT read: 18:24:21.9311 LVL= 29584, 32753, 27746, 32755, AGC= 71, IDX= 417,-0.29,-2.574, 2.502,-2.566,-3.112, PHS= 0.626,-0.623, 0.542, RAW= 146.6, -9.1, CAL= 153.0, -17.7, ROT= 357.0, 17.7
2025-06-18T18:24:22.093Z,1750271062.093 [DAT](INFO): got valid direction response:
18:24:21.9311 LVL= 29584, 32753, 27746, 32755, AGC= 71, IDX= 417,-0.29,-2.574, 2.502,-2.566,-3.112, PHS= 0.626,-0.623, 0.542, RAW= 146.6, -9.1, CAL= 153.0, -17.7, ROT= 357.0, 17.7
2025-06-18T18:24:22.094Z,1750271062.094 [DAT](INFO): DAT read: Bearing 357.0, 17.7 (Local)
2025-06-18T18:24:22.094Z,1750271062.094 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.0, 17.7 (Local)
2025-06-18T18:24:22.096Z,1750271062.096 [DAT](INFO): DAT read: Range 10 to 50 : 330.0 m (Round-trip 440.0 ms) speed 0.7 m/s
2025-06-18T18:24:22.097Z,1750271062.097 [DAT](INFO): DAT read: user:1169>
2025-06-18T18:24:22.098Z,1750271062.098 [DAT](INFO): DAT read: Tx time:18:24:23.0370
2025-06-18T18:24:22.098Z,1750271062.098 [DAT](INFO): Ping request sent.
2025-06-18T18:24:22.098Z,1750271062.098 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:22.099Z,1750271062.099 [DAT](INFO): DAT read: TxSync time:18:24:23.0362
2025-06-18T18:24:22.099Z,1750271062.099 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:24:22.101Z,1750271062.101 [DAT](INFO): direction in FSK: [0.951356,-0.049858,-0.304033]
2025-06-18T18:24:22.101Z,1750271062.101 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:22.102Z,1750271062.102 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:22.105Z,1750271062.105 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:22.105Z,1750271062.105 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:22.319Z,1750271062.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 330.000000 m,
deltaT: 4.035859 s,
deltaX: -1.500000 m,
approachRate: -0.371668 m/s,
rangeRepo size: 4
2025-06-18T18:24:22.326Z,1750271062.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 326.991669 m,
bearing: 309.985827 deg,
lat: 36.905852 deg,
lon: -122.115934 deg,
deltaT: 4.035859 s,
deltaX: -1.486572 m,
approachRate: -0.368341 m/s,
posRepo size: 4
2025-06-18T18:24:22.327Z,1750271062.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.99 m.
2025-06-18T18:24:22.333Z,1750271062.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.991669 m,
nav range: 306.667816 m,
bearing: 310.699968 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.005236 deg/s,
cmd heading: 312.037602 deg,
new cmd heading: 312.043126 deg.
2025-06-18T18:24:22.334Z,1750271062.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446180 target range: 326.991669 and range: 330.00 m.
2025-06-18T18:24:22.743Z,1750271062.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.99 m.
2025-06-18T18:24:22.746Z,1750271062.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.991669 m,
nav range: 306.381622 m,
bearing: 310.702397 deg,
approach rate: -0.674629 m/s,
LOS rate: 0.005731 deg/s,
cmd heading: 312.043121 deg,
new cmd heading: 312.050414 deg.
2025-06-18T18:24:22.747Z,1750271062.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446307 target range: 326.991669 and range: 330.00 m.
2025-06-18T18:24:23.147Z,1750271063.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.99 m.
2025-06-18T18:24:23.154Z,1750271063.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.991669 m,
nav range: 306.132721 m,
bearing: 310.703599 deg,
approach rate: -0.615843 m/s,
LOS rate: 0.002976 deg/s,
cmd heading: 312.050415 deg,
new cmd heading: 312.054023 deg.
2025-06-18T18:24:23.155Z,1750271063.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446370 target range: 326.991669 and range: 330.00 m.
2025-06-18T18:24:23.481Z,1750271063.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.99 m.
2025-06-18T18:24:23.484Z,1750271063.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.991669 m,
nav range: 305.902924 m,
bearing: 310.704773 deg,
approach rate: -0.687382 m/s,
LOS rate: 0.003514 deg/s,
cmd heading: 312.054022 deg,
new cmd heading: 312.057546 deg.
2025-06-18T18:24:23.485Z,1750271063.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446432 target range: 326.991669 and range: 330.00 m.
2025-06-18T18:24:23.974Z,1750271063.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:23.981Z,1750271063.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.99 m.
2025-06-18T18:24:23.983Z,1750271063.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.991669 m,
nav range: 305.597626 m,
bearing: 310.704358 deg,
approach rate: -0.611153 m/s,
LOS rate: -0.000831 deg/s,
cmd heading: 312.057546 deg,
new cmd heading: 312.056301 deg.
2025-06-18T18:24:23.986Z,1750271063.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446410 target range: 326.991669 and range: 330.00 m.
2025-06-18T18:24:24.101Z,1750271064.101 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:24.101Z,1750271064.101 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:24.101Z,1750271064.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:24.291Z,1750271064.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.99 m.
2025-06-18T18:24:24.294Z,1750271064.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.991669 m,
nav range: 305.372742 m,
bearing: 310.703984 deg,
approach rate: -0.724187 m/s,
LOS rate: -0.001205 deg/s,
cmd heading: 312.056289 deg,
new cmd heading: 312.055167 deg.
2025-06-18T18:24:24.295Z,1750271064.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446390 target range: 326.991669 and range: 330.00 m.
2025-06-18T18:24:24.354Z,1750271064.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255583
2025-06-18T18:24:24.605Z,1750271064.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506861
2025-06-18T18:24:24.702Z,1750271064.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.99 m.
2025-06-18T18:24:24.705Z,1750271064.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.991669 m,
nav range: 305.103760 m,
bearing: 310.703536 deg,
approach rate: -0.655060 m/s,
LOS rate: -0.001092 deg/s,
cmd heading: 312.055169 deg,
new cmd heading: 312.053824 deg.
2025-06-18T18:24:24.706Z,1750271064.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446367 target range: 326.991669 and range: 330.00 m.
2025-06-18T18:24:24.859Z,1750271064.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760924
2025-06-18T18:24:25.109Z,1750271065.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011044
2025-06-18T18:24:25.113Z,1750271065.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.99 m.
2025-06-18T18:24:25.117Z,1750271065.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.991669 m,
nav range: 304.834198 m,
bearing: 310.702788 deg,
approach rate: -0.655538 m/s,
LOS rate: -0.001822 deg/s,
cmd heading: 312.053831 deg,
new cmd heading: 312.051583 deg.
2025-06-18T18:24:25.118Z,1750271065.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446328 target range: 326.991669 and range: 330.00 m.
2025-06-18T18:24:25.362Z,1750271065.362 [DAT](INFO): DAT read: Rx Time:18:24:25.8754
2025-06-18T18:24:25.362Z,1750271065.362 [DAT](INFO): Rx dataTimestamp_ set to:1750271065.362017
2025-06-18T18:24:25.363Z,1750271065.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264822
2025-06-18T18:24:25.507Z,1750271065.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.99 m.
2025-06-18T18:24:25.510Z,1750271065.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.991669 m,
nav range: 304.573730 m,
bearing: 310.701993 deg,
approach rate: -0.661381 m/s,
LOS rate: -0.002018 deg/s,
cmd heading: 312.051590 deg,
new cmd heading: 312.049205 deg.
2025-06-18T18:24:25.511Z,1750271065.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446286 target range: 326.991669 and range: 330.00 m.
2025-06-18T18:24:25.613Z,1750271065.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515148
2025-06-18T18:24:25.905Z,1750271065.905 [DAT](INFO): DAT read: 18:24:25.8754 LVL= 27808, 32753, 28834, 32755, AGC= 71, IDX= 380,-0.21,-2.295, 2.729,-2.254,-2.948, PHS= 0.741,-0.558, 0.692, RAW= 148.1, -13.6, CAL= 154.8, -21.5, ROT= 355.2, 21.5
2025-06-18T18:24:25.913Z,1750271065.913 [DAT](INFO): got valid direction response:
18:24:25.8754 LVL= 27808, 32753, 28834, 32755, AGC= 71, IDX= 380,-0.21,-2.295, 2.729,-2.254,-2.948, PHS= 0.741,-0.558, 0.692, RAW= 148.1, -13.6, CAL= 154.8, -21.5, ROT= 355.2, 21.5
2025-06-18T18:24:25.915Z,1750271065.915 [DAT](INFO): DAT read: Bearing 355.2, 21.5 (Local)
2025-06-18T18:24:25.960Z,1750271065.960 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.2, 21.5 (Local)
2025-06-18T18:24:25.962Z,1750271065.962 [DAT](INFO): DAT read: Range 10 to 50 : 325.7 m (Round-trip 434.3 ms) speed 0.4 m/s
2025-06-18T18:24:25.962Z,1750271065.962 [DAT](INFO): DAT read: user:1170>
2025-06-18T18:24:25.963Z,1750271065.963 [DAT](INFO): DAT read: Tx time:18:24:26.9885
2025-06-18T18:24:25.963Z,1750271065.963 [DAT](INFO): Ping request sent.
2025-06-18T18:24:25.972Z,1750271065.972 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:25.972Z,1750271065.972 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:24:25.973Z,1750271065.973 [DAT](INFO): direction in FSK: [0.927154,-0.077855,-0.366501]
2025-06-18T18:24:25.974Z,1750271065.974 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:25.974Z,1750271065.974 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:25.985Z,1750271065.985 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:25.985Z,1750271065.985 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:26.108Z,1750271066.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 325.700012 m,
deltaT: 3.793209 s,
deltaX: -4.299988 m,
approachRate: -1.133602 m/s,
rangeRepo size: 4
2025-06-18T18:24:26.110Z,1750271066.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 322.730164 m,
bearing: 308.761311 deg,
lat: 36.905851 deg,
lon: -122.115964 deg,
deltaT: 3.793209 s,
deltaX: -4.261505 m,
approachRate: -1.123456 m/s,
posRepo size: 4
2025-06-18T18:24:26.111Z,1750271066.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:26.117Z,1750271066.117 [DAT](INFO): DAT read: TxSync time:18:24:26.9877
2025-06-18T18:24:26.124Z,1750271066.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 306.169739 m,
bearing: 310.350145 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002018 deg/s,
cmd heading: 312.049213 deg,
new cmd heading: 312.045604 deg.
2025-06-18T18:24:26.125Z,1750271066.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446223 target range: 322.730164 and range: 325.70 m.
2025-06-18T18:24:26.433Z,1750271066.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:26.449Z,1750271066.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:26.460Z,1750271066.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 305.952820 m,
bearing: 310.348522 deg,
approach rate: -0.626036 m/s,
LOS rate: -0.004688 deg/s,
cmd heading: 312.045607 deg,
new cmd heading: 312.040734 deg.
2025-06-18T18:24:26.461Z,1750271066.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446138 target range: 322.730164 and range: 325.70 m.
2025-06-18T18:24:26.621Z,1750271066.621 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:26.621Z,1750271066.621 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:26.621Z,1750271066.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:26.805Z,1750271066.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:26.807Z,1750271066.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 305.709229 m,
bearing: 310.346783 deg,
approach rate: -0.685424 m/s,
LOS rate: -0.004898 deg/s,
cmd heading: 312.040744 deg,
new cmd heading: 312.035522 deg.
2025-06-18T18:24:26.813Z,1750271066.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446047 target range: 322.730164 and range: 325.70 m.
2025-06-18T18:24:26.878Z,1750271066.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.913770
2025-06-18T18:24:27.127Z,1750271067.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.163314
2025-06-18T18:24:27.235Z,1750271067.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:27.242Z,1750271067.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 305.437103 m,
bearing: 310.344932 deg,
approach rate: -0.632488 m/s,
LOS rate: -0.004307 deg/s,
cmd heading: 312.035526 deg,
new cmd heading: 312.029967 deg.
2025-06-18T18:24:27.243Z,1750271067.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445951 target range: 322.730164 and range: 325.70 m.
2025-06-18T18:24:27.377Z,1750271067.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.413201
2025-06-18T18:24:27.601Z,1750271067.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:27.604Z,1750271067.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 305.187988 m,
bearing: 310.343143 deg,
approach rate: -0.680051 m/s,
LOS rate: -0.004886 deg/s,
cmd heading: 312.029980 deg,
new cmd heading: 312.024610 deg.
2025-06-18T18:24:27.605Z,1750271067.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445857 target range: 322.730164 and range: 325.70 m.
2025-06-18T18:24:27.629Z,1750271067.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.665224
2025-06-18T18:24:27.881Z,1750271067.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.917784
2025-06-18T18:24:28.051Z,1750271068.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:28.058Z,1750271068.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 304.898987 m,
bearing: 310.340611 deg,
approach rate: -0.642938 m/s,
LOS rate: -0.005637 deg/s,
cmd heading: 312.024597 deg,
new cmd heading: 312.016995 deg.
2025-06-18T18:24:28.059Z,1750271068.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445724 target range: 322.730164 and range: 325.70 m.
2025-06-18T18:24:28.134Z,1750271068.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.170386
2025-06-18T18:24:28.385Z,1750271068.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.421215
2025-06-18T18:24:28.421Z,1750271068.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:28.423Z,1750271068.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 304.651703 m,
bearing: 310.338361 deg,
approach rate: -0.668832 m/s,
LOS rate: -0.006091 deg/s,
cmd heading: 312.017002 deg,
new cmd heading: 312.010247 deg.
2025-06-18T18:24:28.425Z,1750271068.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445606 target range: 322.730164 and range: 325.70 m.
2025-06-18T18:24:28.637Z,1750271068.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.673165
2025-06-18T18:24:28.810Z,1750271068.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:28.828Z,1750271068.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:28.831Z,1750271068.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 304.394836 m,
bearing: 310.335943 deg,
approach rate: -0.656348 m/s,
LOS rate: -0.006184 deg/s,
cmd heading: 312.010254 deg,
new cmd heading: 312.002993 deg.
2025-06-18T18:24:28.836Z,1750271068.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445479 target range: 322.730164 and range: 325.70 m.
2025-06-18T18:24:28.890Z,1750271068.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.926577
2025-06-18T18:24:29.141Z,1750271069.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.177238
2025-06-18T18:24:29.268Z,1750271069.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:29.271Z,1750271069.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 304.097626 m,
bearing: 310.333278 deg,
approach rate: -0.651835 m/s,
LOS rate: -0.005851 deg/s,
cmd heading: 312.002987 deg,
new cmd heading: 311.994983 deg.
2025-06-18T18:24:29.272Z,1750271069.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445340 target range: 322.730164 and range: 325.70 m.
2025-06-18T18:24:29.394Z,1750271069.394 [DAT](INFO): DAT read: Rx Time:18:24:29.8062
2025-06-18T18:24:29.395Z,1750271069.395 [DAT](INFO): Rx dataTimestamp_ set to:1750271069.394521
2025-06-18T18:24:29.396Z,1750271069.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.432097
2025-06-18T18:24:29.618Z,1750271069.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:29.621Z,1750271069.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 303.867676 m,
bearing: 310.331146 deg,
approach rate: -0.655832 m/s,
LOS rate: -0.006085 deg/s,
cmd heading: 311.994982 deg,
new cmd heading: 311.988581 deg.
2025-06-18T18:24:29.622Z,1750271069.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445228 target range: 322.730164 and range: 325.70 m.
2025-06-18T18:24:29.645Z,1750271069.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.681529
2025-06-18T18:24:29.899Z,1750271069.899 [DAT](INFO): DAT read: Range 10 to 50 : 310.0 m (Round-trip 413.4 ms) speed 0.5 m/s
2025-06-18T18:24:29.900Z,1750271069.900 [DAT](INFO): DAT read: user:1171>
2025-06-18T18:24:29.901Z,1750271069.901 [DAT](INFO): DAT read: Tx time:18:24:30.8871
2025-06-18T18:24:29.901Z,1750271069.901 [DAT](INFO): Ping request sent.
2025-06-18T18:24:29.901Z,1750271069.901 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:29.902Z,1750271069.902 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:24:29.902Z,1750271069.902 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:29.905Z,1750271069.905 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:30.087Z,1750271070.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 310.000000 m,
deltaT: 4.018488 s,
deltaX: -15.700012 m,
approachRate: -3.906945 m/s,
rangeRepo size: 4
2025-06-18T18:24:30.093Z,1750271070.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:30.095Z,1750271070.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 303.565125 m,
bearing: 310.328838 deg,
approach rate: -0.646128 m/s,
LOS rate: -0.004934 deg/s,
cmd heading: 311.988589 deg,
new cmd heading: 311.981657 deg.
2025-06-18T18:24:30.101Z,1750271070.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445107 target range: 322.730164 and range: 310.00 m.
2025-06-18T18:24:30.150Z,1750271070.150 [DAT](INFO): DAT read: TxSync time:18:24:30.8863
2025-06-18T18:24:30.426Z,1750271070.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:30.441Z,1750271070.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 303.337067 m,
bearing: 310.327202 deg,
approach rate: -0.671673 m/s,
LOS rate: -0.004822 deg/s,
cmd heading: 311.981649 deg,
new cmd heading: 311.976737 deg.
2025-06-18T18:24:30.442Z,1750271070.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445021 target range: 322.730164 and range: 310.00 m.
2025-06-18T18:24:30.829Z,1750271070.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:30.831Z,1750271070.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:30.834Z,1750271070.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 303.070862 m,
bearing: 310.325315 deg,
approach rate: -0.658081 m/s,
LOS rate: -0.004669 deg/s,
cmd heading: 311.976731 deg,
new cmd heading: 311.971066 deg.
2025-06-18T18:24:30.835Z,1750271070.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444922 target range: 322.730164 and range: 310.00 m.
2025-06-18T18:24:30.908Z,1750271070.908 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:30.908Z,1750271070.908 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:30.909Z,1750271070.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:31.157Z,1750271071.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255251
2025-06-18T18:24:31.254Z,1750271071.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:31.257Z,1750271071.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 302.794189 m,
bearing: 310.324798 deg,
approach rate: -0.653428 m/s,
LOS rate: -0.001221 deg/s,
cmd heading: 311.971076 deg,
new cmd heading: 311.969525 deg.
2025-06-18T18:24:31.258Z,1750271071.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444895 target range: 322.730164 and range: 310.00 m.
2025-06-18T18:24:31.409Z,1750271071.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507435
2025-06-18T18:24:31.637Z,1750271071.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:31.639Z,1750271071.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 302.544250 m,
bearing: 310.324235 deg,
approach rate: -0.653351 m/s,
LOS rate: -0.001474 deg/s,
cmd heading: 311.969519 deg,
new cmd heading: 311.967827 deg.
2025-06-18T18:24:31.641Z,1750271071.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444866 target range: 322.730164 and range: 310.00 m.
2025-06-18T18:24:31.661Z,1750271071.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759271
2025-06-18T18:24:31.913Z,1750271071.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011576
2025-06-18T18:24:32.107Z,1750271072.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:32.113Z,1750271072.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 302.253693 m,
bearing: 310.324083 deg,
approach rate: -0.618519 m/s,
LOS rate: -0.000325 deg/s,
cmd heading: 311.967825 deg,
new cmd heading: 311.967367 deg.
2025-06-18T18:24:32.114Z,1750271072.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444858 target range: 322.730164 and range: 310.00 m.
2025-06-18T18:24:32.165Z,1750271072.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263494
2025-06-18T18:24:32.417Z,1750271072.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515279
2025-06-18T18:24:32.447Z,1750271072.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:32.450Z,1750271072.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 302.019836 m,
bearing: 310.323907 deg,
approach rate: -0.686833 m/s,
LOS rate: -0.000516 deg/s,
cmd heading: 311.967360 deg,
new cmd heading: 311.966834 deg.
2025-06-18T18:24:32.451Z,1750271072.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444849 target range: 322.730164 and range: 310.00 m.
2025-06-18T18:24:32.669Z,1750271072.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767367
2025-06-18T18:24:32.863Z,1750271072.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:32.871Z,1750271072.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:32.883Z,1750271072.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 301.759583 m,
bearing: 310.323727 deg,
approach rate: -0.614546 m/s,
LOS rate: -0.000427 deg/s,
cmd heading: 311.966841 deg,
new cmd heading: 311.966299 deg.
2025-06-18T18:24:32.890Z,1750271072.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444839 target range: 322.730164 and range: 310.00 m.
2025-06-18T18:24:32.921Z,1750271072.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019501
2025-06-18T18:24:33.173Z,1750271073.173 [DAT](INFO): DAT read: Rx Time:18:24:33.7191
2025-06-18T18:24:33.173Z,1750271073.173 [DAT](INFO): Rx dataTimestamp_ set to:1750271073.173010
2025-06-18T18:24:33.174Z,1750271073.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272360
2025-06-18T18:24:33.345Z,1750271073.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.73 m.
2025-06-18T18:24:33.347Z,1750271073.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.730164 m,
nav range: 301.442932 m,
bearing: 310.323356 deg,
approach rate: -0.668859 m/s,
LOS rate: -0.000784 deg/s,
cmd heading: 311.966295 deg,
new cmd heading: 311.965182 deg.
2025-06-18T18:24:33.349Z,1750271073.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444819 target range: 322.730164 and range: 310.00 m.
2025-06-18T18:24:33.425Z,1750271073.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523356
2025-06-18T18:24:33.683Z,1750271073.683 [DAT](INFO): DAT read: 18:24:33.7191 LVL= 15728, 20977, 14642, 22787, AGC= 69, IDX= 73, 0.12, 3.125, 1.705, 3.142, 2.520, PHS= 0.694,-0.768, 0.619, RAW= 147.4, -7.7, CAL= 153.3, -16.3, ROT= 356.7, 16.3
2025-06-18T18:24:33.684Z,1750271073.684 [DAT](INFO): got valid direction response:
18:24:33.7191 LVL= 15728, 20977, 14642, 22787, AGC= 69, IDX= 73, 0.12, 3.125, 1.705, 3.142, 2.520, PHS= 0.694,-0.768, 0.619, RAW= 147.4, -7.7, CAL= 153.3, -16.3, ROT= 356.7, 16.3
2025-06-18T18:24:33.685Z,1750271073.685 [DAT](INFO): DAT read: Bearing 356.7, 16.3 (Local)
2025-06-18T18:24:33.685Z,1750271073.685 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.7, 16.3 (Local)
2025-06-18T18:24:33.687Z,1750271073.687 [DAT](INFO): DAT read: Range 10 to 50 : 320.9 m (Round-trip 427.9 ms) speed 0.3 m/s
2025-06-18T18:24:33.688Z,1750271073.688 [DAT](INFO): DAT read: user:1172>
2025-06-18T18:24:33.689Z,1750271073.689 [DAT](INFO): DAT read: Tx time:18:24:34.8371
2025-06-18T18:24:33.689Z,1750271073.689 [DAT](INFO): Ping request sent.
2025-06-18T18:24:33.689Z,1750271073.689 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:33.689Z,1750271073.689 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:24:33.690Z,1750271073.690 [DAT](INFO): direction in FSK: [0.958214,-0.055250,-0.280667]
2025-06-18T18:24:33.690Z,1750271073.690 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:33.691Z,1750271073.691 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:33.698Z,1750271073.698 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:33.698Z,1750271073.698 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:33.807Z,1750271073.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 320.899994 m,
deltaT: 3.780058 s,
deltaX: 10.899994 m,
approachRate: 2.883552 m/s,
rangeRepo size: 4
2025-06-18T18:24:33.817Z,1750271073.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 317.973572 m,
bearing: 309.989410 deg,
lat: 36.905851 deg,
lon: -122.115964 deg,
deltaT: 7.798546 s,
deltaX: -4.756592 m,
approachRate: -0.609933 m/s,
posRepo size: 4
2025-06-18T18:24:33.818Z,1750271073.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.97 m.
2025-06-18T18:24:33.825Z,1750271073.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 317.973572 m,
nav range: 301.182556 m,
bearing: 310.323061 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000784 deg/s,
cmd heading: 311.965175 deg,
new cmd heading: 311.964088 deg.
2025-06-18T18:24:33.826Z,1750271073.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444800 target range: 317.973572 and range: 320.90 m.
2025-06-18T18:24:33.929Z,1750271073.929 [DAT](INFO): DAT read: TxSync time:18:24:34.8363
2025-06-18T18:24:34.216Z,1750271074.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.97 m.
2025-06-18T18:24:34.219Z,1750271074.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 317.973572 m,
nav range: 300.897491 m,
bearing: 310.324229 deg,
approach rate: -0.703280 m/s,
LOS rate: 0.002886 deg/s,
cmd heading: 311.964082 deg,
new cmd heading: 311.967592 deg.
2025-06-18T18:24:34.224Z,1750271074.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444861 target range: 317.973572 and range: 320.90 m.
2025-06-18T18:24:34.555Z,1750271074.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.97 m.
2025-06-18T18:24:34.558Z,1750271074.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 317.973572 m,
nav range: 300.686584 m,
bearing: 310.325210 deg,
approach rate: -0.613907 m/s,
LOS rate: 0.002856 deg/s,
cmd heading: 311.967579 deg,
new cmd heading: 311.970523 deg.
2025-06-18T18:24:34.559Z,1750271074.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444913 target range: 317.973572 and range: 320.90 m.
2025-06-18T18:24:35.072Z,1750271075.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:35.074Z,1750271075.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.97 m.
2025-06-18T18:24:35.077Z,1750271075.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 317.973572 m,
nav range: 300.350281 m,
bearing: 310.326776 deg,
approach rate: -0.647825 m/s,
LOS rate: 0.003021 deg/s,
cmd heading: 311.970530 deg,
new cmd heading: 311.975234 deg.
2025-06-18T18:24:35.078Z,1750271075.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444995 target range: 317.973572 and range: 320.90 m.
2025-06-18T18:24:35.189Z,1750271075.189 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:35.189Z,1750271075.189 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:35.189Z,1750271075.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:35.441Z,1750271075.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751883
2025-06-18T18:24:35.464Z,1750271075.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.97 m.
2025-06-18T18:24:35.467Z,1750271075.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 317.973572 m,
nav range: 300.106750 m,
bearing: 310.328344 deg,
approach rate: -0.624374 m/s,
LOS rate: 0.004022 deg/s,
cmd heading: 311.975229 deg,
new cmd heading: 311.979935 deg.
2025-06-18T18:24:35.468Z,1750271075.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445077 target range: 317.973572 and range: 320.90 m.
2025-06-18T18:24:35.694Z,1750271075.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004702
2025-06-18T18:24:35.779Z,1750271075.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.97 m.
2025-06-18T18:24:35.798Z,1750271075.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 317.973572 m,
nav range: 299.911713 m,
bearing: 310.329674 deg,
approach rate: -0.619117 m/s,
LOS rate: 0.004226 deg/s,
cmd heading: 311.979928 deg,
new cmd heading: 311.983922 deg.
2025-06-18T18:24:35.799Z,1750271075.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445147 target range: 317.973572 and range: 320.90 m.
2025-06-18T18:24:35.945Z,1750271075.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255866
2025-06-18T18:24:36.197Z,1750271076.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507930
2025-06-18T18:24:36.209Z,1750271076.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.97 m.
2025-06-18T18:24:36.211Z,1750271076.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 317.973572 m,
nav range: 299.647186 m,
bearing: 310.332191 deg,
approach rate: -0.616123 m/s,
LOS rate: 0.005868 deg/s,
cmd heading: 311.983917 deg,
new cmd heading: 311.991475 deg.
2025-06-18T18:24:36.214Z,1750271076.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445279 target range: 317.973572 and range: 320.90 m.
2025-06-18T18:24:36.449Z,1750271076.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760157
2025-06-18T18:24:36.579Z,1750271076.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.97 m.
2025-06-18T18:24:36.582Z,1750271076.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 317.973572 m,
nav range: 299.423187 m,
bearing: 310.334300 deg,
approach rate: -0.605095 m/s,
LOS rate: 0.005700 deg/s,
cmd heading: 311.991485 deg,
new cmd heading: 311.997815 deg.
2025-06-18T18:24:36.583Z,1750271076.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445389 target range: 317.973572 and range: 320.90 m.
2025-06-18T18:24:36.701Z,1750271076.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011869
2025-06-18T18:24:36.953Z,1750271076.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263877
2025-06-18T18:24:36.965Z,1750271076.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.97 m.
2025-06-18T18:24:36.969Z,1750271076.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 317.973572 m,
nav range: 299.169434 m,
bearing: 310.336679 deg,
approach rate: -0.656306 m/s,
LOS rate: 0.006158 deg/s,
cmd heading: 311.997823 deg,
new cmd heading: 312.004965 deg.
2025-06-18T18:24:36.970Z,1750271076.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445514 target range: 317.973572 and range: 320.90 m.
2025-06-18T18:24:37.205Z,1750271077.205 [DAT](INFO): DAT read: Rx Time:18:24:37.6672
2025-06-18T18:24:37.205Z,1750271077.205 [DAT](INFO): Rx dataTimestamp_ set to:1750271077.205087
2025-06-18T18:24:37.206Z,1750271077.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516972
2025-06-18T18:24:37.404Z,1750271077.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:37.406Z,1750271077.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.97 m.
2025-06-18T18:24:37.409Z,1750271077.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 317.973572 m,
nav range: 298.891632 m,
bearing: 310.338744 deg,
approach rate: -0.630431 m/s,
LOS rate: 0.004691 deg/s,
cmd heading: 312.004954 deg,
new cmd heading: 312.011155 deg.
2025-06-18T18:24:37.410Z,1750271077.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445622 target range: 317.973572 and range: 320.90 m.
2025-06-18T18:24:37.457Z,1750271077.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768019
2025-06-18T18:24:37.715Z,1750271077.715 [DAT](INFO): DAT read: 18:24:37.6672 LVL= 27776, 32753, 23858, 32755, AGC= 66, IDX= 422,-0.36, 0.045,-1.198, 0.037,-0.652, PHS= 0.786,-0.498, 0.687, RAW= 146.0, -15.6, CAL= 152.4, -23.5, ROT= 357.6, 23.5
2025-06-18T18:24:37.721Z,1750271077.721 [DAT](INFO): got valid direction response:
18:24:37.6672 LVL= 27776, 32753, 23858, 32755, AGC= 66, IDX= 422,-0.36, 0.045,-1.198, 0.037,-0.652, PHS= 0.786,-0.498, 0.687, RAW= 146.0, -15.6, CAL= 152.4, -23.5, ROT= 357.6, 23.5
2025-06-18T18:24:37.722Z,1750271077.722 [DAT](INFO): DAT read: Bearing 357.6, 23.5 (Local)
2025-06-18T18:24:37.722Z,1750271077.722 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.6, 23.5 (Local)
2025-06-18T18:24:37.723Z,1750271077.723 [DAT](INFO): DAT read: Range 10 to 50 : 319.5 m (Round-trip 426.0 ms) speed 0.5 m/s
2025-06-18T18:24:37.737Z,1750271077.737 [DAT](INFO): DAT read: user:1173>
2025-06-18T18:24:37.737Z,1750271077.737 [DAT](INFO): DAT read: Tx time:18:24:38.7871
2025-06-18T18:24:37.738Z,1750271077.738 [DAT](INFO): Ping request sent.
2025-06-18T18:24:37.738Z,1750271077.738 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:37.738Z,1750271077.738 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:24:37.739Z,1750271077.739 [DAT](INFO): direction in FSK: [0.916256,-0.038402,-0.398749]
2025-06-18T18:24:37.739Z,1750271077.739 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:37.756Z,1750271077.756 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:37.759Z,1750271077.759 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:37.759Z,1750271077.759 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:37.847Z,1750271077.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 319.500000 m,
deltaT: 4.031783 s,
deltaX: -1.399994 m,
approachRate: -0.347239 m/s,
rangeRepo size: 4
2025-06-18T18:24:37.853Z,1750271077.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 316.586182 m,
bearing: 311.445534 deg,
lat: 36.905851 deg,
lon: -122.115964 deg,
deltaT: 4.031783 s,
deltaX: -1.387390 m,
approachRate: -0.344113 m/s,
posRepo size: 4
2025-06-18T18:24:37.854Z,1750271077.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.59 m.
2025-06-18T18:24:37.861Z,1750271077.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.586182 m,
nav range: 298.630310 m,
bearing: 310.340673 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004691 deg/s,
cmd heading: 312.011156 deg,
new cmd heading: 312.017345 deg.
2025-06-18T18:24:37.862Z,1750271077.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445730 target range: 316.586182 and range: 319.50 m.
2025-06-18T18:24:37.966Z,1750271077.966 [DAT](INFO): DAT read: TxSync time:18:24:38.7863
2025-06-18T18:24:38.238Z,1750271078.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.59 m.
2025-06-18T18:24:38.241Z,1750271078.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.586182 m,
nav range: 298.367035 m,
bearing: 310.342731 deg,
approach rate: -0.671446 m/s,
LOS rate: 0.005254 deg/s,
cmd heading: 312.017357 deg,
new cmd heading: 312.023537 deg.
2025-06-18T18:24:38.242Z,1750271078.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445838 target range: 316.586182 and range: 319.50 m.
2025-06-18T18:24:38.586Z,1750271078.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.59 m.
2025-06-18T18:24:38.589Z,1750271078.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.586182 m,
nav range: 298.147827 m,
bearing: 310.344518 deg,
approach rate: -0.629949 m/s,
LOS rate: 0.005140 deg/s,
cmd heading: 312.023532 deg,
new cmd heading: 312.028897 deg.
2025-06-18T18:24:38.590Z,1750271078.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445931 target range: 316.586182 and range: 319.50 m.
2025-06-18T18:24:38.998Z,1750271078.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.59 m.
2025-06-18T18:24:39.001Z,1750271079.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.586182 m,
nav range: 297.890747 m,
bearing: 310.346645 deg,
approach rate: -0.623713 m/s,
LOS rate: 0.005165 deg/s,
cmd heading: 312.028887 deg,
new cmd heading: 312.035274 deg.
2025-06-18T18:24:39.002Z,1750271079.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446043 target range: 316.586182 and range: 319.50 m.
2025-06-18T18:24:39.474Z,1750271079.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:39.477Z,1750271079.477 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:39.477Z,1750271079.477 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:39.477Z,1750271079.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:39.480Z,1750271079.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.59 m.
2025-06-18T18:24:39.483Z,1750271079.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.586182 m,
nav range: 297.586395 m,
bearing: 310.348149 deg,
approach rate: -0.637022 m/s,
LOS rate: 0.003150 deg/s,
cmd heading: 312.035280 deg,
new cmd heading: 312.039795 deg.
2025-06-18T18:24:39.484Z,1750271079.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446122 target range: 316.586182 and range: 319.50 m.
2025-06-18T18:24:39.729Z,1750271079.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991038
2025-06-18T18:24:39.813Z,1750271079.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.59 m.
2025-06-18T18:24:39.815Z,1750271079.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.586182 m,
nav range: 297.373535 m,
bearing: 310.349202 deg,
approach rate: -0.633837 m/s,
LOS rate: 0.003139 deg/s,
cmd heading: 312.039788 deg,
new cmd heading: 312.042950 deg.
2025-06-18T18:24:39.817Z,1750271079.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446177 target range: 316.586182 and range: 319.50 m.
2025-06-18T18:24:39.983Z,1750271079.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245564
2025-06-18T18:24:40.227Z,1750271080.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.59 m.
2025-06-18T18:24:40.230Z,1750271080.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.586182 m,
nav range: 297.109344 m,
bearing: 310.349450 deg,
approach rate: -0.637031 m/s,
LOS rate: 0.000597 deg/s,
cmd heading: 312.042957 deg,
new cmd heading: 312.043700 deg.
2025-06-18T18:24:40.231Z,1750271080.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446190 target range: 316.586182 and range: 319.50 m.
2025-06-18T18:24:40.233Z,1750271080.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495112
2025-06-18T18:24:40.461Z,1750271080.461 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:24:40.486Z,1750271080.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747805
2025-06-18T18:24:40.600Z,1750271080.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.59 m.
2025-06-18T18:24:40.603Z,1750271080.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.586182 m,
nav range: 296.871429 m,
bearing: 310.349656 deg,
approach rate: -0.637476 m/s,
LOS rate: 0.000554 deg/s,
cmd heading: 312.043695 deg,
new cmd heading: 312.044314 deg.
2025-06-18T18:24:40.604Z,1750271080.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446201 target range: 316.586182 and range: 319.50 m.
2025-06-18T18:24:40.737Z,1750271080.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999015
2025-06-18T18:24:40.989Z,1750271080.989 [DAT](INFO): DAT read: Rx Time:18:24:41.6121
2025-06-18T18:24:40.989Z,1750271080.989 [DAT](INFO): Rx dataTimestamp_ set to:1750271080.989083
2025-06-18T18:24:40.990Z,1750271080.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252137
2025-06-18T18:24:41.042Z,1750271081.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.59 m.
2025-06-18T18:24:41.045Z,1750271081.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.586182 m,
nav range: 296.594818 m,
bearing: 310.349899 deg,
approach rate: -0.625826 m/s,
LOS rate: 0.000551 deg/s,
cmd heading: 312.044323 deg,
new cmd heading: 312.045053 deg.
2025-06-18T18:24:41.046Z,1750271081.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446214 target range: 316.586182 and range: 319.50 m.
2025-06-18T18:24:41.241Z,1750271081.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503046
2025-06-18T18:24:41.454Z,1750271081.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.59 m.
2025-06-18T18:24:41.457Z,1750271081.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 316.586182 m,
nav range: 296.324524 m,
bearing: 310.349345 deg,
approach rate: -0.655514 m/s,
LOS rate: -0.001345 deg/s,
cmd heading: 312.045061 deg,
new cmd heading: 312.043397 deg.
2025-06-18T18:24:41.458Z,1750271081.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446185 target range: 316.586182 and range: 319.50 m.
2025-06-18T18:24:41.464Z,1750271081.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:24:41.493Z,1750271081.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755287
2025-06-18T18:24:41.751Z,1750271081.751 [DAT](INFO): DAT read: 18:24:41.6122 LVL= 31216, 32337, 31266, 32755, AGC= 65, IDX= 385, 0.15, 0.985,-0.447, 1.039, 0.217, PHS= 0.855,-0.617, 0.818, RAW= 148.7, -14.4, CAL= 155.3, -22.1, ROT= 354.7, 22.1
2025-06-18T18:24:41.752Z,1750271081.752 [DAT](INFO): got valid direction response:
18:24:41.6122 LVL= 31216, 32337, 31266, 32755, AGC= 65, IDX= 385, 0.15, 0.985,-0.447, 1.039, 0.217, PHS= 0.855,-0.617, 0.818, RAW= 148.7, -14.4, CAL= 155.3, -22.1, ROT= 354.7, 22.1
2025-06-18T18:24:41.753Z,1750271081.753 [DAT](INFO): DAT read: Bearing 354.7, 22.1 (Local)
2025-06-18T18:24:41.753Z,1750271081.753 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.7, 22.1 (Local)
2025-06-18T18:24:41.755Z,1750271081.755 [DAT](INFO): DAT read: Range 10 to 50 : 315.6 m (Round-trip 420.8 ms) speed 0.6 m/s
2025-06-18T18:24:41.756Z,1750271081.756 [DAT](INFO): DAT read: user:1174>
2025-06-18T18:24:41.757Z,1750271081.757 [DAT](INFO): DAT read: Tx time:18:24:42.7372
2025-06-18T18:24:41.757Z,1750271081.757 [DAT](INFO): Ping request sent.
2025-06-18T18:24:41.757Z,1750271081.757 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:41.757Z,1750271081.757 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:24:41.758Z,1750271081.758 [DAT](INFO): direction in FSK: [0.922567,-0.085584,-0.376224]
2025-06-18T18:24:41.758Z,1750271081.758 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:41.759Z,1750271081.759 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:41.770Z,1750271081.770 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:41.771Z,1750271081.771 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:41.893Z,1750271081.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 315.600006 m,
deltaT: 4.036311 s,
deltaX: -3.899994 m,
approachRate: -0.966227 m/s,
rangeRepo size: 4
2025-06-18T18:24:41.901Z,1750271081.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 312.721741 m,
bearing: 308.563863 deg,
lat: 36.905836 deg,
lon: -122.115964 deg,
deltaT: 4.036311 s,
deltaX: -3.864441 m,
approachRate: -0.957419 m/s,
posRepo size: 4
2025-06-18T18:24:41.902Z,1750271081.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.72 m.
2025-06-18T18:24:41.909Z,1750271081.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.721741 m,
nav range: 295.017120 m,
bearing: 310.107991 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001345 deg/s,
cmd heading: 312.043394 deg,
new cmd heading: 312.041662 deg.
2025-06-18T18:24:41.910Z,1750271081.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446155 target range: 312.721741 and range: 315.60 m.
2025-06-18T18:24:41.998Z,1750271081.998 [DAT](INFO): DAT read: TxSync time:18:24:42.7364
2025-06-18T18:24:42.316Z,1750271082.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:42.318Z,1750271082.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.72 m.
2025-06-18T18:24:42.325Z,1750271082.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.721741 m,
nav range: 294.722748 m,
bearing: 310.106312 deg,
approach rate: -0.677242 m/s,
LOS rate: -0.003866 deg/s,
cmd heading: 312.041673 deg,
new cmd heading: 312.036632 deg.
2025-06-18T18:24:42.326Z,1750271082.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446066 target range: 312.721741 and range: 315.60 m.
2025-06-18T18:24:42.501Z,1750271082.501 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:42.501Z,1750271082.501 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:42.501Z,1750271082.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:42.620Z,1750271082.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.72 m.
2025-06-18T18:24:42.623Z,1750271082.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.721741 m,
nav range: 294.518555 m,
bearing: 310.105199 deg,
approach rate: -0.676714 m/s,
LOS rate: -0.003692 deg/s,
cmd heading: 312.036618 deg,
new cmd heading: 312.033276 deg.
2025-06-18T18:24:42.625Z,1750271082.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446008 target range: 312.721741 and range: 315.60 m.
2025-06-18T18:24:42.753Z,1750271082.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996382
2025-06-18T18:24:43.010Z,1750271083.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252829
2025-06-18T18:24:43.055Z,1750271083.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.72 m.
2025-06-18T18:24:43.062Z,1750271083.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.721741 m,
nav range: 294.238281 m,
bearing: 310.103766 deg,
approach rate: -0.643668 m/s,
LOS rate: -0.003294 deg/s,
cmd heading: 312.033285 deg,
new cmd heading: 312.028982 deg.
2025-06-18T18:24:43.063Z,1750271083.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445933 target range: 312.721741 and range: 315.60 m.
2025-06-18T18:24:43.261Z,1750271083.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503840
2025-06-18T18:24:43.452Z,1750271083.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.72 m.
2025-06-18T18:24:43.455Z,1750271083.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.721741 m,
nav range: 293.977142 m,
bearing: 310.102319 deg,
approach rate: -0.658351 m/s,
LOS rate: -0.003650 deg/s,
cmd heading: 312.028969 deg,
new cmd heading: 312.024625 deg.
2025-06-18T18:24:43.457Z,1750271083.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445857 target range: 312.721741 and range: 315.60 m.
2025-06-18T18:24:43.514Z,1750271083.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756519
2025-06-18T18:24:43.765Z,1750271083.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007839
2025-06-18T18:24:43.838Z,1750271083.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.72 m.
2025-06-18T18:24:43.841Z,1750271083.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.721741 m,
nav range: 293.725311 m,
bearing: 310.100862 deg,
approach rate: -0.651733 m/s,
LOS rate: -0.003775 deg/s,
cmd heading: 312.024625 deg,
new cmd heading: 312.020249 deg.
2025-06-18T18:24:43.842Z,1750271083.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445781 target range: 312.721741 and range: 315.60 m.
2025-06-18T18:24:44.017Z,1750271084.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260182
2025-06-18T18:24:44.261Z,1750271084.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.72 m.
2025-06-18T18:24:44.263Z,1750271084.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.721741 m,
nav range: 293.445282 m,
bearing: 310.098253 deg,
approach rate: -0.663264 m/s,
LOS rate: -0.006184 deg/s,
cmd heading: 312.020253 deg,
new cmd heading: 312.012421 deg.
2025-06-18T18:24:44.265Z,1750271084.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445644 target range: 312.721741 and range: 315.60 m.
2025-06-18T18:24:44.269Z,1750271084.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512000
2025-06-18T18:24:44.521Z,1750271084.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763809
2025-06-18T18:24:44.648Z,1750271084.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:44.650Z,1750271084.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.72 m.
2025-06-18T18:24:44.653Z,1750271084.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.721741 m,
nav range: 293.187561 m,
bearing: 310.095808 deg,
approach rate: -0.661809 m/s,
LOS rate: -0.006284 deg/s,
cmd heading: 312.012412 deg,
new cmd heading: 312.005071 deg.
2025-06-18T18:24:44.654Z,1750271084.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445516 target range: 312.721741 and range: 315.60 m.
2025-06-18T18:24:44.773Z,1750271084.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015966
2025-06-18T18:24:45.026Z,1750271085.026 [DAT](INFO): DAT read: Rx Time:18:24:45.5412
2025-06-18T18:24:45.027Z,1750271085.027 [DAT](INFO): Rx dataTimestamp_ set to:1750271085.026614
2025-06-18T18:24:45.028Z,1750271085.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271491
2025-06-18T18:24:45.089Z,1750271085.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.72 m.
2025-06-18T18:24:45.091Z,1750271085.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.721741 m,
nav range: 292.909241 m,
bearing: 310.093138 deg,
approach rate: -0.634374 m/s,
LOS rate: -0.006092 deg/s,
cmd heading: 312.005063 deg,
new cmd heading: 311.997045 deg.
2025-06-18T18:24:45.097Z,1750271085.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445376 target range: 312.721741 and range: 315.60 m.
2025-06-18T18:24:45.277Z,1750271085.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519810
2025-06-18T18:24:45.525Z,1750271085.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.72 m.
2025-06-18T18:24:45.535Z,1750271085.535 [DAT](INFO): DAT read: 18:24:45.5412 LVL= 29744, 31729, 30450, 32755, AGC= 69, IDX= 219,-0.26,-2.113, 2.812,-2.067,-2.671, PHS= 0.646,-0.753, 0.600, RAW= 148.4, -7.2, CAL= 154.0, -15.7, ROT= 356.0, 15.7
2025-06-18T18:24:45.537Z,1750271085.537 [DAT](INFO): got valid direction response:
18:24:45.5412 LVL= 29744, 31729, 30450, 32755, AGC= 69, IDX= 219,-0.26,-2.113, 2.812,-2.067,-2.671, PHS= 0.646,-0.753, 0.600, RAW= 148.4, -7.2, CAL= 154.0, -15.7, ROT= 356.0, 15.7
2025-06-18T18:24:45.538Z,1750271085.538 [DAT](INFO): DAT read: Bearing 356.0, 15.7 (Local)
2025-06-18T18:24:45.538Z,1750271085.538 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.0, 15.7 (Local)
2025-06-18T18:24:45.540Z,1750271085.540 [DAT](INFO): DAT read: Range 10 to 50 : 299.9 m (Round-trip 399.9 ms) speed 0.4 m/s
2025-06-18T18:24:45.541Z,1750271085.541 [DAT](INFO): DAT read: user:1175>
2025-06-18T18:24:45.541Z,1750271085.541 [DAT](INFO): DAT read: Tx time:18:24:46.6372
2025-06-18T18:24:45.542Z,1750271085.542 [DAT](INFO): Ping request sent.
2025-06-18T18:24:45.542Z,1750271085.542 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:45.542Z,1750271085.542 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:24:45.543Z,1750271085.543 [DAT](INFO): direction in FSK: [0.960347,-0.067154,-0.270600]
2025-06-18T18:24:45.543Z,1750271085.543 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:45.544Z,1750271085.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.721741 m,
nav range: 292.608917 m,
bearing: 310.090166 deg,
approach rate: -0.688582 m/s,
LOS rate: -0.006822 deg/s,
cmd heading: 311.997058 deg,
new cmd heading: 311.988132 deg.
2025-06-18T18:24:45.545Z,1750271085.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445220 target range: 312.721741 and range: 315.60 m.
2025-06-18T18:24:45.544Z,1750271085.544 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:45.551Z,1750271085.551 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:45.551Z,1750271085.551 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:45.782Z,1750271085.782 [DAT](INFO): DAT read: TxSync time:18:24:46.6364
2025-06-18T18:24:45.869Z,1750271085.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 299.899994 m,
deltaT: 3.784026 s,
deltaX: -15.700012 m,
approachRate: -4.149024 m/s,
rangeRepo size: 4
2025-06-18T18:24:45.873Z,1750271085.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 297.164917 m,
bearing: 309.223737 deg,
lat: 36.905766 deg,
lon: -122.115964 deg,
deltaT: 3.784026 s,
deltaX: -15.556824 m,
approachRate: -4.111183 m/s,
posRepo size: 4
2025-06-18T18:24:45.874Z,1750271085.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.16 m.
2025-06-18T18:24:45.878Z,1750271085.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.164917 m,
nav range: 287.371429 m,
bearing: 308.903232 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006822 deg/s,
cmd heading: 311.988124 deg,
new cmd heading: 311.981116 deg.
2025-06-18T18:24:45.880Z,1750271085.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445097 target range: 297.164917 and range: 299.90 m.
2025-06-18T18:24:46.294Z,1750271086.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.16 m.
2025-06-18T18:24:46.297Z,1750271086.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.164917 m,
nav range: 287.086182 m,
bearing: 308.899478 deg,
approach rate: -0.668458 m/s,
LOS rate: -0.008804 deg/s,
cmd heading: 311.981103 deg,
new cmd heading: 311.969832 deg.
2025-06-18T18:24:46.298Z,1750271086.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444901 target range: 297.164917 and range: 299.90 m.
2025-06-18T18:24:46.725Z,1750271086.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:46.727Z,1750271086.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.16 m.
2025-06-18T18:24:46.729Z,1750271086.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.164917 m,
nav range: 286.800659 m,
bearing: 308.895739 deg,
approach rate: -0.660151 m/s,
LOS rate: -0.008655 deg/s,
cmd heading: 311.969819 deg,
new cmd heading: 311.958590 deg.
2025-06-18T18:24:46.731Z,1750271086.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444705 target range: 297.164917 and range: 299.90 m.
2025-06-18T18:24:46.789Z,1750271086.789 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:46.789Z,1750271086.789 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:46.790Z,1750271086.790 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:47.041Z,1750271087.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498908
2025-06-18T18:24:47.085Z,1750271087.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.16 m.
2025-06-18T18:24:47.088Z,1750271087.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.164917 m,
nav range: 286.563599 m,
bearing: 308.892676 deg,
approach rate: -0.661522 m/s,
LOS rate: -0.008554 deg/s,
cmd heading: 311.958590 deg,
new cmd heading: 311.949394 deg.
2025-06-18T18:24:47.089Z,1750271087.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444544 target range: 297.164917 and range: 299.90 m.
2025-06-18T18:24:47.294Z,1750271087.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752000
2025-06-18T18:24:47.523Z,1750271087.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.16 m.
2025-06-18T18:24:47.526Z,1750271087.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.164917 m,
nav range: 286.291382 m,
bearing: 308.889495 deg,
approach rate: -0.622039 m/s,
LOS rate: -0.007275 deg/s,
cmd heading: 311.949383 deg,
new cmd heading: 311.939832 deg.
2025-06-18T18:24:47.527Z,1750271087.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444377 target range: 297.164917 and range: 299.90 m.
2025-06-18T18:24:47.548Z,1750271087.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003137
2025-06-18T18:24:47.797Z,1750271087.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255036
2025-06-18T18:24:47.910Z,1750271087.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.16 m.
2025-06-18T18:24:47.912Z,1750271087.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.164917 m,
nav range: 286.031616 m,
bearing: 308.886388 deg,
approach rate: -0.671463 m/s,
LOS rate: -0.008040 deg/s,
cmd heading: 311.939821 deg,
new cmd heading: 311.930490 deg.
2025-06-18T18:24:47.913Z,1750271087.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444214 target range: 297.164917 and range: 299.90 m.
2025-06-18T18:24:48.053Z,1750271088.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511141
2025-06-18T18:24:48.301Z,1750271088.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758998
2025-06-18T18:24:48.382Z,1750271088.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.16 m.
2025-06-18T18:24:48.385Z,1750271088.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.164917 m,
nav range: 285.723328 m,
bearing: 308.883901 deg,
approach rate: -0.652541 m/s,
LOS rate: -0.005270 deg/s,
cmd heading: 311.930477 deg,
new cmd heading: 311.923009 deg.
2025-06-18T18:24:48.386Z,1750271088.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444084 target range: 297.164917 and range: 299.90 m.
2025-06-18T18:24:48.553Z,1750271088.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010942
2025-06-18T18:24:48.726Z,1750271088.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:48.732Z,1750271088.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.16 m.
2025-06-18T18:24:48.735Z,1750271088.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.164917 m,
nav range: 285.503265 m,
bearing: 308.882096 deg,
approach rate: -0.628123 m/s,
LOS rate: -0.005156 deg/s,
cmd heading: 311.923019 deg,
new cmd heading: 311.917600 deg.
2025-06-18T18:24:48.740Z,1750271088.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443989 target range: 297.164917 and range: 299.90 m.
2025-06-18T18:24:48.806Z,1750271088.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263843
2025-06-18T18:24:49.057Z,1750271089.057 [DAT](INFO): DAT read: Rx Time:18:24:49.4574
2025-06-18T18:24:49.057Z,1750271089.057 [DAT](INFO): Rx dataTimestamp_ set to:1750271089.057144
2025-06-18T18:24:49.058Z,1750271089.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516217
2025-06-18T18:24:49.137Z,1750271089.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.16 m.
2025-06-18T18:24:49.140Z,1750271089.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.164917 m,
nav range: 285.231323 m,
bearing: 308.879832 deg,
approach rate: -0.671771 m/s,
LOS rate: -0.005598 deg/s,
cmd heading: 311.917609 deg,
new cmd heading: 311.910811 deg.
2025-06-18T18:24:49.141Z,1750271089.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443871 target range: 297.164917 and range: 299.90 m.
2025-06-18T18:24:49.309Z,1750271089.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766931
2025-06-18T18:24:49.523Z,1750271089.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.16 m.
2025-06-18T18:24:49.526Z,1750271089.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.164917 m,
nav range: 284.987488 m,
bearing: 308.878732 deg,
approach rate: -0.631973 m/s,
LOS rate: -0.002854 deg/s,
cmd heading: 311.910806 deg,
new cmd heading: 311.907503 deg.
2025-06-18T18:24:49.527Z,1750271089.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443813 target range: 297.164917 and range: 299.90 m.
2025-06-18T18:24:49.573Z,1750271089.573 [DAT](INFO): DAT read: 18:24:49.4574 LVL= 22496, 28657, 23410, 28403, AGC= 71, IDX= 82,-0.06,-2.916, 2.056,-2.919, 2.663, PHS= 0.792,-0.561, 0.698, RAW= 146.4, -14.1, CAL= 153.0, -22.2, ROT= 357.0, 22.2
2025-06-18T18:24:49.574Z,1750271089.574 [DAT](INFO): got valid direction response:
18:24:49.4574 LVL= 22496, 28657, 23410, 28403, AGC= 71, IDX= 82,-0.06,-2.916, 2.056,-2.919, 2.663, PHS= 0.792,-0.561, 0.698, RAW= 146.4, -14.1, CAL= 153.0, -22.2, ROT= 357.0, 22.2
2025-06-18T18:24:49.575Z,1750271089.575 [DAT](INFO): DAT read: Bearing 357.0, 22.2 (Local)
2025-06-18T18:24:49.575Z,1750271089.575 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.0, 22.2 (Local)
2025-06-18T18:24:49.577Z,1750271089.577 [DAT](INFO): DAT read: Range 10 to 50 : 312.0 m (Round-trip 416.1 ms) speed 0.8 m/s
2025-06-18T18:24:49.578Z,1750271089.578 [DAT](INFO): DAT read: user:1176>
2025-06-18T18:24:49.579Z,1750271089.579 [DAT](INFO): DAT read: Tx time:18:24:50.5372
2025-06-18T18:24:49.579Z,1750271089.579 [DAT](INFO): Ping request sent.
2025-06-18T18:24:49.579Z,1750271089.579 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:49.580Z,1750271089.580 [DAT](INFO): DAT read: TxSync time:18:24:50.5364
2025-06-18T18:24:49.581Z,1750271089.581 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:24:49.581Z,1750271089.581 [DAT](INFO): direction in FSK: [0.924602,-0.048456,-0.377841]
2025-06-18T18:24:49.582Z,1750271089.582 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:49.582Z,1750271089.582 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:49.586Z,1750271089.586 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:49.586Z,1750271089.586 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:49.948Z,1750271089.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 312.000000 m,
deltaT: 4.032847 s,
deltaX: 12.100006 m,
approachRate: 3.000363 m/s,
rangeRepo size: 4
2025-06-18T18:24:49.950Z,1750271089.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 309.153839 m,
bearing: 310.839814 deg,
lat: 36.905836 deg,
lon: -122.115935 deg,
deltaT: 4.032847 s,
deltaX: 11.988922 m,
approachRate: 2.972818 m/s,
posRepo size: 4
2025-06-18T18:24:49.951Z,1750271089.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.15 m.
2025-06-18T18:24:49.954Z,1750271089.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 309.153839 m,
nav range: 287.752075 m,
bearing: 310.407736 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002854 deg/s,
cmd heading: 311.907501 deg,
new cmd heading: 311.903870 deg.
2025-06-18T18:24:49.955Z,1750271089.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443749 target range: 309.153839 and range: 312.00 m.
2025-06-18T18:24:50.341Z,1750271090.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.15 m.
2025-06-18T18:24:50.344Z,1750271090.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 309.153839 m,
nav range: 287.495361 m,
bearing: 310.408505 deg,
approach rate: -0.651627 m/s,
LOS rate: 0.001954 deg/s,
cmd heading: 311.903867 deg,
new cmd heading: 311.906177 deg.
2025-06-18T18:24:50.345Z,1750271090.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443790 target range: 309.153839 and range: 312.00 m.
2025-06-18T18:24:50.727Z,1750271090.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.15 m.
2025-06-18T18:24:50.734Z,1750271090.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 309.153839 m,
nav range: 287.257202 m,
bearing: 310.409269 deg,
approach rate: -0.616946 m/s,
LOS rate: 0.001981 deg/s,
cmd heading: 311.906189 deg,
new cmd heading: 311.908483 deg.
2025-06-18T18:24:50.735Z,1750271090.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443830 target range: 309.153839 and range: 312.00 m.
2025-06-18T18:24:51.109Z,1750271091.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:51.111Z,1750271091.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.15 m.
2025-06-18T18:24:51.115Z,1750271091.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 309.153839 m,
nav range: 287.015381 m,
bearing: 310.410110 deg,
approach rate: -0.629199 m/s,
LOS rate: 0.002188 deg/s,
cmd heading: 311.908484 deg,
new cmd heading: 311.911007 deg.
2025-06-18T18:24:51.116Z,1750271091.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443874 target range: 309.153839 and range: 312.00 m.
2025-06-18T18:24:51.325Z,1750271091.325 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:51.325Z,1750271091.325 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:51.325Z,1750271091.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:51.550Z,1750271091.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.15 m.
2025-06-18T18:24:51.553Z,1750271091.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 309.153839 m,
nav range: 286.747375 m,
bearing: 310.412705 deg,
approach rate: -0.611319 m/s,
LOS rate: 0.005926 deg/s,
cmd heading: 311.910998 deg,
new cmd heading: 311.918791 deg.
2025-06-18T18:24:51.554Z,1750271091.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444010 target range: 309.153839 and range: 312.00 m.
2025-06-18T18:24:51.586Z,1750271091.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006337
2025-06-18T18:24:51.837Z,1750271091.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257461
2025-06-18T18:24:51.922Z,1750271091.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.15 m.
2025-06-18T18:24:51.925Z,1750271091.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 309.153839 m,
nav range: 286.519928 m,
bearing: 310.414848 deg,
approach rate: -0.611062 m/s,
LOS rate: 0.005763 deg/s,
cmd heading: 311.918784 deg,
new cmd heading: 311.925219 deg.
2025-06-18T18:24:51.926Z,1750271091.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444122 target range: 309.153839 and range: 312.00 m.
2025-06-18T18:24:52.089Z,1750271092.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509498
2025-06-18T18:24:52.341Z,1750271092.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761525
2025-06-18T18:24:52.374Z,1750271092.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.15 m.
2025-06-18T18:24:52.377Z,1750271092.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 309.153839 m,
nav range: 286.238739 m,
bearing: 310.417762 deg,
approach rate: -0.621768 m/s,
LOS rate: 0.006449 deg/s,
cmd heading: 311.925232 deg,
new cmd heading: 311.933981 deg.
2025-06-18T18:24:52.378Z,1750271092.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444275 target range: 309.153839 and range: 312.00 m.
2025-06-18T18:24:52.593Z,1750271092.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013557
2025-06-18T18:24:52.744Z,1750271092.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.15 m.
2025-06-18T18:24:52.747Z,1750271092.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 309.153839 m,
nav range: 286.023041 m,
bearing: 310.419957 deg,
approach rate: -0.589986 m/s,
LOS rate: 0.006010 deg/s,
cmd heading: 311.933974 deg,
new cmd heading: 311.940566 deg.
2025-06-18T18:24:52.748Z,1750271092.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444390 target range: 309.153839 and range: 312.00 m.
2025-06-18T18:24:52.845Z,1750271092.845 [DAT](INFO): DAT read: Rx Time:18:24:53.3551
2025-06-18T18:24:52.846Z,1750271092.846 [DAT](INFO): Rx dataTimestamp_ set to:1750271092.845227
2025-06-18T18:24:52.846Z,1750271092.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266742
2025-06-18T18:24:53.097Z,1750271093.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517327
2025-06-18T18:24:53.151Z,1750271093.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:53.161Z,1750271093.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.15 m.
2025-06-18T18:24:53.164Z,1750271093.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 309.153839 m,
nav range: 285.759491 m,
bearing: 310.422593 deg,
approach rate: -0.625866 m/s,
LOS rate: 0.006265 deg/s,
cmd heading: 311.940559 deg,
new cmd heading: 311.948474 deg.
2025-06-18T18:24:53.165Z,1750271093.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444528 target range: 309.153839 and range: 312.00 m.
2025-06-18T18:24:53.355Z,1750271093.355 [DAT](INFO): DAT read: 18:24:53.3551 LVL= 25888, 28241, 20898, 32755, AGC= 70, IDX= 409,-0.26, 0.666,-0.739, 0.698, 0.036, PHS= 0.718,-0.728, 0.658, RAW= 147.9, -9.2, CAL= 154.2, -17.6, ROT= 355.8, 17.6
2025-06-18T18:24:53.356Z,1750271093.356 [DAT](INFO): got valid direction response:
18:24:53.3551 LVL= 25888, 28241, 20898, 32755, AGC= 70, IDX= 409,-0.26, 0.666,-0.739, 0.698, 0.036, PHS= 0.718,-0.728, 0.658, RAW= 147.9, -9.2, CAL= 154.2, -17.6, ROT= 355.8, 17.6
2025-06-18T18:24:53.357Z,1750271093.357 [DAT](INFO): DAT read: Bearing 355.8, 17.6 (Local)
2025-06-18T18:24:53.357Z,1750271093.357 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.8, 17.6 (Local)
2025-06-18T18:24:53.359Z,1750271093.359 [DAT](INFO): DAT read: Range 10 to 50 : 310.3 m (Round-trip 413.8 ms) speed 0.5 m/s
2025-06-18T18:24:53.360Z,1750271093.360 [DAT](INFO): DAT read: user:1177>
2025-06-18T18:24:53.361Z,1750271093.361 [DAT](INFO): DAT read: Tx time:18:24:54.4372
2025-06-18T18:24:53.361Z,1750271093.361 [DAT](INFO): Ping request sent.
2025-06-18T18:24:53.361Z,1750271093.361 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:53.361Z,1750271093.361 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:24:53.362Z,1750271093.362 [DAT](INFO): direction in FSK: [0.950631,-0.069810,-0.302370]
2025-06-18T18:24:53.362Z,1750271093.362 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:53.363Z,1750271093.363 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:53.366Z,1750271093.366 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:53.366Z,1750271093.366 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:53.601Z,1750271093.601 [DAT](INFO): DAT read: TxSync time:18:24:54.4364
2025-06-18T18:24:53.610Z,1750271093.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 310.299988 m,
deltaT: 3.787249 s,
deltaX: -1.700012 m,
approachRate: -0.448878 m/s,
rangeRepo size: 4
2025-06-18T18:24:53.617Z,1750271093.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 307.468872 m,
bearing: 309.312104 deg,
lat: 36.905836 deg,
lon: -122.115935 deg,
deltaT: 3.787249 s,
deltaX: -1.684967 m,
approachRate: -0.444905 m/s,
posRepo size: 4
2025-06-18T18:24:53.617Z,1750271093.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.47 m.
2025-06-18T18:24:53.628Z,1750271093.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.468872 m,
nav range: 285.481873 m,
bearing: 310.425313 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.006265 deg/s,
cmd heading: 311.948482 deg,
new cmd heading: 311.956913 deg.
2025-06-18T18:24:53.629Z,1750271093.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444675 target range: 307.468872 and range: 310.30 m.
2025-06-18T18:24:53.933Z,1750271093.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.47 m.
2025-06-18T18:24:53.935Z,1750271093.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.468872 m,
nav range: 285.264496 m,
bearing: 310.427445 deg,
approach rate: -0.672452 m/s,
LOS rate: 0.006602 deg/s,
cmd heading: 311.956924 deg,
new cmd heading: 311.963326 deg.
2025-06-18T18:24:53.937Z,1750271093.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444787 target range: 307.468872 and range: 310.30 m.
2025-06-18T18:24:54.426Z,1750271094.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.47 m.
2025-06-18T18:24:54.429Z,1750271094.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.468872 m,
nav range: 284.954651 m,
bearing: 310.430653 deg,
approach rate: -0.627867 m/s,
LOS rate: 0.006509 deg/s,
cmd heading: 311.963317 deg,
new cmd heading: 311.972953 deg.
2025-06-18T18:24:54.430Z,1750271094.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444955 target range: 307.468872 and range: 310.30 m.
2025-06-18T18:24:54.768Z,1750271094.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.47 m.
2025-06-18T18:24:54.771Z,1750271094.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.468872 m,
nav range: 284.751129 m,
bearing: 310.432815 deg,
approach rate: -0.625909 m/s,
LOS rate: 0.006654 deg/s,
cmd heading: 311.972961 deg,
new cmd heading: 311.979452 deg.
2025-06-18T18:24:54.776Z,1750271094.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445069 target range: 307.468872 and range: 310.30 m.
2025-06-18T18:24:55.162Z,1750271095.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:55.169Z,1750271095.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.47 m.
2025-06-18T18:24:55.178Z,1750271095.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.468872 m,
nav range: 284.498810 m,
bearing: 310.435499 deg,
approach rate: -0.604662 m/s,
LOS rate: 0.006436 deg/s,
cmd heading: 311.979463 deg,
new cmd heading: 311.987520 deg.
2025-06-18T18:24:55.185Z,1750271095.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445210 target range: 307.468872 and range: 310.30 m.
2025-06-18T18:24:55.365Z,1750271095.365 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:55.365Z,1750271095.365 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:55.365Z,1750271095.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:55.588Z,1750271095.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.47 m.
2025-06-18T18:24:55.591Z,1750271095.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.468872 m,
nav range: 284.224152 m,
bearing: 310.437873 deg,
approach rate: -0.654899 m/s,
LOS rate: 0.005666 deg/s,
cmd heading: 311.987523 deg,
new cmd heading: 311.994652 deg.
2025-06-18T18:24:55.592Z,1750271095.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445334 target range: 307.468872 and range: 310.30 m.
2025-06-18T18:24:55.617Z,1750271095.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255909
2025-06-18T18:24:55.870Z,1750271095.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508649
2025-06-18T18:24:55.969Z,1750271095.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.47 m.
2025-06-18T18:24:55.972Z,1750271095.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.468872 m,
nav range: 283.983978 m,
bearing: 310.439878 deg,
approach rate: -0.629912 m/s,
LOS rate: 0.005263 deg/s,
cmd heading: 311.994654 deg,
new cmd heading: 312.000674 deg.
2025-06-18T18:24:55.973Z,1750271095.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445439 target range: 307.468872 and range: 310.30 m.
2025-06-18T18:24:56.121Z,1750271096.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759796
2025-06-18T18:24:56.377Z,1750271096.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015761
2025-06-18T18:24:56.445Z,1750271096.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.47 m.
2025-06-18T18:24:56.447Z,1750271096.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.468872 m,
nav range: 283.678986 m,
bearing: 310.440379 deg,
approach rate: -0.641739 m/s,
LOS rate: 0.001056 deg/s,
cmd heading: 312.000664 deg,
new cmd heading: 312.002170 deg.
2025-06-18T18:24:56.449Z,1750271096.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445465 target range: 307.468872 and range: 310.30 m.
2025-06-18T18:24:56.625Z,1750271096.625 [DAT](INFO): DAT read: Rx Time:18:24:57.2500
2025-06-18T18:24:56.625Z,1750271096.625 [DAT](INFO): Rx dataTimestamp_ set to:1750271096.625095
2025-06-18T18:24:56.626Z,1750271096.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264982
2025-06-18T18:24:56.779Z,1750271096.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.47 m.
2025-06-18T18:24:56.781Z,1750271096.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.468872 m,
nav range: 283.463715 m,
bearing: 310.440742 deg,
approach rate: -0.644572 m/s,
LOS rate: 0.001088 deg/s,
cmd heading: 312.002167 deg,
new cmd heading: 312.003257 deg.
2025-06-18T18:24:56.782Z,1750271096.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445484 target range: 307.468872 and range: 310.30 m.
2025-06-18T18:24:56.878Z,1750271096.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516739
2025-06-18T18:24:57.129Z,1750271097.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768124
2025-06-18T18:24:57.229Z,1750271097.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:57.231Z,1750271097.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.47 m.
2025-06-18T18:24:57.234Z,1750271097.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 307.468872 m,
nav range: 283.172241 m,
bearing: 310.441237 deg,
approach rate: -0.643692 m/s,
LOS rate: 0.001093 deg/s,
cmd heading: 312.003260 deg,
new cmd heading: 312.004745 deg.
2025-06-18T18:24:57.235Z,1750271097.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445510 target range: 307.468872 and range: 310.30 m.
2025-06-18T18:24:57.388Z,1750271097.388 [DAT](INFO): DAT read: 18:24:57.2500 LVL= 25824, 32753, 25586, 32755, AGC= 66, IDX= 388, 0.12,-0.325,-1.686,-0.366,-1.062, PHS= 0.825,-0.577, 0.693, RAW= 145.1, -13.9, CAL= 151.8, -22.3, ROT= 358.2, 22.3
2025-06-18T18:24:57.389Z,1750271097.389 [DAT](INFO): got valid direction response:
18:24:57.2500 LVL= 25824, 32753, 25586, 32755, AGC= 66, IDX= 388, 0.12,-0.325,-1.686,-0.366,-1.062, PHS= 0.825,-0.577, 0.693, RAW= 145.1, -13.9, CAL= 151.8, -22.3, ROT= 358.2, 22.3
2025-06-18T18:24:57.390Z,1750271097.390 [DAT](INFO): DAT read: Bearing 358.2, 22.3 (Local)
2025-06-18T18:24:57.390Z,1750271097.390 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.2, 22.3 (Local)
2025-06-18T18:24:57.392Z,1750271097.392 [DAT](INFO): DAT read: Range 10 to 50 : 306.4 m (Round-trip 408.6 ms) speed 0.0 m/s
2025-06-18T18:24:57.393Z,1750271097.393 [DAT](INFO): DAT read: user:1178>
2025-06-18T18:24:57.393Z,1750271097.393 [DAT](INFO): DAT read: Tx time:18:24:58.3372
2025-06-18T18:24:57.394Z,1750271097.394 [DAT](INFO): Ping request sent.
2025-06-18T18:24:57.394Z,1750271097.394 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:24:57.394Z,1750271097.394 [DAT](INFO): DAT read: TxSync time:18:24:58.3364
2025-06-18T18:24:57.395Z,1750271097.395 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:24:57.397Z,1750271097.397 [DAT](INFO): direction in FSK: [0.924753,-0.029061,-0.379456]
2025-06-18T18:24:57.397Z,1750271097.397 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:57.397Z,1750271097.397 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:57.401Z,1750271097.401 [DAT](INFO): publishing transmit ping time
2025-06-18T18:24:57.401Z,1750271097.401 [DAT](INFO): publishing direction and range info
2025-06-18T18:24:57.650Z,1750271097.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 306.399994 m,
deltaT: 4.032227 s,
deltaX: -3.899994 m,
approachRate: -0.967206 m/s,
rangeRepo size: 4
2025-06-18T18:24:57.656Z,1750271097.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 303.604950 m,
bearing: 312.081603 deg,
lat: 36.905836 deg,
lon: -122.115935 deg,
deltaT: 4.032227 s,
deltaX: -3.863922 m,
approachRate: -0.958260 m/s,
posRepo size: 4
2025-06-18T18:24:57.657Z,1750271097.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.60 m.
2025-06-18T18:24:57.659Z,1750271097.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.604950 m,
nav range: 282.918091 m,
bearing: 310.441509 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001093 deg/s,
cmd heading: 312.004735 deg,
new cmd heading: 312.006105 deg.
2025-06-18T18:24:57.665Z,1750271097.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445534 target range: 303.604950 and range: 306.40 m.
2025-06-18T18:24:57.988Z,1750271097.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.60 m.
2025-06-18T18:24:57.990Z,1750271097.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.604950 m,
nav range: 282.680389 m,
bearing: 310.440453 deg,
approach rate: -0.702064 m/s,
LOS rate: -0.003120 deg/s,
cmd heading: 312.006101 deg,
new cmd heading: 312.002933 deg.
2025-06-18T18:24:57.991Z,1750271097.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445478 target range: 303.604950 and range: 306.40 m.
2025-06-18T18:24:58.446Z,1750271098.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.60 m.
2025-06-18T18:24:58.449Z,1750271098.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.604950 m,
nav range: 282.377594 m,
bearing: 310.437331 deg,
approach rate: -0.659906 m/s,
LOS rate: -0.006812 deg/s,
cmd heading: 312.002932 deg,
new cmd heading: 311.993555 deg.
2025-06-18T18:24:58.450Z,1750271098.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445315 target range: 303.604950 and range: 306.40 m.
2025-06-18T18:24:58.801Z,1750271098.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.60 m.
2025-06-18T18:24:58.804Z,1750271098.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.604950 m,
nav range: 282.143219 m,
bearing: 310.434909 deg,
approach rate: -0.661075 m/s,
LOS rate: -0.006836 deg/s,
cmd heading: 311.993561 deg,
new cmd heading: 311.986291 deg.
2025-06-18T18:24:58.805Z,1750271098.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445188 target range: 303.604950 and range: 306.40 m.
2025-06-18T18:24:59.192Z,1750271099.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.60 m.
2025-06-18T18:24:59.195Z,1750271099.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.604950 m,
nav range: 281.884918 m,
bearing: 310.432077 deg,
approach rate: -0.660422 m/s,
LOS rate: -0.007249 deg/s,
cmd heading: 311.986294 deg,
new cmd heading: 311.977788 deg.
2025-06-18T18:24:59.197Z,1750271099.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445040 target range: 303.604950 and range: 306.40 m.
2025-06-18T18:24:59.609Z,1750271099.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:24:59.611Z,1750271099.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.60 m.
2025-06-18T18:24:59.615Z,1750271099.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.604950 m,
nav range: 281.608429 m,
bearing: 310.428984 deg,
approach rate: -0.659334 m/s,
LOS rate: -0.007383 deg/s,
cmd heading: 311.977797 deg,
new cmd heading: 311.968509 deg.
2025-06-18T18:24:59.616Z,1750271099.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444878 target range: 303.604950 and range: 306.40 m.
2025-06-18T18:24:59.649Z,1750271099.649 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:24:59.649Z,1750271099.649 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:24:59.649Z,1750271099.649 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:24:59.901Z,1750271099.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507285
2025-06-18T18:25:00.066Z,1750271100.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.60 m.
2025-06-18T18:25:00.068Z,1750271100.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.604950 m,
nav range: 281.308319 m,
bearing: 310.425576 deg,
approach rate: -0.660847 m/s,
LOS rate: -0.007511 deg/s,
cmd heading: 311.968508 deg,
new cmd heading: 311.958275 deg.
2025-06-18T18:25:00.069Z,1750271100.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444699 target range: 303.604950 and range: 306.40 m.
2025-06-18T18:25:00.154Z,1750271100.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759635
2025-06-18T18:25:00.407Z,1750271100.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013017
2025-06-18T18:25:00.497Z,1750271100.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.60 m.
2025-06-18T18:25:00.516Z,1750271100.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.604950 m,
nav range: 281.030121 m,
bearing: 310.420882 deg,
approach rate: -0.644600 m/s,
LOS rate: -0.010888 deg/s,
cmd heading: 311.958263 deg,
new cmd heading: 311.944166 deg.
2025-06-18T18:25:00.519Z,1750271100.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444453 target range: 303.604950 and range: 306.40 m.
2025-06-18T18:25:00.659Z,1750271100.659 [DAT](INFO): DAT read: Rx Time:18:25:01.1495
2025-06-18T18:25:00.664Z,1750271100.664 [DAT](INFO): Rx dataTimestamp_ set to:1750271100.659239
2025-06-18T18:25:00.665Z,1750271100.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271033
2025-06-18T18:25:00.851Z,1750271100.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.60 m.
2025-06-18T18:25:00.854Z,1750271100.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.604950 m,
nav range: 280.802246 m,
bearing: 310.416988 deg,
approach rate: -0.643629 m/s,
LOS rate: -0.011007 deg/s,
cmd heading: 311.944165 deg,
new cmd heading: 311.932474 deg.
2025-06-18T18:25:00.855Z,1750271100.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444249 target range: 303.604950 and range: 306.40 m.
2025-06-18T18:25:00.910Z,1750271100.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516346
2025-06-18T18:25:01.167Z,1750271101.167 [DAT](INFO): DAT read: 18:25:01.1495 LVL= 27920, 32753, 22082, 32755, AGC= 68, IDX= 398,-0.28, 0.813,-0.568, 0.854, 0.128, PHS= 0.772,-0.649, 0.723, RAW= 148.3, -12.1, CAL= 155.4, -20.2, ROT= 354.6, 20.2
2025-06-18T18:25:01.168Z,1750271101.168 [DAT](INFO): got valid direction response:
18:25:01.1495 LVL= 27920, 32753, 22082, 32755, AGC= 68, IDX= 398,-0.28, 0.813,-0.568, 0.854, 0.128, PHS= 0.772,-0.649, 0.723, RAW= 148.3, -12.1, CAL= 155.4, -20.2, ROT= 354.6, 20.2
2025-06-18T18:25:01.169Z,1750271101.169 [DAT](INFO): DAT read: Bearing 354.6, 20.2 (Local)
2025-06-18T18:25:01.169Z,1750271101.169 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.6, 20.2 (Local)
2025-06-18T18:25:01.171Z,1750271101.171 [DAT](INFO): DAT read: Range 10 to 50 : 306.0 m (Round-trip 408.1 ms) speed 0.2 m/s
2025-06-18T18:25:01.172Z,1750271101.172 [DAT](INFO): DAT read: user:1179>
2025-06-18T18:25:01.173Z,1750271101.173 [DAT](INFO): DAT read: Tx time:18:25:02.2373
2025-06-18T18:25:01.174Z,1750271101.174 [DAT](INFO): Ping request sent.
2025-06-18T18:25:01.174Z,1750271101.174 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:01.174Z,1750271101.174 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:25:01.175Z,1750271101.175 [DAT](INFO): direction in FSK: [0.934328,-0.088320,-0.345298]
2025-06-18T18:25:01.175Z,1750271101.175 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:01.175Z,1750271101.175 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:01.179Z,1750271101.179 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:01.179Z,1750271101.179 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:01.283Z,1750271101.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 306.000000 m,
deltaT: 3.779422 s,
deltaX: -0.399994 m,
approachRate: -0.105835 m/s,
rangeRepo size: 4
2025-06-18T18:25:01.290Z,1750271101.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 303.209442 m,
bearing: 308.489792 deg,
lat: 36.905836 deg,
lon: -122.115935 deg,
deltaT: 3.779422 s,
deltaX: -0.395508 m,
approachRate: -0.104648 m/s,
posRepo size: 4
2025-06-18T18:25:01.291Z,1750271101.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.21 m.
2025-06-18T18:25:01.305Z,1750271101.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.209442 m,
nav range: 280.547607 m,
bearing: 310.412606 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.011007 deg/s,
cmd heading: 311.932472 deg,
new cmd heading: 311.918477 deg.
2025-06-18T18:25:01.306Z,1750271101.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444005 target range: 303.209442 and range: 306.00 m.
2025-06-18T18:25:01.416Z,1750271101.416 [DAT](INFO): DAT read: TxSync time:18:25:02.2365
2025-06-18T18:25:01.708Z,1750271101.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:01.710Z,1750271101.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.21 m.
2025-06-18T18:25:01.713Z,1750271101.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.209442 m,
nav range: 280.255768 m,
bearing: 310.407390 deg,
approach rate: -0.670700 m/s,
LOS rate: -0.012000 deg/s,
cmd heading: 311.918484 deg,
new cmd heading: 311.902819 deg.
2025-06-18T18:25:01.714Z,1750271101.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443731 target range: 303.209442 and range: 306.00 m.
2025-06-18T18:25:01.919Z,1750271101.919 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:25:01.919Z,1750271101.919 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:25:01.920Z,1750271101.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:02.053Z,1750271102.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.21 m.
2025-06-18T18:25:02.055Z,1750271102.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.209442 m,
nav range: 280.045105 m,
bearing: 310.403722 deg,
approach rate: -0.614982 m/s,
LOS rate: -0.010717 deg/s,
cmd heading: 311.902829 deg,
new cmd heading: 311.891816 deg.
2025-06-18T18:25:02.057Z,1750271102.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443539 target range: 303.209442 and range: 306.00 m.
2025-06-18T18:25:02.169Z,1750271102.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995524
2025-06-18T18:25:02.423Z,1750271102.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249264
2025-06-18T18:25:02.509Z,1750271102.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.21 m.
2025-06-18T18:25:02.512Z,1750271102.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.209442 m,
nav range: 279.746918 m,
bearing: 310.399118 deg,
approach rate: -0.653067 m/s,
LOS rate: -0.010094 deg/s,
cmd heading: 311.891818 deg,
new cmd heading: 311.877992 deg.
2025-06-18T18:25:02.513Z,1750271102.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443298 target range: 303.209442 and range: 306.00 m.
2025-06-18T18:25:02.673Z,1750271102.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499226
2025-06-18T18:25:02.849Z,1750271102.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.21 m.
2025-06-18T18:25:02.851Z,1750271102.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.209442 m,
nav range: 279.529724 m,
bearing: 310.395700 deg,
approach rate: -0.640302 m/s,
LOS rate: -0.010084 deg/s,
cmd heading: 311.877994 deg,
new cmd heading: 311.867733 deg.
2025-06-18T18:25:02.852Z,1750271102.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443119 target range: 303.209442 and range: 306.00 m.
2025-06-18T18:25:02.927Z,1750271102.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752875
2025-06-18T18:25:03.177Z,1750271103.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003113
2025-06-18T18:25:03.238Z,1750271103.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.21 m.
2025-06-18T18:25:03.241Z,1750271103.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.209442 m,
nav range: 279.279053 m,
bearing: 310.391648 deg,
approach rate: -0.643192 m/s,
LOS rate: -0.010407 deg/s,
cmd heading: 311.867722 deg,
new cmd heading: 311.855554 deg.
2025-06-18T18:25:03.242Z,1750271103.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442906 target range: 303.209442 and range: 306.00 m.
2025-06-18T18:25:03.432Z,1750271103.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258241
2025-06-18T18:25:03.667Z,1750271103.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.21 m.
2025-06-18T18:25:03.670Z,1750271103.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.209442 m,
nav range: 279.002075 m,
bearing: 310.388957 deg,
approach rate: -0.646129 m/s,
LOS rate: -0.006284 deg/s,
cmd heading: 311.855564 deg,
new cmd heading: 311.847482 deg.
2025-06-18T18:25:03.671Z,1750271103.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442765 target range: 303.209442 and range: 306.00 m.
2025-06-18T18:25:03.681Z,1750271103.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507188
2025-06-18T18:25:03.933Z,1750271103.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759099
2025-06-18T18:25:04.039Z,1750271104.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:04.041Z,1750271104.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.21 m.
2025-06-18T18:25:04.044Z,1750271104.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.209442 m,
nav range: 278.760376 m,
bearing: 310.386592 deg,
approach rate: -0.645816 m/s,
LOS rate: -0.006323 deg/s,
cmd heading: 311.847477 deg,
new cmd heading: 311.840377 deg.
2025-06-18T18:25:04.045Z,1750271104.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442641 target range: 303.209442 and range: 306.00 m.
2025-06-18T18:25:04.185Z,1750271104.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011149
2025-06-18T18:25:04.440Z,1750271104.440 [DAT](INFO): DAT read: Rx Time:18:25:05.0451
2025-06-18T18:25:04.441Z,1750271104.441 [DAT](INFO): Rx dataTimestamp_ set to:1750271104.440168
2025-06-18T18:25:04.443Z,1750271104.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268569
2025-06-18T18:25:04.545Z,1750271104.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.21 m.
2025-06-18T18:25:04.549Z,1750271104.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.209442 m,
nav range: 278.435150 m,
bearing: 310.385040 deg,
approach rate: -0.645072 m/s,
LOS rate: -0.003083 deg/s,
cmd heading: 311.840374 deg,
new cmd heading: 311.835711 deg.
2025-06-18T18:25:04.550Z,1750271104.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442560 target range: 303.209442 and range: 306.00 m.
2025-06-18T18:25:04.689Z,1750271104.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515112
2025-06-18T18:25:04.859Z,1750271104.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.21 m.
2025-06-18T18:25:04.862Z,1750271104.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.209442 m,
nav range: 278.232574 m,
bearing: 310.384097 deg,
approach rate: -0.645191 m/s,
LOS rate: -0.003005 deg/s,
cmd heading: 311.835702 deg,
new cmd heading: 311.832871 deg.
2025-06-18T18:25:04.863Z,1750271104.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442510 target range: 303.209442 and range: 306.00 m.
2025-06-18T18:25:04.945Z,1750271104.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770740
2025-06-18T18:25:05.199Z,1750271105.199 [DAT](INFO): DAT read: 18:25:05.0451 LVL= 27280, 32753, 23906, 32755, AGC= 68, IDX= 401, 0.07,-0.658,-1.840,-0.628,-1.331, PHS= 0.761,-0.462, 0.700, RAW= 147.5, -16.5, CAL= 153.6, -24.1, ROT= 356.4, 24.1
2025-06-18T18:25:05.200Z,1750271105.200 [DAT](INFO): got valid direction response:
18:25:05.0451 LVL= 27280, 32753, 23906, 32755, AGC= 68, IDX= 401, 0.07,-0.658,-1.840,-0.628,-1.331, PHS= 0.761,-0.462, 0.700, RAW= 147.5, -16.5, CAL= 153.6, -24.1, ROT= 356.4, 24.1
2025-06-18T18:25:05.201Z,1750271105.201 [DAT](INFO): DAT read: Bearing 356.4, 24.1 (Local)
2025-06-18T18:25:05.202Z,1750271105.202 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.4, 24.1 (Local)
2025-06-18T18:25:05.203Z,1750271105.203 [DAT](INFO): DAT read: Range 10 to 50 : 302.7 m (Round-trip 403.7 ms) speed 0.4 m/s
2025-06-18T18:25:05.204Z,1750271105.204 [DAT](INFO): DAT read: user:1180>
2025-06-18T18:25:05.205Z,1750271105.205 [DAT](INFO): DAT read: Tx time:18:25:06.1373
2025-06-18T18:25:05.205Z,1750271105.205 [DAT](INFO): Ping request sent.
2025-06-18T18:25:05.205Z,1750271105.205 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:05.206Z,1750271105.206 [DAT](INFO): DAT read: TxSync time:18:25:06.1365
2025-06-18T18:25:05.206Z,1750271105.206 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:25:05.207Z,1750271105.207 [DAT](INFO): direction in FSK: [0.911033,-0.057318,-0.408330]
2025-06-18T18:25:05.218Z,1750271105.218 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:05.218Z,1750271105.218 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:05.242Z,1750271105.242 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:05.243Z,1750271105.243 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:05.322Z,1750271105.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 302.700012 m,
deltaT: 4.031954 s,
deltaX: -3.299988 m,
approachRate: -0.818459 m/s,
rangeRepo size: 4
2025-06-18T18:25:05.331Z,1750271105.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 299.939148 m,
bearing: 310.478699 deg,
lat: 36.905836 deg,
lon: -122.115899 deg,
deltaT: 4.031954 s,
deltaX: -3.270294 m,
approachRate: -0.811094 m/s,
posRepo size: 4
2025-06-18T18:25:05.331Z,1750271105.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:05.355Z,1750271105.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 275.556458 m,
bearing: 310.808190 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003005 deg/s,
cmd heading: 311.832860 deg,
new cmd heading: 311.828701 deg.
2025-06-18T18:25:05.360Z,1750271105.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442438 target range: 299.939148 and range: 302.70 m.
2025-06-18T18:25:05.699Z,1750271105.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:05.702Z,1750271105.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 275.295258 m,
bearing: 310.809533 deg,
approach rate: -0.690815 m/s,
LOS rate: 0.003555 deg/s,
cmd heading: 311.828708 deg,
new cmd heading: 311.832740 deg.
2025-06-18T18:25:05.703Z,1750271105.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442508 target range: 299.939148 and range: 302.70 m.
2025-06-18T18:25:06.066Z,1750271106.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:06.068Z,1750271106.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:06.071Z,1750271106.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 275.064697 m,
bearing: 310.810802 deg,
approach rate: -0.624920 m/s,
LOS rate: 0.003444 deg/s,
cmd heading: 311.832751 deg,
new cmd heading: 311.836563 deg.
2025-06-18T18:25:06.072Z,1750271106.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442575 target range: 299.939148 and range: 302.70 m.
2025-06-18T18:25:06.203Z,1750271106.203 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:25:06.203Z,1750271106.203 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:25:06.203Z,1750271106.203 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:06.454Z,1750271106.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248484
2025-06-18T18:25:06.541Z,1750271106.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:06.548Z,1750271106.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 274.774933 m,
bearing: 310.812530 deg,
approach rate: -0.612157 m/s,
LOS rate: 0.003654 deg/s,
cmd heading: 311.836576 deg,
new cmd heading: 311.841764 deg.
2025-06-18T18:25:06.549Z,1750271106.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442666 target range: 299.939148 and range: 302.70 m.
2025-06-18T18:25:06.705Z,1750271106.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499403
2025-06-18T18:25:06.910Z,1750271106.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:06.924Z,1750271106.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 274.521637 m,
bearing: 310.815012 deg,
approach rate: -0.687396 m/s,
LOS rate: 0.006741 deg/s,
cmd heading: 311.841767 deg,
new cmd heading: 311.849219 deg.
2025-06-18T18:25:06.925Z,1750271106.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442796 target range: 299.939148 and range: 302.70 m.
2025-06-18T18:25:06.960Z,1750271106.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754608
2025-06-18T18:25:07.209Z,1750271107.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003467
2025-06-18T18:25:07.279Z,1750271107.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:07.282Z,1750271107.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 274.286743 m,
bearing: 310.817257 deg,
approach rate: -0.635004 m/s,
LOS rate: 0.006075 deg/s,
cmd heading: 311.849225 deg,
new cmd heading: 311.855967 deg.
2025-06-18T18:25:07.283Z,1750271107.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442914 target range: 299.939148 and range: 302.70 m.
2025-06-18T18:25:07.461Z,1750271107.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255524
2025-06-18T18:25:07.697Z,1750271107.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:07.700Z,1750271107.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 274.029205 m,
bearing: 310.820583 deg,
approach rate: -0.616708 m/s,
LOS rate: 0.007971 deg/s,
cmd heading: 311.855974 deg,
new cmd heading: 311.865959 deg.
2025-06-18T18:25:07.701Z,1750271107.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443088 target range: 299.939148 and range: 302.70 m.
2025-06-18T18:25:07.713Z,1750271107.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507507
2025-06-18T18:25:07.965Z,1750271107.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759454
2025-06-18T18:25:08.094Z,1750271108.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:08.096Z,1750271108.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:08.099Z,1750271108.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 273.783539 m,
bearing: 310.823760 deg,
approach rate: -0.616144 m/s,
LOS rate: 0.007978 deg/s,
cmd heading: 311.865973 deg,
new cmd heading: 311.875515 deg.
2025-06-18T18:25:08.100Z,1750271108.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443254 target range: 299.939148 and range: 302.70 m.
2025-06-18T18:25:08.217Z,1750271108.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011941
2025-06-18T18:25:08.469Z,1750271108.469 [DAT](INFO): DAT read: Rx Time:18:25:08.9413
2025-06-18T18:25:08.469Z,1750271108.469 [DAT](INFO): Rx dataTimestamp_ set to:1750271108.469046
2025-06-18T18:25:08.470Z,1750271108.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264520
2025-06-18T18:25:08.488Z,1750271108.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:08.491Z,1750271108.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 273.541473 m,
bearing: 310.826880 deg,
approach rate: -0.617364 m/s,
LOS rate: 0.007964 deg/s,
cmd heading: 311.875508 deg,
new cmd heading: 311.884876 deg.
2025-06-18T18:25:08.511Z,1750271108.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443418 target range: 299.939148 and range: 302.70 m.
2025-06-18T18:25:08.722Z,1750271108.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516373
2025-06-18T18:25:08.938Z,1750271108.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:08.941Z,1750271108.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 273.267914 m,
bearing: 310.830185 deg,
approach rate: -0.607381 m/s,
LOS rate: 0.007345 deg/s,
cmd heading: 311.884879 deg,
new cmd heading: 311.894803 deg.
2025-06-18T18:25:08.942Z,1750271108.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443591 target range: 299.939148 and range: 302.70 m.
2025-06-18T18:25:08.975Z,1750271108.975 [DAT](INFO): DAT read: Range 10 to 50 : 299.9 m (Round-trip 399.9 ms) speed 0.4 m/s
2025-06-18T18:25:08.976Z,1750271108.976 [DAT](INFO): DAT read: user:1181>
2025-06-18T18:25:08.977Z,1750271108.977 [DAT](INFO): DAT read: Tx time:18:25:10.0373
2025-06-18T18:25:08.977Z,1750271108.977 [DAT](INFO): Ping request sent.
2025-06-18T18:25:08.978Z,1750271108.978 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:08.978Z,1750271108.978 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:25:08.978Z,1750271108.978 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:08.979Z,1750271108.979 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:09.225Z,1750271109.225 [DAT](INFO): DAT read: TxSync time:18:25:10.0365
2025-06-18T18:25:09.310Z,1750271109.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 299.899994 m,
deltaT: 3.780099 s,
deltaX: -2.800018 m,
approachRate: -0.740726 m/s,
rangeRepo size: 4
2025-06-18T18:25:09.310Z,1750271109.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:09.317Z,1750271109.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 273.052155 m,
bearing: 310.832778 deg,
approach rate: -0.581848 m/s,
LOS rate: 0.006997 deg/s,
cmd heading: 311.894796 deg,
new cmd heading: 311.902580 deg.
2025-06-18T18:25:09.318Z,1750271109.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443727 target range: 299.939148 and range: 299.90 m.
2025-06-18T18:25:09.714Z,1750271109.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:09.737Z,1750271109.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 272.790894 m,
bearing: 310.836067 deg,
approach rate: -0.645277 m/s,
LOS rate: 0.008132 deg/s,
cmd heading: 311.902583 deg,
new cmd heading: 311.912460 deg.
2025-06-18T18:25:09.738Z,1750271109.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443900 target range: 299.939148 and range: 299.90 m.
2025-06-18T18:25:10.100Z,1750271110.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:10.102Z,1750271110.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:10.105Z,1750271110.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 272.549469 m,
bearing: 310.839190 deg,
approach rate: -0.621651 m/s,
LOS rate: 0.008049 deg/s,
cmd heading: 311.912473 deg,
new cmd heading: 311.921851 deg.
2025-06-18T18:25:10.106Z,1750271110.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444063 target range: 299.939148 and range: 299.90 m.
2025-06-18T18:25:10.233Z,1750271110.233 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:25:10.233Z,1750271110.233 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:25:10.233Z,1750271110.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:10.485Z,1750271110.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507150
2025-06-18T18:25:10.506Z,1750271110.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:10.510Z,1750271110.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 272.300171 m,
bearing: 310.842450 deg,
approach rate: -0.621143 m/s,
LOS rate: 0.008130 deg/s,
cmd heading: 311.921844 deg,
new cmd heading: 311.931633 deg.
2025-06-18T18:25:10.511Z,1750271110.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444234 target range: 299.939148 and range: 299.90 m.
2025-06-18T18:25:10.737Z,1750271110.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759189
2025-06-18T18:25:10.944Z,1750271110.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:10.947Z,1750271110.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 272.019928 m,
bearing: 310.845400 deg,
approach rate: -0.636596 m/s,
LOS rate: 0.006707 deg/s,
cmd heading: 311.931625 deg,
new cmd heading: 311.940483 deg.
2025-06-18T18:25:10.948Z,1750271110.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444388 target range: 299.939148 and range: 299.90 m.
2025-06-18T18:25:10.991Z,1750271110.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012800
2025-06-18T18:25:11.241Z,1750271111.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263140
2025-06-18T18:25:11.331Z,1750271111.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:11.335Z,1750271111.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 271.777191 m,
bearing: 310.847913 deg,
approach rate: -0.630538 m/s,
LOS rate: 0.006534 deg/s,
cmd heading: 311.940477 deg,
new cmd heading: 311.948022 deg.
2025-06-18T18:25:11.337Z,1750271111.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444520 target range: 299.939148 and range: 299.90 m.
2025-06-18T18:25:11.493Z,1750271111.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515120
2025-06-18T18:25:11.586Z,1750271111.586 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:25:11.739Z,1750271111.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:11.745Z,1750271111.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767217
2025-06-18T18:25:11.762Z,1750271111.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 271.494904 m,
bearing: 310.849919 deg,
approach rate: -0.687822 m/s,
LOS rate: 0.004894 deg/s,
cmd heading: 311.948017 deg,
new cmd heading: 311.954043 deg.
2025-06-18T18:25:11.763Z,1750271111.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444625 target range: 299.939148 and range: 299.90 m.
2025-06-18T18:25:11.998Z,1750271111.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020294
2025-06-18T18:25:12.135Z,1750271112.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:12.137Z,1750271112.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:12.144Z,1750271112.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 271.230072 m,
bearing: 310.851822 deg,
approach rate: -0.665697 m/s,
LOS rate: 0.004789 deg/s,
cmd heading: 311.954055 deg,
new cmd heading: 311.959770 deg.
2025-06-18T18:25:12.145Z,1750271112.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444725 target range: 299.939148 and range: 299.90 m.
2025-06-18T18:25:12.250Z,1750271112.250 [DAT](INFO): DAT read: Rx Time:18:25:12.8401
2025-06-18T18:25:12.250Z,1750271112.250 [DAT](INFO): Rx dataTimestamp_ set to:1750271112.249851
2025-06-18T18:25:12.251Z,1750271112.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273080
2025-06-18T18:25:12.501Z,1750271112.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523134
2025-06-18T18:25:12.537Z,1750271112.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:12.541Z,1750271112.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 270.966187 m,
bearing: 310.853760 deg,
approach rate: -0.662107 m/s,
LOS rate: 0.004867 deg/s,
cmd heading: 311.959765 deg,
new cmd heading: 311.965584 deg.
2025-06-18T18:25:12.542Z,1750271112.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444827 target range: 299.939148 and range: 299.90 m.
2025-06-18T18:25:12.590Z,1750271112.590 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:25:12.757Z,1750271112.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778915
2025-06-18T18:25:12.969Z,1750271112.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.94 m.
2025-06-18T18:25:12.974Z,1750271112.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 299.939148 m,
nav range: 270.673676 m,
bearing: 310.855289 deg,
approach rate: -0.677755 m/s,
LOS rate: 0.003546 deg/s,
cmd heading: 311.965585 deg,
new cmd heading: 311.970175 deg.
2025-06-18T18:25:12.975Z,1750271112.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444907 target range: 299.939148 and range: 299.90 m.
2025-06-18T18:25:13.015Z,1750271113.015 [DAT](INFO): DAT read: 18:25:12.8401 LVL= 30512, 32753, 32754, 32755, AGC= 66, IDX= 429, 0.39,-1.906, 3.050,-1.936,-2.608, PHS= 0.790,-0.578, 0.668, RAW= 145.4, -13.3, CAL= 152.2, -21.7, ROT= 357.8, 21.7
2025-06-18T18:25:13.017Z,1750271113.017 [DAT](INFO): got valid direction response:
18:25:12.8401 LVL= 30512, 32753, 32754, 32755, AGC= 66, IDX= 429, 0.39,-1.906, 3.050,-1.936,-2.608, PHS= 0.790,-0.578, 0.668, RAW= 145.4, -13.3, CAL= 152.2, -21.7, ROT= 357.8, 21.7
2025-06-18T18:25:13.018Z,1750271113.018 [DAT](INFO): DAT read: Bearing 357.8, 21.7 (Local)
2025-06-18T18:25:13.019Z,1750271113.019 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.8, 21.7 (Local)
2025-06-18T18:25:13.021Z,1750271113.021 [DAT](INFO): DAT read: Range 10 to 50 : 298.9 m (Round-trip 398.6 ms) speed 0.2 m/s
2025-06-18T18:25:13.022Z,1750271113.022 [DAT](INFO): DAT read: user:1182>
2025-06-18T18:25:13.024Z,1750271113.024 [DAT](INFO): DAT read: Tx time:18:25:13.9374
2025-06-18T18:25:13.024Z,1750271113.024 [DAT](INFO): Ping request sent.
2025-06-18T18:25:13.024Z,1750271113.024 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:13.025Z,1750271113.025 [DAT](INFO): DAT read: TxSync time:18:25:13.9366
2025-06-18T18:25:13.026Z,1750271113.026 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:25:13.044Z,1750271113.044 [DAT](INFO): direction in FSK: [0.928448,-0.035668,-0.369747]
2025-06-18T18:25:13.044Z,1750271113.044 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:13.044Z,1750271113.044 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:13.047Z,1750271113.047 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:13.056Z,1750271113.056 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:13.407Z,1750271113.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 298.899994 m,
deltaT: 4.032563 s,
deltaX: -1.000000 m,
approachRate: -0.247981 m/s,
rangeRepo size: 4
2025-06-18T18:25:13.410Z,1750271113.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 296.173370 m,
bearing: 311.159254 deg,
lat: 36.905836 deg,
lon: -122.115925 deg,
deltaT: 7.812662 s,
deltaX: -3.765778 m,
approachRate: -0.482010 m/s,
posRepo size: 4
2025-06-18T18:25:13.411Z,1750271113.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.17 m.
2025-06-18T18:25:13.413Z,1750271113.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 296.173370 m,
nav range: 272.127625 m,
bearing: 310.539622 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003546 deg/s,
cmd heading: 311.970174 deg,
new cmd heading: 311.974850 deg.
2025-06-18T18:25:13.414Z,1750271113.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444988 target range: 296.173370 and range: 298.90 m.
2025-06-18T18:25:13.797Z,1750271113.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.17 m.
2025-06-18T18:25:13.799Z,1750271113.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 296.173370 m,
nav range: 271.876312 m,
bearing: 310.539280 deg,
approach rate: -0.644506 m/s,
LOS rate: -0.000877 deg/s,
cmd heading: 311.974846 deg,
new cmd heading: 311.973820 deg.
2025-06-18T18:25:13.805Z,1750271113.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444970 target range: 296.173370 and range: 298.90 m.
2025-06-18T18:25:14.171Z,1750271114.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:14.174Z,1750271114.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.17 m.
2025-06-18T18:25:14.177Z,1750271114.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 296.173370 m,
nav range: 271.608734 m,
bearing: 310.538915 deg,
approach rate: -0.709920 m/s,
LOS rate: -0.000968 deg/s,
cmd heading: 311.973808 deg,
new cmd heading: 311.972713 deg.
2025-06-18T18:25:14.178Z,1750271114.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444951 target range: 296.173370 and range: 298.90 m.
2025-06-18T18:25:14.265Z,1750271114.265 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:25:14.266Z,1750271114.266 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:25:14.266Z,1750271114.266 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:14.517Z,1750271114.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492467
2025-06-18T18:25:14.573Z,1750271114.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.17 m.
2025-06-18T18:25:14.575Z,1750271114.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 296.173370 m,
nav range: 271.343353 m,
bearing: 310.538574 deg,
approach rate: -0.665320 m/s,
LOS rate: -0.000856 deg/s,
cmd heading: 311.972715 deg,
new cmd heading: 311.971690 deg.
2025-06-18T18:25:14.576Z,1750271114.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444933 target range: 296.173370 and range: 298.90 m.
2025-06-18T18:25:14.769Z,1750271114.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744439
2025-06-18T18:25:15.021Z,1750271115.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996471
2025-06-18T18:25:15.030Z,1750271115.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.17 m.
2025-06-18T18:25:15.034Z,1750271115.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 296.173370 m,
nav range: 271.038391 m,
bearing: 310.536504 deg,
approach rate: -0.666636 m/s,
LOS rate: -0.004530 deg/s,
cmd heading: 311.971677 deg,
new cmd heading: 311.965460 deg.
2025-06-18T18:25:15.035Z,1750271115.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444824 target range: 296.173370 and range: 298.90 m.
2025-06-18T18:25:15.273Z,1750271115.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248650
2025-06-18T18:25:15.382Z,1750271115.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.17 m.
2025-06-18T18:25:15.385Z,1750271115.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 296.173370 m,
nav range: 270.803345 m,
bearing: 310.534842 deg,
approach rate: -0.667052 m/s,
LOS rate: -0.004721 deg/s,
cmd heading: 311.965448 deg,
new cmd heading: 311.960457 deg.
2025-06-18T18:25:15.386Z,1750271115.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444737 target range: 296.173370 and range: 298.90 m.
2025-06-18T18:25:15.525Z,1750271115.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500413
2025-06-18T18:25:15.777Z,1750271115.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752421
2025-06-18T18:25:15.812Z,1750271115.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.17 m.
2025-06-18T18:25:15.815Z,1750271115.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 296.173370 m,
nav range: 270.537506 m,
bearing: 310.531778 deg,
approach rate: -0.624749 m/s,
LOS rate: -0.007207 deg/s,
cmd heading: 311.960448 deg,
new cmd heading: 311.951248 deg.
2025-06-18T18:25:15.820Z,1750271115.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444576 target range: 296.173370 and range: 298.90 m.
2025-06-18T18:25:16.029Z,1750271116.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004331
2025-06-18T18:25:16.175Z,1750271116.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:16.198Z,1750271116.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.17 m.
2025-06-18T18:25:16.201Z,1750271116.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 296.173370 m,
nav range: 270.287079 m,
bearing: 310.528848 deg,
approach rate: -0.642465 m/s,
LOS rate: -0.007524 deg/s,
cmd heading: 311.951241 deg,
new cmd heading: 311.942443 deg.
2025-06-18T18:25:16.202Z,1750271116.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444423 target range: 296.173370 and range: 298.90 m.
2025-06-18T18:25:16.281Z,1750271116.281 [DAT](INFO): DAT read: Rx Time:18:25:16.7361
2025-06-18T18:25:16.281Z,1750271116.281 [DAT](INFO): Rx dataTimestamp_ set to:1750271116.281156
2025-06-18T18:25:16.282Z,1750271116.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257560
2025-06-18T18:25:16.533Z,1750271116.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508382
2025-06-18T18:25:16.568Z,1750271116.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.17 m.
2025-06-18T18:25:16.570Z,1750271116.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 296.173370 m,
nav range: 270.033600 m,
bearing: 310.525842 deg,
approach rate: -0.685219 m/s,
LOS rate: -0.008134 deg/s,
cmd heading: 311.942444 deg,
new cmd heading: 311.933417 deg.
2025-06-18T18:25:16.571Z,1750271116.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444265 target range: 296.173370 and range: 298.90 m.
2025-06-18T18:25:16.793Z,1750271116.793 [DAT](INFO): DAT read: 18:25:16.7361 LVL= 32752, 32753, 32562, 32755, AGC= 68, IDX= 404, 0.10,-2.816, 2.058,-2.792, 2.743, PHS= 0.812,-0.638, 0.745, RAW= 147.6, -12.9, CAL= 154.6, -21.0, ROT= 355.4, 21.0
2025-06-18T18:25:16.795Z,1750271116.795 [DAT](INFO): got valid direction response:
18:25:16.7361 LVL= 32752, 32753, 32562, 32755, AGC= 68, IDX= 404, 0.10,-2.816, 2.058,-2.792, 2.743, PHS= 0.812,-0.638, 0.745, RAW= 147.6, -12.9, CAL= 154.6, -21.0, ROT= 355.4, 21.0
2025-06-18T18:25:16.796Z,1750271116.796 [DAT](INFO): DAT read: Bearing 355.4, 21.0 (Local)
2025-06-18T18:25:16.797Z,1750271116.797 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.4, 21.0 (Local)
2025-06-18T18:25:16.798Z,1750271116.798 [DAT](INFO): DAT read: Range 10 to 50 : 295.9 m (Round-trip 394.6 ms) speed 0.3 m/s
2025-06-18T18:25:16.799Z,1750271116.799 [DAT](INFO): DAT read: user:1183>
2025-06-18T18:25:16.807Z,1750271116.807 [DAT](INFO): DAT read: Tx time:18:25:17.8374
2025-06-18T18:25:16.809Z,1750271116.809 [DAT](INFO): Ping request sent.
2025-06-18T18:25:16.809Z,1750271116.809 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:16.809Z,1750271116.809 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:25:16.810Z,1750271116.810 [DAT](INFO): direction in FSK: [0.930573,-0.074872,-0.358368]
2025-06-18T18:25:16.810Z,1750271116.810 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:16.811Z,1750271116.811 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:16.814Z,1750271116.814 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:16.814Z,1750271116.814 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:17.032Z,1750271117.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 295.899994 m,
deltaT: 3.779359 s,
deltaX: -3.000000 m,
approachRate: -0.793785 m/s,
rangeRepo size: 4
2025-06-18T18:25:17.034Z,1750271117.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 293.200836 m,
bearing: 308.961428 deg,
lat: 36.905810 deg,
lon: -122.115925 deg,
deltaT: 3.779359 s,
deltaX: -2.972534 m,
approachRate: -0.786518 m/s,
posRepo size: 4
2025-06-18T18:25:17.035Z,1750271117.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:17.037Z,1750271117.037 [DAT](INFO): DAT read: TxSync time:18:25:17.8366
2025-06-18T18:25:17.042Z,1750271117.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 267.856354 m,
bearing: 310.044257 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008134 deg/s,
cmd heading: 311.933428 deg,
new cmd heading: 311.922221 deg.
2025-06-18T18:25:17.043Z,1750271117.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444070 target range: 293.200836 and range: 295.90 m.
2025-06-18T18:25:17.369Z,1750271117.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:17.371Z,1750271117.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 267.631531 m,
bearing: 310.040832 deg,
approach rate: -0.657719 m/s,
LOS rate: -0.010027 deg/s,
cmd heading: 311.922226 deg,
new cmd heading: 311.911944 deg.
2025-06-18T18:25:17.373Z,1750271117.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443891 target range: 293.200836 and range: 295.90 m.
2025-06-18T18:25:17.808Z,1750271117.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:17.811Z,1750271117.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 267.358429 m,
bearing: 310.035712 deg,
approach rate: -0.621713 m/s,
LOS rate: -0.011667 deg/s,
cmd heading: 311.911954 deg,
new cmd heading: 311.896580 deg.
2025-06-18T18:25:17.812Z,1750271117.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443622 target range: 293.200836 and range: 295.90 m.
2025-06-18T18:25:18.181Z,1750271118.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:18.183Z,1750271118.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:18.186Z,1750271118.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 267.125580 m,
bearing: 310.031348 deg,
approach rate: -0.621176 m/s,
LOS rate: -0.011654 deg/s,
cmd heading: 311.896572 deg,
new cmd heading: 311.883466 deg.
2025-06-18T18:25:18.187Z,1750271118.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443393 target range: 293.200836 and range: 295.90 m.
2025-06-18T18:25:18.297Z,1750271118.297 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:25:18.297Z,1750271118.297 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:25:18.297Z,1750271118.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:18.549Z,1750271118.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740060
2025-06-18T18:25:18.596Z,1750271118.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:18.599Z,1750271118.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 266.868744 m,
bearing: 310.026390 deg,
approach rate: -0.621998 m/s,
LOS rate: -0.012017 deg/s,
cmd heading: 311.883458 deg,
new cmd heading: 311.868572 deg.
2025-06-18T18:25:18.600Z,1750271118.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443133 target range: 293.200836 and range: 295.90 m.
2025-06-18T18:25:18.801Z,1750271118.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992729
2025-06-18T18:25:19.019Z,1750271119.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:19.022Z,1750271119.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 266.604065 m,
bearing: 310.022339 deg,
approach rate: -0.624967 m/s,
LOS rate: -0.009577 deg/s,
cmd heading: 311.868569 deg,
new cmd heading: 311.856401 deg.
2025-06-18T18:25:19.023Z,1750271119.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442921 target range: 293.200836 and range: 295.90 m.
2025-06-18T18:25:19.054Z,1750271119.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244875
2025-06-18T18:25:19.305Z,1750271119.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496118
2025-06-18T18:25:19.413Z,1750271119.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:19.437Z,1750271119.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 266.368408 m,
bearing: 310.018664 deg,
approach rate: -0.597807 m/s,
LOS rate: -0.009329 deg/s,
cmd heading: 311.856411 deg,
new cmd heading: 311.845378 deg.
2025-06-18T18:25:19.438Z,1750271119.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442729 target range: 293.200836 and range: 295.90 m.
2025-06-18T18:25:19.557Z,1750271119.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748421
2025-06-18T18:25:19.809Z,1750271119.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000121
2025-06-18T18:25:19.824Z,1750271119.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:19.827Z,1750271119.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 266.099426 m,
bearing: 310.016061 deg,
approach rate: -0.655497 m/s,
LOS rate: -0.006350 deg/s,
cmd heading: 311.845373 deg,
new cmd heading: 311.837556 deg.
2025-06-18T18:25:19.828Z,1750271119.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442592 target range: 293.200836 and range: 295.90 m.
2025-06-18T18:25:20.061Z,1750271120.061 [DAT](INFO): DAT read: Rx Time:18:25:20.6344
2025-06-18T18:25:20.061Z,1750271120.061 [DAT](INFO): Rx dataTimestamp_ set to:1750271120.061187
2025-06-18T18:25:20.062Z,1750271120.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253300
2025-06-18T18:25:20.211Z,1750271120.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:20.214Z,1750271120.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:20.217Z,1750271120.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 265.854218 m,
bearing: 310.013667 deg,
approach rate: -0.628874 m/s,
LOS rate: -0.006144 deg/s,
cmd heading: 311.837559 deg,
new cmd heading: 311.830372 deg.
2025-06-18T18:25:20.218Z,1750271120.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442467 target range: 293.200836 and range: 295.90 m.
2025-06-18T18:25:20.313Z,1750271120.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504591
2025-06-18T18:25:20.566Z,1750271120.566 [DAT](INFO): DAT read: Range 10 to 50 : 294.6 m (Round-trip 392.9 ms) speed 0.4 m/s
2025-06-18T18:25:20.566Z,1750271120.566 [DAT](INFO): DAT read: user:1184>
2025-06-18T18:25:20.567Z,1750271120.567 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:25:20.572Z,1750271120.572 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:25:20.572Z,1750271120.572 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:25:20.573Z,1750271120.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:20.636Z,1750271120.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 294.600006 m,
deltaT: 3.779939 s,
deltaX: -1.299988 m,
approachRate: -0.343918 m/s,
rangeRepo size: 4
2025-06-18T18:25:20.637Z,1750271120.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:20.639Z,1750271120.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 265.606445 m,
bearing: 310.011220 deg,
approach rate: -0.629658 m/s,
LOS rate: -0.006227 deg/s,
cmd heading: 311.830374 deg,
new cmd heading: 311.823023 deg.
2025-06-18T18:25:20.645Z,1750271120.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442338 target range: 293.200836 and range: 294.60 m.
2025-06-18T18:25:20.817Z,1750271120.817 [DAT](INFO): DAT read: Tx time:18:25:21.7374
2025-06-18T18:25:20.817Z,1750271120.817 [DAT](INFO): Ping request sent.
2025-06-18T18:25:20.818Z,1750271120.818 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:20.818Z,1750271120.818 [DAT](INFO): DAT read: TxSync time:18:25:21.7366
2025-06-18T18:25:20.819Z,1750271120.819 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:20.819Z,1750271120.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001582
2025-06-18T18:25:21.043Z,1750271121.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:21.050Z,1750271121.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 265.344482 m,
bearing: 310.009822 deg,
approach rate: -0.600865 m/s,
LOS rate: -0.003209 deg/s,
cmd heading: 311.823025 deg,
new cmd heading: 311.818828 deg.
2025-06-18T18:25:21.051Z,1750271121.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442265 target range: 293.200836 and range: 294.60 m.
2025-06-18T18:25:21.069Z,1750271121.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251270
2025-06-18T18:25:21.321Z,1750271121.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503434
2025-06-18T18:25:21.411Z,1750271121.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:21.414Z,1750271121.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 265.100769 m,
bearing: 310.008701 deg,
approach rate: -0.663171 m/s,
LOS rate: -0.003053 deg/s,
cmd heading: 311.818817 deg,
new cmd heading: 311.815451 deg.
2025-06-18T18:25:21.415Z,1750271121.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442206 target range: 293.200836 and range: 294.60 m.
2025-06-18T18:25:21.573Z,1750271121.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755315
2025-06-18T18:25:21.829Z,1750271121.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011246
2025-06-18T18:25:21.855Z,1750271121.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:21.870Z,1750271121.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 264.822021 m,
bearing: 310.009411 deg,
approach rate: -0.627609 m/s,
LOS rate: 0.001599 deg/s,
cmd heading: 311.815457 deg,
new cmd heading: 311.817588 deg.
2025-06-18T18:25:21.877Z,1750271121.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442244 target range: 293.200836 and range: 294.60 m.
2025-06-18T18:25:22.081Z,1750271122.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263215
2025-06-18T18:25:22.222Z,1750271122.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:22.224Z,1750271122.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:22.227Z,1750271122.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 264.581451 m,
bearing: 310.010147 deg,
approach rate: -0.651059 m/s,
LOS rate: 0.001995 deg/s,
cmd heading: 311.817588 deg,
new cmd heading: 311.819799 deg.
2025-06-18T18:25:22.228Z,1750271122.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442282 target range: 293.200836 and range: 294.60 m.
2025-06-18T18:25:22.333Z,1750271122.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515342
2025-06-18T18:25:22.585Z,1750271122.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767226
2025-06-18T18:25:22.655Z,1750271122.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:22.663Z,1750271122.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 264.316040 m,
bearing: 310.010889 deg,
approach rate: -0.616058 m/s,
LOS rate: 0.001725 deg/s,
cmd heading: 311.819801 deg,
new cmd heading: 311.822031 deg.
2025-06-18T18:25:22.668Z,1750271122.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442321 target range: 293.200836 and range: 294.60 m.
2025-06-18T18:25:22.837Z,1750271122.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019178
2025-06-18T18:25:23.092Z,1750271123.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274446
2025-06-18T18:25:23.237Z,1750271123.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:23.244Z,1750271123.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 263.937286 m,
bearing: 310.013559 deg,
approach rate: -0.650534 m/s,
LOS rate: 0.004592 deg/s,
cmd heading: 311.822041 deg,
new cmd heading: 311.830062 deg.
2025-06-18T18:25:23.249Z,1750271123.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442461 target range: 293.200836 and range: 294.60 m.
2025-06-18T18:25:23.341Z,1750271123.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523184
2025-06-18T18:25:23.594Z,1750271123.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776240
2025-06-18T18:25:23.650Z,1750271123.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:23.653Z,1750271123.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 263.667725 m,
bearing: 310.015423 deg,
approach rate: -0.653962 m/s,
LOS rate: 0.004526 deg/s,
cmd heading: 311.830074 deg,
new cmd heading: 311.835671 deg.
2025-06-18T18:25:23.654Z,1750271123.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442559 target range: 293.200836 and range: 294.60 m.
2025-06-18T18:25:23.845Z,1750271123.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027308
2025-06-18T18:25:24.067Z,1750271124.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:24.070Z,1750271124.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 263.402069 m,
bearing: 310.018612 deg,
approach rate: -0.636802 m/s,
LOS rate: 0.007653 deg/s,
cmd heading: 311.835674 deg,
new cmd heading: 311.845253 deg.
2025-06-18T18:25:24.071Z,1750271124.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442727 target range: 293.200836 and range: 294.60 m.
2025-06-18T18:25:24.097Z,1750271124.097 [DAT](INFO): DAT read: Rx Time:18:25:24.5289
2025-06-18T18:25:24.097Z,1750271124.097 [DAT](INFO): Rx dataTimestamp_ set to:1750271124.097161
2025-06-18T18:25:24.098Z,1750271124.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280408
2025-06-18T18:25:24.349Z,1750271124.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531531
2025-06-18T18:25:24.467Z,1750271124.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:24.473Z,1750271124.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:24.476Z,1750271124.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 263.146851 m,
bearing: 310.021665 deg,
approach rate: -0.628393 m/s,
LOS rate: 0.007523 deg/s,
cmd heading: 311.845264 deg,
new cmd heading: 311.854431 deg.
2025-06-18T18:25:24.477Z,1750271124.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442887 target range: 293.200836 and range: 294.60 m.
2025-06-18T18:25:24.602Z,1750271124.602 [DAT](INFO): DAT read: Range 10 to 50 : 290.5 m (Round-trip 387.4 ms) speed 0.4 m/s
2025-06-18T18:25:24.603Z,1750271124.603 [DAT](INFO): DAT read: user:1185>
2025-06-18T18:25:24.604Z,1750271124.604 [DAT](INFO): DAT read: Tx time:18:25:25.6375
2025-06-18T18:25:24.604Z,1750271124.604 [DAT](INFO): Ping request sent.
2025-06-18T18:25:24.604Z,1750271124.604 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:24.604Z,1750271124.604 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:25:24.604Z,1750271124.604 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:24.605Z,1750271124.605 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:24.853Z,1750271124.853 [DAT](INFO): DAT read: TxSync time:18:25:25.6367
2025-06-18T18:25:24.930Z,1750271124.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 290.500000 m,
deltaT: 4.036251 s,
deltaX: -4.100006 m,
approachRate: -1.015796 m/s,
rangeRepo size: 4
2025-06-18T18:25:24.931Z,1750271124.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:24.938Z,1750271124.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 262.863800 m,
bearing: 310.024584 deg,
approach rate: -0.619905 m/s,
LOS rate: 0.006399 deg/s,
cmd heading: 311.854444 deg,
new cmd heading: 311.863209 deg.
2025-06-18T18:25:24.939Z,1750271124.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443040 target range: 293.200836 and range: 290.50 m.
2025-06-18T18:25:25.281Z,1750271125.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:25.312Z,1750271125.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 262.631134 m,
bearing: 310.026987 deg,
approach rate: -0.661064 m/s,
LOS rate: 0.006835 deg/s,
cmd heading: 311.863214 deg,
new cmd heading: 311.870431 deg.
2025-06-18T18:25:25.313Z,1750271125.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443166 target range: 293.200836 and range: 290.50 m.
2025-06-18T18:25:25.675Z,1750271125.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:25.678Z,1750271125.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 262.379822 m,
bearing: 310.029847 deg,
approach rate: -0.638002 m/s,
LOS rate: 0.007268 deg/s,
cmd heading: 311.870426 deg,
new cmd heading: 311.879015 deg.
2025-06-18T18:25:25.679Z,1750271125.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443316 target range: 293.200836 and range: 290.50 m.
2025-06-18T18:25:26.089Z,1750271126.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:26.091Z,1750271126.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 262.116974 m,
bearing: 310.032657 deg,
approach rate: -0.635758 m/s,
LOS rate: 0.006802 deg/s,
cmd heading: 311.879005 deg,
new cmd heading: 311.887442 deg.
2025-06-18T18:25:26.093Z,1750271126.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443463 target range: 293.200836 and range: 290.50 m.
2025-06-18T18:25:26.474Z,1750271126.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:26.476Z,1750271126.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:26.479Z,1750271126.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 261.870880 m,
bearing: 310.035180 deg,
approach rate: -0.635653 m/s,
LOS rate: 0.006523 deg/s,
cmd heading: 311.887447 deg,
new cmd heading: 311.895024 deg.
2025-06-18T18:25:26.480Z,1750271126.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443595 target range: 293.200836 and range: 290.50 m.
2025-06-18T18:25:26.616Z,1750271126.616 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:25:26.617Z,1750271126.617 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:25:26.617Z,1750271126.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:26.870Z,1750271126.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265451
2025-06-18T18:25:26.982Z,1750271126.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:26.985Z,1750271126.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 261.550079 m,
bearing: 310.037137 deg,
approach rate: -0.634086 m/s,
LOS rate: 0.003873 deg/s,
cmd heading: 311.895015 deg,
new cmd heading: 311.900893 deg.
2025-06-18T18:25:26.986Z,1750271126.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443697 target range: 293.200836 and range: 290.50 m.
2025-06-18T18:25:27.122Z,1750271127.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518208
2025-06-18T18:25:27.305Z,1750271127.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:27.312Z,1750271127.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 261.350037 m,
bearing: 310.038340 deg,
approach rate: -0.618536 m/s,
LOS rate: 0.003724 deg/s,
cmd heading: 311.900889 deg,
new cmd heading: 311.904502 deg.
2025-06-18T18:25:27.313Z,1750271127.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443760 target range: 293.200836 and range: 290.50 m.
2025-06-18T18:25:27.374Z,1750271127.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769689
2025-06-18T18:25:27.625Z,1750271127.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020742
2025-06-18T18:25:27.703Z,1750271127.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:27.706Z,1750271127.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 261.092804 m,
bearing: 310.039865 deg,
approach rate: -0.646191 m/s,
LOS rate: 0.003834 deg/s,
cmd heading: 311.904495 deg,
new cmd heading: 311.909074 deg.
2025-06-18T18:25:27.707Z,1750271127.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443841 target range: 293.200836 and range: 290.50 m.
2025-06-18T18:25:27.878Z,1750271127.878 [DAT](INFO): DAT read: Rx Time:18:25:28.4264
2025-06-18T18:25:27.878Z,1750271127.878 [DAT](INFO): Rx dataTimestamp_ set to:1750271127.877723
2025-06-18T18:25:27.879Z,1750271127.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274786
2025-06-18T18:25:28.129Z,1750271128.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524736
2025-06-18T18:25:28.201Z,1750271128.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.20 m.
2025-06-18T18:25:28.203Z,1750271128.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.200836 m,
nav range: 260.771332 m,
bearing: 310.040835 deg,
approach rate: -0.646464 m/s,
LOS rate: 0.001954 deg/s,
cmd heading: 311.909085 deg,
new cmd heading: 311.912000 deg.
2025-06-18T18:25:28.209Z,1750271128.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443892 target range: 293.200836 and range: 290.50 m.
2025-06-18T18:25:28.388Z,1750271128.388 [DAT](INFO): DAT read: 18:25:28.4264 LVL= 31568, 32753, 29938, 32755, AGC= 62, IDX= 416, 0.00,-1.302,-2.600,-1.257,-2.065, PHS= 0.851,-0.487, 0.805, RAW= 148.3, -17.4, CAL= 154.2, -24.9, ROT= 355.8, 24.9
2025-06-18T18:25:28.389Z,1750271128.389 [DAT](INFO): got valid direction response:
18:25:28.4264 LVL= 31568, 32753, 29938, 32755, AGC= 62, IDX= 416, 0.00,-1.302,-2.600,-1.257,-2.065, PHS= 0.851,-0.487, 0.805, RAW= 148.3, -17.4, CAL= 154.2, -24.9, ROT= 355.8, 24.9
2025-06-18T18:25:28.390Z,1750271128.390 [DAT](INFO): DAT read: Bearing 355.8, 24.9 (Local)
2025-06-18T18:25:28.390Z,1750271128.390 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.8, 24.9 (Local)
2025-06-18T18:25:28.404Z,1750271128.404 [DAT](INFO): DAT read: Range 10 to 50 : 288.6 m (Round-trip 384.8 ms) speed -0.1 m/s
2025-06-18T18:25:28.405Z,1750271128.405 [DAT](INFO): DAT read: user:1186>
2025-06-18T18:25:28.405Z,1750271128.405 [DAT](INFO): DAT read: Tx time:18:25:29.5375
2025-06-18T18:25:28.406Z,1750271128.406 [DAT](INFO): Ping request sent.
2025-06-18T18:25:28.406Z,1750271128.406 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:28.406Z,1750271128.406 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:25:28.407Z,1750271128.407 [DAT](INFO): direction in FSK: [0.904608,-0.066430,-0.421036]
2025-06-18T18:25:28.415Z,1750271128.415 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:28.432Z,1750271128.432 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:28.446Z,1750271128.446 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:28.447Z,1750271128.447 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:28.549Z,1750271128.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 288.600006 m,
deltaT: 3.780023 s,
deltaX: -1.899994 m,
approachRate: -0.502641 m/s,
rangeRepo size: 4
2025-06-18T18:25:28.551Z,1750271128.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 285.967133 m,
bearing: 309.661884 deg,
lat: 36.905803 deg,
lon: -122.115925 deg,
deltaT: 11.596213 s,
deltaX: -7.233704 m,
approachRate: -0.623799 m/s,
posRepo size: 4
2025-06-18T18:25:28.556Z,1750271128.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:28.559Z,1750271128.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 260.083618 m,
bearing: 309.913089 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001954 deg/s,
cmd heading: 311.912009 deg,
new cmd heading: 311.914021 deg.
2025-06-18T18:25:28.564Z,1750271128.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443927 target range: 285.967133 and range: 288.60 m.
2025-06-18T18:25:28.634Z,1750271128.634 [DAT](INFO): DAT read: TxSync time:18:25:29.5367
2025-06-18T18:25:28.956Z,1750271128.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:28.958Z,1750271128.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:28.961Z,1750271128.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 259.807251 m,
bearing: 309.912979 deg,
approach rate: -0.667347 m/s,
LOS rate: -0.000268 deg/s,
cmd heading: 311.914030 deg,
new cmd heading: 311.913698 deg.
2025-06-18T18:25:28.962Z,1750271128.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443921 target range: 285.967133 and range: 288.60 m.
2025-06-18T18:25:29.137Z,1750271129.137 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:25:29.137Z,1750271129.137 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:25:29.137Z,1750271129.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:29.326Z,1750271129.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:29.329Z,1750271129.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 259.570770 m,
bearing: 309.912984 deg,
approach rate: -0.642890 m/s,
LOS rate: 0.000014 deg/s,
cmd heading: 311.913702 deg,
new cmd heading: 311.913717 deg.
2025-06-18T18:25:29.330Z,1750271129.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443922 target range: 285.967133 and range: 288.60 m.
2025-06-18T18:25:29.395Z,1750271129.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987466
2025-06-18T18:25:29.641Z,1750271129.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235170
2025-06-18T18:25:29.720Z,1750271129.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:29.723Z,1750271129.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 259.326935 m,
bearing: 309.913094 deg,
approach rate: -0.618098 m/s,
LOS rate: 0.000280 deg/s,
cmd heading: 311.913730 deg,
new cmd heading: 311.914061 deg.
2025-06-18T18:25:29.728Z,1750271129.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443927 target range: 285.967133 and range: 288.60 m.
2025-06-18T18:25:29.894Z,1750271129.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487601
2025-06-18T18:25:30.140Z,1750271130.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:30.146Z,1750271130.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739714
2025-06-18T18:25:30.170Z,1750271130.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 259.047821 m,
bearing: 309.910748 deg,
approach rate: -0.665666 m/s,
LOS rate: -0.005601 deg/s,
cmd heading: 311.914058 deg,
new cmd heading: 311.907012 deg.
2025-06-18T18:25:30.171Z,1750271130.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443804 target range: 285.967133 and range: 288.60 m.
2025-06-18T18:25:30.398Z,1750271130.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991784
2025-06-18T18:25:30.524Z,1750271130.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:30.530Z,1750271130.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 258.798889 m,
bearing: 309.908561 deg,
approach rate: -0.648608 m/s,
LOS rate: -0.005704 deg/s,
cmd heading: 311.907009 deg,
new cmd heading: 311.900441 deg.
2025-06-18T18:25:30.531Z,1750271130.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443690 target range: 285.967133 and range: 288.60 m.
2025-06-18T18:25:30.649Z,1750271130.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243046
2025-06-18T18:25:30.902Z,1750271130.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495669
2025-06-18T18:25:30.968Z,1750271130.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:30.974Z,1750271130.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:30.977Z,1750271130.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 258.517273 m,
bearing: 309.905429 deg,
approach rate: -0.625514 m/s,
LOS rate: -0.006964 deg/s,
cmd heading: 311.900452 deg,
new cmd heading: 311.891046 deg.
2025-06-18T18:25:30.978Z,1750271130.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443526 target range: 285.967133 and range: 288.60 m.
2025-06-18T18:25:31.153Z,1750271131.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746827
2025-06-18T18:25:31.343Z,1750271131.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:31.347Z,1750271131.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 258.271484 m,
bearing: 309.902690 deg,
approach rate: -0.665095 m/s,
LOS rate: -0.007418 deg/s,
cmd heading: 311.891054 deg,
new cmd heading: 311.882829 deg.
2025-06-18T18:25:31.348Z,1750271131.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443382 target range: 285.967133 and range: 288.60 m.
2025-06-18T18:25:31.405Z,1750271131.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999101
2025-06-18T18:25:31.657Z,1750271131.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250846
2025-06-18T18:25:31.741Z,1750271131.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:31.744Z,1750271131.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 258.015411 m,
bearing: 309.899831 deg,
approach rate: -0.643228 m/s,
LOS rate: -0.007190 deg/s,
cmd heading: 311.882830 deg,
new cmd heading: 311.874243 deg.
2025-06-18T18:25:31.745Z,1750271131.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443233 target range: 285.967133 and range: 288.60 m.
2025-06-18T18:25:31.909Z,1750271131.909 [DAT](INFO): DAT read: Rx Time:18:25:32.3236
2025-06-18T18:25:31.909Z,1750271131.909 [DAT](INFO): Rx dataTimestamp_ set to:1750271131.909193
2025-06-18T18:25:31.910Z,1750271131.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504136
2025-06-18T18:25:32.161Z,1750271132.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755051
2025-06-18T18:25:32.164Z,1750271132.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:32.166Z,1750271132.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 257.745300 m,
bearing: 309.897468 deg,
approach rate: -0.639890 m/s,
LOS rate: -0.005604 deg/s,
cmd heading: 311.874251 deg,
new cmd heading: 311.867154 deg.
2025-06-18T18:25:32.167Z,1750271132.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443109 target range: 285.967133 and range: 288.60 m.
2025-06-18T18:25:32.415Z,1750271132.415 [DAT](INFO): DAT read: Range 10 to 50 : 286.5 m (Round-trip 382.0 ms) speed 0.0 m/s
2025-06-18T18:25:32.417Z,1750271132.417 [DAT](INFO): DAT read: user:1187>
2025-06-18T18:25:32.418Z,1750271132.418 [DAT](INFO): DAT read: Tx time:18:25:33.4375
2025-06-18T18:25:32.419Z,1750271132.419 [DAT](INFO): Ping request sent.
2025-06-18T18:25:32.419Z,1750271132.419 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:32.420Z,1750271132.420 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:25:32.420Z,1750271132.420 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:32.421Z,1750271132.421 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:32.553Z,1750271132.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 286.500000 m,
deltaT: 4.032692 s,
deltaX: -2.100006 m,
approachRate: -0.520745 m/s,
rangeRepo size: 4
2025-06-18T18:25:32.554Z,1750271132.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:32.556Z,1750271132.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 257.497192 m,
bearing: 309.895257 deg,
approach rate: -0.638501 m/s,
LOS rate: -0.005693 deg/s,
cmd heading: 311.867148 deg,
new cmd heading: 311.860511 deg.
2025-06-18T18:25:32.557Z,1750271132.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442993 target range: 285.967133 and range: 286.50 m.
2025-06-18T18:25:32.665Z,1750271132.665 [DAT](INFO): DAT read: TxSync time:18:25:33.4367
2025-06-18T18:25:32.972Z,1750271132.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:32.974Z,1750271132.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:32.977Z,1750271132.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 257.224854 m,
bearing: 309.892315 deg,
approach rate: -0.644774 m/s,
LOS rate: -0.006974 deg/s,
cmd heading: 311.860509 deg,
new cmd heading: 311.851671 deg.
2025-06-18T18:25:32.978Z,1750271132.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442839 target range: 285.967133 and range: 286.50 m.
2025-06-18T18:25:33.169Z,1750271133.169 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:25:33.169Z,1750271133.169 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:25:33.169Z,1750271133.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:33.342Z,1750271133.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:33.345Z,1750271133.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 256.989563 m,
bearing: 309.889837 deg,
approach rate: -0.640295 m/s,
LOS rate: -0.006750 deg/s,
cmd heading: 311.851684 deg,
new cmd heading: 311.844243 deg.
2025-06-18T18:25:33.346Z,1750271133.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442709 target range: 285.967133 and range: 286.50 m.
2025-06-18T18:25:33.422Z,1750271133.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002475
2025-06-18T18:25:33.673Z,1750271133.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253706
2025-06-18T18:25:33.743Z,1750271133.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:33.746Z,1750271133.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 256.732788 m,
bearing: 309.887240 deg,
approach rate: -0.639431 m/s,
LOS rate: -0.006473 deg/s,
cmd heading: 311.844253 deg,
new cmd heading: 311.836455 deg.
2025-06-18T18:25:33.747Z,1750271133.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442573 target range: 285.967133 and range: 286.50 m.
2025-06-18T18:25:33.925Z,1750271133.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505854
2025-06-18T18:25:34.172Z,1750271134.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:34.175Z,1750271134.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 256.463104 m,
bearing: 309.884809 deg,
approach rate: -0.629283 m/s,
LOS rate: -0.005677 deg/s,
cmd heading: 311.836467 deg,
new cmd heading: 311.829168 deg.
2025-06-18T18:25:34.177Z,1750271134.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757864
2025-06-18T18:25:34.178Z,1750271134.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442446 target range: 285.967133 and range: 286.50 m.
2025-06-18T18:25:34.429Z,1750271134.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009893
2025-06-18T18:25:34.555Z,1750271134.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:34.559Z,1750271134.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 256.222168 m,
bearing: 309.882546 deg,
approach rate: -0.629459 m/s,
LOS rate: -0.005920 deg/s,
cmd heading: 311.829172 deg,
new cmd heading: 311.822374 deg.
2025-06-18T18:25:34.560Z,1750271134.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442327 target range: 285.967133 and range: 286.50 m.
2025-06-18T18:25:34.681Z,1750271134.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262115
2025-06-18T18:25:34.935Z,1750271134.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515449
2025-06-18T18:25:35.004Z,1750271135.004 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:35.006Z,1750271135.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:35.009Z,1750271135.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 255.938660 m,
bearing: 309.881777 deg,
approach rate: -0.627693 m/s,
LOS rate: -0.001703 deg/s,
cmd heading: 311.822369 deg,
new cmd heading: 311.820061 deg.
2025-06-18T18:25:35.015Z,1750271135.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442287 target range: 285.967133 and range: 286.50 m.
2025-06-18T18:25:35.185Z,1750271135.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765772
2025-06-18T18:25:35.381Z,1750271135.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:35.383Z,1750271135.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 255.713943 m,
bearing: 309.881119 deg,
approach rate: -0.600532 m/s,
LOS rate: -0.001760 deg/s,
cmd heading: 311.820074 deg,
new cmd heading: 311.818098 deg.
2025-06-18T18:25:35.389Z,1750271135.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442253 target range: 285.967133 and range: 286.50 m.
2025-06-18T18:25:35.437Z,1750271135.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017865
2025-06-18T18:25:35.689Z,1750271135.689 [DAT](INFO): DAT read: Rx Time:18:25:36.2213
2025-06-18T18:25:35.690Z,1750271135.690 [DAT](INFO): Rx dataTimestamp_ set to:1750271135.689282
2025-06-18T18:25:35.690Z,1750271135.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271064
2025-06-18T18:25:35.773Z,1750271135.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:35.777Z,1750271135.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 255.457520 m,
bearing: 309.880331 deg,
approach rate: -0.655425 m/s,
LOS rate: -0.002017 deg/s,
cmd heading: 311.818107 deg,
new cmd heading: 311.815740 deg.
2025-06-18T18:25:35.779Z,1750271135.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442211 target range: 285.967133 and range: 286.50 m.
2025-06-18T18:25:35.943Z,1750271135.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523843
2025-06-18T18:25:36.195Z,1750271136.195 [DAT](INFO): DAT read: Range 10 to 50 : 284.7 m (Round-trip 379.7 ms) speed 0.4 m/s
2025-06-18T18:25:36.199Z,1750271136.199 [DAT](INFO): DAT read: user:1188>
2025-06-18T18:25:36.212Z,1750271136.212 [DAT](INFO): DAT read: Tx time:18:25:37.3375
2025-06-18T18:25:36.213Z,1750271136.213 [DAT](INFO): Ping request sent.
2025-06-18T18:25:36.213Z,1750271136.213 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:36.213Z,1750271136.213 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:25:36.213Z,1750271136.213 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:36.214Z,1750271136.214 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:36.215Z,1750271136.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:36.218Z,1750271136.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 255.193314 m,
bearing: 309.880622 deg,
approach rate: -0.629414 m/s,
LOS rate: 0.000693 deg/s,
cmd heading: 311.815730 deg,
new cmd heading: 311.816603 deg.
2025-06-18T18:25:36.219Z,1750271136.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442226 target range: 285.967133 and range: 286.50 m.
2025-06-18T18:25:36.446Z,1750271136.446 [DAT](INFO): DAT read: TxSync time:18:25:37.3367
2025-06-18T18:25:36.598Z,1750271136.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 284.700012 m,
deltaT: 3.779184 s,
deltaX: -1.799988 m,
approachRate: -0.476290 m/s,
rangeRepo size: 4
2025-06-18T18:25:36.599Z,1750271136.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:36.602Z,1750271136.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 254.952576 m,
bearing: 309.880883 deg,
approach rate: -0.596715 m/s,
LOS rate: 0.000648 deg/s,
cmd heading: 311.816604 deg,
new cmd heading: 311.817389 deg.
2025-06-18T18:25:36.603Z,1750271136.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442240 target range: 285.967133 and range: 284.70 m.
2025-06-18T18:25:37.033Z,1750271137.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:37.035Z,1750271137.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:37.042Z,1750271137.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 254.661865 m,
bearing: 309.882043 deg,
approach rate: -0.660854 m/s,
LOS rate: 0.002640 deg/s,
cmd heading: 311.817397 deg,
new cmd heading: 311.820881 deg.
2025-06-18T18:25:37.043Z,1750271137.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442301 target range: 285.967133 and range: 284.70 m.
2025-06-18T18:25:37.201Z,1750271137.201 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:25:37.201Z,1750271137.201 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:25:37.201Z,1750271137.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:37.409Z,1750271137.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:37.412Z,1750271137.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 254.432281 m,
bearing: 309.882961 deg,
approach rate: -0.613434 m/s,
LOS rate: 0.002455 deg/s,
cmd heading: 311.820894 deg,
new cmd heading: 311.823650 deg.
2025-06-18T18:25:37.413Z,1750271137.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442349 target range: 285.967133 and range: 284.70 m.
2025-06-18T18:25:37.453Z,1750271137.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240495
2025-06-18T18:25:37.705Z,1750271137.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491952
2025-06-18T18:25:37.804Z,1750271137.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:37.806Z,1750271137.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 254.177505 m,
bearing: 309.883982 deg,
approach rate: -0.646207 m/s,
LOS rate: 0.002592 deg/s,
cmd heading: 311.823653 deg,
new cmd heading: 311.826719 deg.
2025-06-18T18:25:37.807Z,1750271137.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442403 target range: 285.967133 and range: 284.70 m.
2025-06-18T18:25:37.959Z,1750271137.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745916
2025-06-18T18:25:38.209Z,1750271138.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996037
2025-06-18T18:25:38.222Z,1750271138.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:38.225Z,1750271138.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 253.913284 m,
bearing: 309.886147 deg,
approach rate: -0.631992 m/s,
LOS rate: 0.005184 deg/s,
cmd heading: 311.826713 deg,
new cmd heading: 311.833215 deg.
2025-06-18T18:25:38.226Z,1750271138.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442516 target range: 285.967133 and range: 284.70 m.
2025-06-18T18:25:38.461Z,1750271138.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248052
2025-06-18T18:25:38.599Z,1750271138.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:38.602Z,1750271138.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 253.674805 m,
bearing: 309.888067 deg,
approach rate: -0.632237 m/s,
LOS rate: 0.005095 deg/s,
cmd heading: 311.833215 deg,
new cmd heading: 311.838981 deg.
2025-06-18T18:25:38.603Z,1750271138.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442617 target range: 285.967133 and range: 284.70 m.
2025-06-18T18:25:38.713Z,1750271138.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500461
2025-06-18T18:25:38.967Z,1750271138.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753694
2025-06-18T18:25:39.054Z,1750271139.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:39.088Z,1750271139.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:39.091Z,1750271139.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 253.384262 m,
bearing: 309.890403 deg,
approach rate: -0.635474 m/s,
LOS rate: 0.005114 deg/s,
cmd heading: 311.838980 deg,
new cmd heading: 311.845995 deg.
2025-06-18T18:25:39.096Z,1750271139.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442739 target range: 285.967133 and range: 284.70 m.
2025-06-18T18:25:39.218Z,1750271139.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004686
2025-06-18T18:25:39.445Z,1750271139.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:39.448Z,1750271139.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 253.136444 m,
bearing: 309.892414 deg,
approach rate: -0.636511 m/s,
LOS rate: 0.005170 deg/s,
cmd heading: 311.846002 deg,
new cmd heading: 311.852041 deg.
2025-06-18T18:25:39.449Z,1750271139.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442845 target range: 285.967133 and range: 284.70 m.
2025-06-18T18:25:39.477Z,1750271139.477 [DAT](INFO): DAT read: Rx Time:18:25:40.1179
2025-06-18T18:25:39.478Z,1750271139.478 [DAT](INFO): Rx dataTimestamp_ set to:1750271139.477642
2025-06-18T18:25:39.479Z,1750271139.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266012
2025-06-18T18:25:39.729Z,1750271139.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515958
2025-06-18T18:25:39.814Z,1750271139.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.97 m.
2025-06-18T18:25:39.817Z,1750271139.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 285.967133 m,
nav range: 252.901825 m,
bearing: 309.894309 deg,
approach rate: -0.636538 m/s,
LOS rate: 0.005146 deg/s,
cmd heading: 311.852039 deg,
new cmd heading: 311.857729 deg.
2025-06-18T18:25:39.818Z,1750271139.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442944 target range: 285.967133 and range: 284.70 m.
2025-06-18T18:25:39.983Z,1750271139.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769924
2025-06-18T18:25:40.239Z,1750271140.239 [DAT](INFO): DAT read: 18:25:40.1179 LVL= 30512, 30113, 27634, 32755, AGC= 64, IDX= 409,-0.22, 2.597, 0.936, 2.657, 1.772, PHS= 0.913,-0.789, 0.882, RAW= 149.1, -11.9, CAL= 156.2, -19.8, ROT= 353.8, 19.8
2025-06-18T18:25:40.240Z,1750271140.240 [DAT](INFO): got valid direction response:
18:25:40.1179 LVL= 30512, 30113, 27634, 32755, AGC= 64, IDX= 409,-0.22, 2.597, 0.936, 2.657, 1.772, PHS= 0.913,-0.789, 0.882, RAW= 149.1, -11.9, CAL= 156.2, -19.8, ROT= 353.8, 19.8
2025-06-18T18:25:40.241Z,1750271140.241 [DAT](INFO): DAT read: Bearing 353.8, 19.8 (Local)
2025-06-18T18:25:40.242Z,1750271140.242 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.8, 19.8 (Local)
2025-06-18T18:25:40.243Z,1750271140.243 [DAT](INFO): DAT read: Range 10 to 50 : 282.1 m (Round-trip 376.2 ms) speed 0.4 m/s
2025-06-18T18:25:40.244Z,1750271140.244 [DAT](INFO): DAT read: user:1189>
2025-06-18T18:25:40.245Z,1750271140.245 [DAT](INFO): DAT read: Tx time:18:25:41.2375
2025-06-18T18:25:40.245Z,1750271140.245 [DAT](INFO): Ping request sent.
2025-06-18T18:25:40.245Z,1750271140.245 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:40.245Z,1750271140.245 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:25:40.246Z,1750271140.246 [DAT](INFO): direction in FSK: [0.935378,-0.101614,-0.338738]
2025-06-18T18:25:40.247Z,1750271140.247 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:40.247Z,1750271140.247 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:40.254Z,1750271140.254 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:40.254Z,1750271140.254 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:40.460Z,1750271140.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 282.100006 m,
deltaT: 4.040188 s,
deltaX: -2.600006 m,
approachRate: -0.643536 m/s,
rangeRepo size: 4
2025-06-18T18:25:40.462Z,1750271140.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 279.526062 m,
bearing: 307.300012 deg,
lat: 36.905803 deg,
lon: -122.115925 deg,
deltaT: 11.852064 s,
deltaX: -6.441071 m,
approachRate: -0.543456 m/s,
posRepo size: 4
2025-06-18T18:25:40.463Z,1750271140.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:40.470Z,1750271140.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 252.507370 m,
bearing: 309.896532 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.005146 deg/s,
cmd heading: 311.857722 deg,
new cmd heading: 311.867557 deg.
2025-06-18T18:25:40.471Z,1750271140.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443116 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:40.485Z,1750271140.485 [DAT](INFO): DAT read: TxSync time:18:25:41.2368
2025-06-18T18:25:40.771Z,1750271140.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:40.778Z,1750271140.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 252.292175 m,
bearing: 309.897825 deg,
approach rate: -0.671575 m/s,
LOS rate: 0.004039 deg/s,
cmd heading: 311.867558 deg,
new cmd heading: 311.871440 deg.
2025-06-18T18:25:40.779Z,1750271140.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443183 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:41.193Z,1750271141.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:41.195Z,1750271141.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:41.198Z,1750271141.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 252.016815 m,
bearing: 309.897992 deg,
approach rate: -0.650424 m/s,
LOS rate: 0.000396 deg/s,
cmd heading: 311.871437 deg,
new cmd heading: 311.871940 deg.
2025-06-18T18:25:41.199Z,1750271141.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443192 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:41.241Z,1750271141.241 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:25:41.241Z,1750271141.241 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:25:41.242Z,1750271141.242 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:41.493Z,1750271141.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247634
2025-06-18T18:25:41.636Z,1750271141.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:41.638Z,1750271141.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 251.732376 m,
bearing: 309.898239 deg,
approach rate: -0.645443 m/s,
LOS rate: 0.000560 deg/s,
cmd heading: 311.871929 deg,
new cmd heading: 311.872669 deg.
2025-06-18T18:25:41.639Z,1750271141.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443205 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:41.745Z,1750271141.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500009
2025-06-18T18:25:41.000Z,1750271142.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754282
2025-06-18T18:25:42.022Z,1750271142.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:42.045Z,1750271142.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 251.512772 m,
bearing: 309.898377 deg,
approach rate: -0.569956 m/s,
LOS rate: 0.000361 deg/s,
cmd heading: 311.872667 deg,
new cmd heading: 311.873084 deg.
2025-06-18T18:25:42.046Z,1750271142.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443212 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:42.249Z,1750271142.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003694
2025-06-18T18:25:42.409Z,1750271142.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:42.416Z,1750271142.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 251.245758 m,
bearing: 309.896863 deg,
approach rate: -0.687081 m/s,
LOS rate: -0.003901 deg/s,
cmd heading: 311.873076 deg,
new cmd heading: 311.868529 deg.
2025-06-18T18:25:42.421Z,1750271142.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443133 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:42.501Z,1750271142.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255820
2025-06-18T18:25:42.708Z,1750271142.708 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:25:42.753Z,1750271142.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507835
2025-06-18T18:25:42.785Z,1750271142.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:42.804Z,1750271142.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 250.994720 m,
bearing: 309.895414 deg,
approach rate: -0.668172 m/s,
LOS rate: -0.003861 deg/s,
cmd heading: 311.868541 deg,
new cmd heading: 311.864189 deg.
2025-06-18T18:25:42.805Z,1750271142.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443057 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:43.008Z,1750271143.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762056
2025-06-18T18:25:43.201Z,1750271143.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:43.203Z,1750271143.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:43.210Z,1750271143.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 250.733688 m,
bearing: 309.893768 deg,
approach rate: -0.625147 m/s,
LOS rate: -0.003947 deg/s,
cmd heading: 311.864197 deg,
new cmd heading: 311.859253 deg.
2025-06-18T18:25:43.211Z,1750271143.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442971 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:43.258Z,1750271143.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012578
2025-06-18T18:25:43.509Z,1750271143.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263809
2025-06-18T18:25:43.577Z,1750271143.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:43.580Z,1750271143.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 250.473938 m,
bearing: 309.892147 deg,
approach rate: -0.693917 m/s,
LOS rate: -0.004334 deg/s,
cmd heading: 311.859252 deg,
new cmd heading: 311.854385 deg.
2025-06-18T18:25:43.581Z,1750271143.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442886 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:43.713Z,1750271143.713 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:25:43.765Z,1750271143.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519718
2025-06-18T18:25:43.994Z,1750271143.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:43.996Z,1750271143.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 250.214340 m,
bearing: 309.890549 deg,
approach rate: -0.623022 m/s,
LOS rate: -0.003838 deg/s,
cmd heading: 311.854389 deg,
new cmd heading: 311.849591 deg.
2025-06-18T18:25:43.997Z,1750271143.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442802 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:44.018Z,1750271144.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772073
2025-06-18T18:25:44.265Z,1750271144.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019720
2025-06-18T18:25:44.398Z,1750271144.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:44.440Z,1750271144.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 249.938858 m,
bearing: 309.889059 deg,
approach rate: -0.680739 m/s,
LOS rate: -0.003688 deg/s,
cmd heading: 311.849581 deg,
new cmd heading: 311.845103 deg.
2025-06-18T18:25:44.441Z,1750271144.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442724 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:44.518Z,1750271144.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272303
2025-06-18T18:25:44.769Z,1750271144.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523793
2025-06-18T18:25:44.797Z,1750271144.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:44.807Z,1750271144.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 249.691635 m,
bearing: 309.887753 deg,
approach rate: -0.619943 m/s,
LOS rate: -0.003277 deg/s,
cmd heading: 311.845100 deg,
new cmd heading: 311.841179 deg.
2025-06-18T18:25:44.818Z,1750271144.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442655 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:45.021Z,1750271145.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775789
2025-06-18T18:25:45.217Z,1750271145.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:45.219Z,1750271145.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:45.226Z,1750271145.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 249.418060 m,
bearing: 309.885529 deg,
approach rate: -0.648721 m/s,
LOS rate: -0.005280 deg/s,
cmd heading: 311.841166 deg,
new cmd heading: 311.834485 deg.
2025-06-18T18:25:45.227Z,1750271145.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442538 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:45.277Z,1750271145.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031337
2025-06-18T18:25:45.525Z,1750271145.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279994
2025-06-18T18:25:45.636Z,1750271145.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:45.639Z,1750271145.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 249.154404 m,
bearing: 309.883377 deg,
approach rate: -0.631723 m/s,
LOS rate: -0.005161 deg/s,
cmd heading: 311.834472 deg,
new cmd heading: 311.828010 deg.
2025-06-18T18:25:45.648Z,1750271145.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442425 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:45.777Z,1750271145.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531817
2025-06-18T18:25:45.994Z,1750271145.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:45.997Z,1750271145.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 248.904205 m,
bearing: 309.881327 deg,
approach rate: -0.699409 m/s,
LOS rate: -0.005735 deg/s,
cmd heading: 311.827997 deg,
new cmd heading: 311.821842 deg.
2025-06-18T18:25:45.998Z,1750271145.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442318 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:46.029Z,1750271146.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784194
2025-06-18T18:25:46.281Z,1750271146.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035708
2025-06-18T18:25:46.427Z,1750271146.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:46.430Z,1750271146.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 248.621185 m,
bearing: 309.878402 deg,
approach rate: -0.653071 m/s,
LOS rate: -0.006758 deg/s,
cmd heading: 311.821850 deg,
new cmd heading: 311.813064 deg.
2025-06-18T18:25:46.431Z,1750271146.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442164 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:46.533Z,1750271146.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287822
2025-06-18T18:25:46.785Z,1750271146.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539619
2025-06-18T18:25:46.803Z,1750271146.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:46.806Z,1750271146.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 248.375992 m,
bearing: 309.875849 deg,
approach rate: -0.652690 m/s,
LOS rate: -0.006802 deg/s,
cmd heading: 311.813053 deg,
new cmd heading: 311.805387 deg.
2025-06-18T18:25:46.807Z,1750271146.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442030 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:47.037Z,1750271147.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791824
2025-06-18T18:25:47.251Z,1750271147.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:47.258Z,1750271147.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:47.269Z,1750271147.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 248.101990 m,
bearing: 309.873150 deg,
approach rate: -0.602491 m/s,
LOS rate: -0.005941 deg/s,
cmd heading: 311.805376 deg,
new cmd heading: 311.797271 deg.
2025-06-18T18:25:47.270Z,1750271147.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441889 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:47.289Z,1750271147.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044038
2025-06-18T18:25:47.541Z,1750271147.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.295871
2025-06-18T18:25:47.614Z,1750271147.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:47.617Z,1750271147.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 247.855896 m,
bearing: 309.870716 deg,
approach rate: -0.691352 m/s,
LOS rate: -0.006847 deg/s,
cmd heading: 311.797261 deg,
new cmd heading: 311.789950 deg.
2025-06-18T18:25:47.618Z,1750271147.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441761 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:47.794Z,1750271147.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548464
2025-06-18T18:25:48.012Z,1750271148.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:48.015Z,1750271148.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 247.600540 m,
bearing: 309.868156 deg,
approach rate: -0.641462 m/s,
LOS rate: -0.006436 deg/s,
cmd heading: 311.789939 deg,
new cmd heading: 311.782254 deg.
2025-06-18T18:25:48.016Z,1750271148.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441627 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:48.047Z,1750271148.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802036
2025-06-18T18:25:48.297Z,1750271148.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051686
2025-06-18T18:25:48.449Z,1750271148.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:48.451Z,1750271148.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 247.328171 m,
bearing: 309.865860 deg,
approach rate: -0.623227 m/s,
LOS rate: -0.005259 deg/s,
cmd heading: 311.782262 deg,
new cmd heading: 311.775367 deg.
2025-06-18T18:25:48.453Z,1750271148.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441507 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:48.549Z,1750271148.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303912
2025-06-18T18:25:48.801Z,1750271148.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.555862
2025-06-18T18:25:48.825Z,1750271148.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:48.832Z,1750271148.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 247.094116 m,
bearing: 309.863846 deg,
approach rate: -0.623994 m/s,
LOS rate: -0.005375 deg/s,
cmd heading: 311.775377 deg,
new cmd heading: 311.769330 deg.
2025-06-18T18:25:48.833Z,1750271148.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441401 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:49.054Z,1750271149.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808430
2025-06-18T18:25:49.265Z,1750271149.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:49.267Z,1750271149.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:49.269Z,1750271149.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 246.818771 m,
bearing: 309.861905 deg,
approach rate: -0.622036 m/s,
LOS rate: -0.004390 deg/s,
cmd heading: 311.769340 deg,
new cmd heading: 311.763509 deg.
2025-06-18T18:25:49.270Z,1750271149.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441300 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:49.306Z,1750271149.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060265
2025-06-18T18:25:49.559Z,1750271149.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.313617
2025-06-18T18:25:49.641Z,1750271149.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:49.644Z,1750271149.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 246.585358 m,
bearing: 309.860214 deg,
approach rate: -0.623492 m/s,
LOS rate: -0.004521 deg/s,
cmd heading: 311.763520 deg,
new cmd heading: 311.758443 deg.
2025-06-18T18:25:49.645Z,1750271149.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441211 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:49.809Z,1750271149.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.563700
2025-06-18T18:25:50.038Z,1750271150.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:50.041Z,1750271150.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 246.338226 m,
bearing: 309.858411 deg,
approach rate: -0.622863 m/s,
LOS rate: -0.004551 deg/s,
cmd heading: 311.758439 deg,
new cmd heading: 311.753022 deg.
2025-06-18T18:25:50.042Z,1750271150.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441117 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:50.061Z,1750271150.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.815816
2025-06-18T18:25:50.312Z,1750271150.312 [DAT](INFO): Reached modem response timeout
2025-06-18T18:25:50.313Z,1750271150.313 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:25:50.313Z,1750271150.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:50.565Z,1750271150.565 [DAT](INFO): Reached modem response timeout
2025-06-18T18:25:50.565Z,1750271150.565 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:25:50.565Z,1750271150.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:50.609Z,1750271150.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:50.616Z,1750271150.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 245.998352 m,
bearing: 309.857900 deg,
approach rate: -0.594914 m/s,
LOS rate: -0.000894 deg/s,
cmd heading: 311.753029 deg,
new cmd heading: 311.751496 deg.
2025-06-18T18:25:50.617Z,1750271150.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441090 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:50.816Z,1750271150.816 [DAT](INFO): Reached modem response timeout
2025-06-18T18:25:50.817Z,1750271150.817 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:25:50.817Z,1750271150.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:50.923Z,1750271150.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:50.926Z,1750271150.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 245.788177 m,
bearing: 309.857562 deg,
approach rate: -0.669365 m/s,
LOS rate: -0.001080 deg/s,
cmd heading: 311.751499 deg,
new cmd heading: 311.750482 deg.
2025-06-18T18:25:50.927Z,1750271150.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441072 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:51.069Z,1750271151.069 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:25:51.069Z,1750271151.069 [DAT](INFO): response not received
2025-06-18T18:25:51.070Z,1750271151.070 [DAT](INFO): DAT read: user:1190>
2025-06-18T18:25:51.071Z,1750271151.071 [DAT](INFO): DAT read: Tx time:18:25:52.1876
2025-06-18T18:25:51.071Z,1750271151.071 [DAT](INFO): Ping request sent.
2025-06-18T18:25:51.071Z,1750271151.071 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:51.071Z,1750271151.071 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:51.072Z,1750271151.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-06-18T18:25:51.321Z,1750271151.321 [DAT](INFO): DAT read: TxSync time:18:25:52.1869
2025-06-18T18:25:51.322Z,1750271151.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250814
2025-06-18T18:25:51.362Z,1750271151.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:51.365Z,1750271151.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:51.367Z,1750271151.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 245.513046 m,
bearing: 309.858841 deg,
approach rate: -0.622859 m/s,
LOS rate: 0.002901 deg/s,
cmd heading: 311.750488 deg,
new cmd heading: 311.754332 deg.
2025-06-18T18:25:51.369Z,1750271151.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441140 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:51.575Z,1750271151.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503649
2025-06-18T18:25:51.742Z,1750271151.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:51.745Z,1750271151.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 245.277405 m,
bearing: 309.860133 deg,
approach rate: -0.625163 m/s,
LOS rate: 0.003430 deg/s,
cmd heading: 311.754340 deg,
new cmd heading: 311.758219 deg.
2025-06-18T18:25:51.746Z,1750271151.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441207 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:51.826Z,1750271151.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754656
2025-06-18T18:25:52.077Z,1750271152.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005809
2025-06-18T18:25:52.175Z,1750271152.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:52.191Z,1750271152.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 245.034958 m,
bearing: 309.861503 deg,
approach rate: -0.561685 m/s,
LOS rate: 0.003178 deg/s,
cmd heading: 311.758220 deg,
new cmd heading: 311.762335 deg.
2025-06-18T18:25:52.197Z,1750271152.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441279 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:52.329Z,1750271152.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258217
2025-06-18T18:25:52.558Z,1750271152.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:52.561Z,1750271152.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 244.766754 m,
bearing: 309.863239 deg,
approach rate: -0.696771 m/s,
LOS rate: 0.004514 deg/s,
cmd heading: 311.762345 deg,
new cmd heading: 311.767558 deg.
2025-06-18T18:25:52.562Z,1750271152.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441370 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:52.581Z,1750271152.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510137
2025-06-18T18:25:52.833Z,1750271152.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761908
2025-06-18T18:25:52.930Z,1750271152.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:52.933Z,1750271152.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 244.533279 m,
bearing: 309.864727 deg,
approach rate: -0.627180 m/s,
LOS rate: 0.004002 deg/s,
cmd heading: 311.767564 deg,
new cmd heading: 311.772033 deg.
2025-06-18T18:25:52.934Z,1750271152.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441449 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:53.085Z,1750271153.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013894
2025-06-18T18:25:53.337Z,1750271153.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265948
2025-06-18T18:25:53.393Z,1750271153.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:53.396Z,1750271153.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:53.398Z,1750271153.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 244.247711 m,
bearing: 309.866138 deg,
approach rate: -0.614050 m/s,
LOS rate: 0.003038 deg/s,
cmd heading: 311.772044 deg,
new cmd heading: 311.776282 deg.
2025-06-18T18:25:53.399Z,1750271153.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441523 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:53.589Z,1750271153.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517737
2025-06-18T18:25:53.809Z,1750271153.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:53.812Z,1750271153.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 243.973862 m,
bearing: 309.867503 deg,
approach rate: -0.662224 m/s,
LOS rate: 0.003304 deg/s,
cmd heading: 311.776279 deg,
new cmd heading: 311.780378 deg.
2025-06-18T18:25:53.814Z,1750271153.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441594 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:53.842Z,1750271153.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770748
2025-06-18T18:25:54.093Z,1750271154.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022012
2025-06-18T18:25:54.244Z,1750271154.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:54.246Z,1750271154.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 243.704819 m,
bearing: 309.868847 deg,
approach rate: -0.624937 m/s,
LOS rate: 0.003125 deg/s,
cmd heading: 311.780377 deg,
new cmd heading: 311.784413 deg.
2025-06-18T18:25:54.248Z,1750271154.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441665 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:54.346Z,1750271154.346 [DAT](INFO): DAT read: Rx Time:18:25:54.9571
2025-06-18T18:25:54.347Z,1750271154.347 [DAT](INFO): Rx dataTimestamp_ set to:1750271154.346749
2025-06-18T18:25:54.348Z,1750271154.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277083
2025-06-18T18:25:54.583Z,1750271154.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:54.586Z,1750271154.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 243.481125 m,
bearing: 309.869316 deg,
approach rate: -0.651015 m/s,
LOS rate: 0.001365 deg/s,
cmd heading: 311.784421 deg,
new cmd heading: 311.785828 deg.
2025-06-18T18:25:54.587Z,1750271154.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441689 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:54.597Z,1750271154.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525919
2025-06-18T18:25:54.852Z,1750271154.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780946
2025-06-18T18:25:55.035Z,1750271155.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.53 m.
2025-06-18T18:25:55.038Z,1750271155.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.526062 m,
nav range: 243.193466 m,
bearing: 309.869984 deg,
approach rate: -0.636710 m/s,
LOS rate: 0.001481 deg/s,
cmd heading: 311.785841 deg,
new cmd heading: 311.787848 deg.
2025-06-18T18:25:55.039Z,1750271155.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441724 target range: 279.526062 and range: 282.10 m.
2025-06-18T18:25:55.111Z,1750271155.111 [DAT](INFO): DAT read: 18:25:54.9571 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 296, 0.23,-0.582,-1.745,-0.559,-1.347, PHS= 0.853,-0.351, 0.785, RAW= 147.1, -21.2, CAL= 152.3, -28.3, ROT= 357.7, 28.3
2025-06-18T18:25:55.112Z,1750271155.112 [DAT](INFO): got valid direction response:
18:25:54.9571 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 296, 0.23,-0.582,-1.745,-0.559,-1.347, PHS= 0.853,-0.351, 0.785, RAW= 147.1, -21.2, CAL= 152.3, -28.3, ROT= 357.7, 28.3
2025-06-18T18:25:55.113Z,1750271155.113 [DAT](INFO): DAT read: Bearing 357.7, 28.3 (Local)
2025-06-18T18:25:55.113Z,1750271155.113 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.7, 28.3 (Local)
2025-06-18T18:25:55.120Z,1750271155.120 [DAT](INFO): DAT read: Range 10 to 50 : 273.9 m (Round-trip 365.3 ms) speed 0.8 m/s
2025-06-18T18:25:55.121Z,1750271155.121 [DAT](INFO): DAT read: user:1191>
2025-06-18T18:25:55.123Z,1750271155.123 [DAT](INFO): DAT read: Tx time:18:25:56.0376
2025-06-18T18:25:55.123Z,1750271155.123 [DAT](INFO): Ping request sent.
2025-06-18T18:25:55.123Z,1750271155.123 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:55.129Z,1750271155.129 [DAT](INFO): DAT read: TxSync time:18:25:56.0369
2025-06-18T18:25:55.130Z,1750271155.130 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:25:55.131Z,1750271155.131 [DAT](INFO): direction in FSK: [0.879768,-0.035335,-0.474088]
2025-06-18T18:25:55.132Z,1750271155.132 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:55.137Z,1750271155.137 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:55.147Z,1750271155.147 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:55.147Z,1750271155.147 [DAT](INFO): publishing direction and range info
2025-06-18T18:25:55.463Z,1750271155.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 273.899994 m,
deltaT: 14.869846 s,
deltaX: -8.200012 m,
approachRate: -0.551452 m/s,
rangeRepo size: 4
2025-06-18T18:25:55.470Z,1750271155.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 271.401337 m,
bearing: 311.687898 deg,
lat: 36.905803 deg,
lon: -122.115925 deg,
deltaT: 14.869846 s,
deltaX: -8.124725 m,
approachRate: -0.546389 m/s,
posRepo size: 4
2025-06-18T18:25:55.471Z,1750271155.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:25:55.478Z,1750271155.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 242.932480 m,
bearing: 309.870207 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001481 deg/s,
cmd heading: 311.787836 deg,
new cmd heading: 311.789735 deg.
2025-06-18T18:25:55.479Z,1750271155.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441758 target range: 271.401337 and range: 273.90 m.
2025-06-18T18:25:55.774Z,1750271155.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:55.777Z,1750271155.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:25:55.779Z,1750271155.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 242.723541 m,
bearing: 309.870531 deg,
approach rate: -0.664944 m/s,
LOS rate: 0.001030 deg/s,
cmd heading: 311.789748 deg,
new cmd heading: 311.790719 deg.
2025-06-18T18:25:55.825Z,1750271155.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441775 target range: 271.401337 and range: 273.90 m.
2025-06-18T18:25:55.857Z,1750271155.857 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:25:55.857Z,1750271155.857 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:25:55.857Z,1750271155.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:25:56.110Z,1750271156.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987494
2025-06-18T18:25:56.206Z,1750271156.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:25:56.246Z,1750271156.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 242.463104 m,
bearing: 309.870959 deg,
approach rate: -0.609432 m/s,
LOS rate: 0.001002 deg/s,
cmd heading: 311.790732 deg,
new cmd heading: 311.792016 deg.
2025-06-18T18:25:56.252Z,1750271156.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441797 target range: 271.401337 and range: 273.90 m.
2025-06-18T18:25:56.361Z,1750271156.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238299
2025-06-18T18:25:56.610Z,1750271156.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:25:56.613Z,1750271156.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489899
2025-06-18T18:25:56.614Z,1750271156.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 242.192703 m,
bearing: 309.870091 deg,
approach rate: -0.666053 m/s,
LOS rate: -0.002140 deg/s,
cmd heading: 311.792016 deg,
new cmd heading: 311.789409 deg.
2025-06-18T18:25:56.615Z,1750271156.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441752 target range: 271.401337 and range: 273.90 m.
2025-06-18T18:25:56.866Z,1750271156.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742236
2025-06-18T18:25:56.979Z,1750271156.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:25:56.982Z,1750271156.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 241.957092 m,
bearing: 309.869260 deg,
approach rate: -0.638689 m/s,
LOS rate: -0.002254 deg/s,
cmd heading: 311.789420 deg,
new cmd heading: 311.786926 deg.
2025-06-18T18:25:56.983Z,1750271156.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441709 target range: 271.401337 and range: 273.90 m.
2025-06-18T18:25:57.120Z,1750271157.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996542
2025-06-18T18:25:57.369Z,1750271157.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245694
2025-06-18T18:25:57.423Z,1750271157.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:25:57.426Z,1750271157.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 241.672058 m,
bearing: 309.867412 deg,
approach rate: -0.641560 m/s,
LOS rate: -0.004164 deg/s,
cmd heading: 311.786934 deg,
new cmd heading: 311.781384 deg.
2025-06-18T18:25:57.427Z,1750271157.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441612 target range: 271.401337 and range: 273.90 m.
2025-06-18T18:25:57.621Z,1750271157.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498228
2025-06-18T18:25:57.791Z,1750271157.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:57.793Z,1750271157.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:25:57.795Z,1750271157.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 241.434937 m,
bearing: 309.865871 deg,
approach rate: -0.641335 m/s,
LOS rate: -0.004171 deg/s,
cmd heading: 311.781388 deg,
new cmd heading: 311.776762 deg.
2025-06-18T18:25:57.797Z,1750271157.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441531 target range: 271.401337 and range: 273.90 m.
2025-06-18T18:25:57.874Z,1750271157.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750817
2025-06-18T18:25:58.125Z,1750271158.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001746
2025-06-18T18:25:58.188Z,1750271158.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:25:58.191Z,1750271158.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 241.181198 m,
bearing: 309.864160 deg,
approach rate: -0.642307 m/s,
LOS rate: -0.004336 deg/s,
cmd heading: 311.776771 deg,
new cmd heading: 311.771632 deg.
2025-06-18T18:25:58.195Z,1750271158.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441442 target range: 271.401337 and range: 273.90 m.
2025-06-18T18:25:58.377Z,1750271158.377 [DAT](INFO): DAT read: Rx Time:18:25:58.8033
2025-06-18T18:25:58.378Z,1750271158.378 [DAT](INFO): Rx dataTimestamp_ set to:1750271158.377414
2025-06-18T18:25:58.378Z,1750271158.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255260
2025-06-18T18:25:58.609Z,1750271158.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:25:58.612Z,1750271158.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 240.916962 m,
bearing: 309.860849 deg,
approach rate: -0.627047 m/s,
LOS rate: -0.007868 deg/s,
cmd heading: 311.771634 deg,
new cmd heading: 311.761688 deg.
2025-06-18T18:25:58.613Z,1750271158.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441268 target range: 271.401337 and range: 273.90 m.
2025-06-18T18:25:58.631Z,1750271158.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508149
2025-06-18T18:25:58.883Z,1750271158.883 [DAT](INFO): DAT read: Range 10 to 50 : 271.1 m (Round-trip 361.5 ms) speed 0.4 m/s
2025-06-18T18:25:58.884Z,1750271158.884 [DAT](INFO): DAT read: user:1192>
2025-06-18T18:25:58.885Z,1750271158.885 [DAT](INFO): DAT read: Tx time:18:25:59.8876
2025-06-18T18:25:58.886Z,1750271158.886 [DAT](INFO): Ping request sent.
2025-06-18T18:25:58.886Z,1750271158.886 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:25:58.886Z,1750271158.886 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:25:58.887Z,1750271158.887 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:58.887Z,1750271158.887 [DAT](INFO): publishing transmit ping time
2025-06-18T18:25:59.017Z,1750271159.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 271.100006 m,
deltaT: 3.778251 s,
deltaX: -2.799988 m,
approachRate: -0.741080 m/s,
rangeRepo size: 4
2025-06-18T18:25:59.018Z,1750271159.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:25:59.021Z,1750271159.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 240.660980 m,
bearing: 309.857604 deg,
approach rate: -0.628712 m/s,
LOS rate: -0.007978 deg/s,
cmd heading: 311.761690 deg,
new cmd heading: 311.751945 deg.
2025-06-18T18:25:59.022Z,1750271159.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441098 target range: 271.401337 and range: 271.10 m.
2025-06-18T18:25:59.133Z,1750271159.133 [DAT](INFO): DAT read: TxSync time:18:25:59.8869
2025-06-18T18:25:59.451Z,1750271159.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:25:59.458Z,1750271159.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 240.401718 m,
bearing: 309.854660 deg,
approach rate: -0.596873 m/s,
LOS rate: -0.006784 deg/s,
cmd heading: 311.751936 deg,
new cmd heading: 311.743097 deg.
2025-06-18T18:25:59.459Z,1750271159.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440943 target range: 271.401337 and range: 271.10 m.
2025-06-18T18:25:59.804Z,1750271159.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:25:59.806Z,1750271159.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:25:59.809Z,1750271159.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 240.146698 m,
bearing: 309.851904 deg,
approach rate: -0.717370 m/s,
LOS rate: -0.007762 deg/s,
cmd heading: 311.743084 deg,
new cmd heading: 311.734806 deg.
2025-06-18T18:25:59.810Z,1750271159.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440799 target range: 271.401337 and range: 271.10 m.
2025-06-18T18:25:59.890Z,1750271159.890 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:25:59.890Z,1750271159.890 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:25:59.891Z,1750271159.891 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:00.141Z,1750271160.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255011
2025-06-18T18:26:00.207Z,1750271160.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:26:00.210Z,1750271160.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 239.885223 m,
bearing: 309.849105 deg,
approach rate: -0.652774 m/s,
LOS rate: -0.006994 deg/s,
cmd heading: 311.734806 deg,
new cmd heading: 311.726401 deg.
2025-06-18T18:26:00.211Z,1750271160.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440652 target range: 271.401337 and range: 271.10 m.
2025-06-18T18:26:00.393Z,1750271160.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507025
2025-06-18T18:26:00.628Z,1750271160.628 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD11.83, +3664.40, -0.57, 20.00,635.36
2025-06-18T18:26:00.645Z,1750271160.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759069
2025-06-18T18:26:00.648Z,1750271160.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:26:00.651Z,1750271160.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 239.598755 m,
bearing: 309.846032 deg,
approach rate: -0.648782 m/s,
LOS rate: -0.006968 deg/s,
cmd heading: 311.726391 deg,
new cmd heading: 311.717161 deg.
2025-06-18T18:26:00.652Z,1750271160.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440491 target range: 271.401337 and range: 271.10 m.
2025-06-18T18:26:00.898Z,1750271160.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011571
2025-06-18T18:26:01.028Z,1750271161.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:26:01.031Z,1750271161.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 239.350403 m,
bearing: 309.843362 deg,
approach rate: -0.654507 m/s,
LOS rate: -0.007044 deg/s,
cmd heading: 311.717157 deg,
new cmd heading: 311.709138 deg.
2025-06-18T18:26:01.032Z,1750271161.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440351 target range: 271.401337 and range: 271.10 m.
2025-06-18T18:26:01.149Z,1750271161.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262993
2025-06-18T18:26:01.401Z,1750271161.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514887
2025-06-18T18:26:01.487Z,1750271161.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:26:01.490Z,1750271161.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 239.053940 m,
bearing: 309.841693 deg,
approach rate: -0.646092 m/s,
LOS rate: -0.003642 deg/s,
cmd heading: 311.709125 deg,
new cmd heading: 311.704110 deg.
2025-06-18T18:26:01.491Z,1750271161.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440263 target range: 271.401337 and range: 271.10 m.
2025-06-18T18:26:01.654Z,1750271161.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767716
2025-06-18T18:26:01.830Z,1750271161.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:01.833Z,1750271161.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:26:01.835Z,1750271161.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 238.840530 m,
bearing: 309.840498 deg,
approach rate: -0.617035 m/s,
LOS rate: -0.003460 deg/s,
cmd heading: 311.704098 deg,
new cmd heading: 311.700508 deg.
2025-06-18T18:26:01.837Z,1750271161.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440200 target range: 271.401337 and range: 271.10 m.
2025-06-18T18:26:01.905Z,1750271161.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019167
2025-06-18T18:26:02.157Z,1750271162.157 [DAT](INFO): DAT read: Rx Time:18:26:02.6513
2025-06-18T18:26:02.158Z,1750271162.158 [DAT](INFO): Rx dataTimestamp_ set to:1750271162.157300
2025-06-18T18:26:02.158Z,1750271162.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272327
2025-06-18T18:26:02.265Z,1750271162.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:26:02.268Z,1750271162.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 238.561478 m,
bearing: 309.838931 deg,
approach rate: -0.645274 m/s,
LOS rate: -0.003626 deg/s,
cmd heading: 311.700519 deg,
new cmd heading: 311.695814 deg.
2025-06-18T18:26:02.269Z,1750271162.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440118 target range: 271.401337 and range: 271.10 m.
2025-06-18T18:26:02.409Z,1750271162.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523140
2025-06-18T18:26:02.658Z,1750271162.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.40 m.
2025-06-18T18:26:02.671Z,1750271162.671 [DAT](INFO): DAT read: 18:26:02.6514 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 413, 0.28,-0.253,-1.428,-0.203,-0.983, PHS= 0.818,-0.398, 0.777, RAW= 148.3, -19.5, CAL= 153.8, -26.7, ROT= 356.2, 26.7
2025-06-18T18:26:02.672Z,1750271162.672 [DAT](INFO): got valid direction response:
18:26:02.6514 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 413, 0.28,-0.253,-1.428,-0.203,-0.983, PHS= 0.818,-0.398, 0.777, RAW= 148.3, -19.5, CAL= 153.8, -26.7, ROT= 356.2, 26.7
2025-06-18T18:26:02.673Z,1750271162.673 [DAT](INFO): DAT read: Bearing 356.2, 26.7 (Local)
2025-06-18T18:26:02.673Z,1750271162.673 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.2, 26.7 (Local)
2025-06-18T18:26:02.675Z,1750271162.675 [DAT](INFO): DAT read: Range 10 to 50 : 269.6 m (Round-trip 359.5 ms) speed 0.1 m/s
2025-06-18T18:26:02.675Z,1750271162.675 [DAT](INFO): DAT read: user:1193>
2025-06-18T18:26:02.676Z,1750271162.676 [DAT](INFO): DAT read: Tx time:18:26:03.7377
2025-06-18T18:26:02.677Z,1750271162.677 [DAT](INFO): Ping request sent.
2025-06-18T18:26:02.677Z,1750271162.677 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:02.677Z,1750271162.677 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:26:02.678Z,1750271162.678 [DAT](INFO): direction in FSK: [0.891407,-0.059207,-0.449319]
2025-06-18T18:26:02.678Z,1750271162.678 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:02.678Z,1750271162.678 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:02.697Z,1750271162.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 271.401337 m,
nav range: 238.300415 m,
bearing: 309.838656 deg,
approach rate: -0.664804 m/s,
LOS rate: -0.000702 deg/s,
cmd heading: 311.695819 deg,
new cmd heading: 311.694992 deg.
2025-06-18T18:26:02.698Z,1750271162.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440104 target range: 271.401337 and range: 271.10 m.
2025-06-18T18:26:02.702Z,1750271162.702 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:02.702Z,1750271162.702 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:02.918Z,1750271162.918 [DAT](INFO): DAT read: TxSync time:18:26:03.7370
2025-06-18T18:26:03.045Z,1750271163.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 269.600006 m,
deltaT: 3.779743 s,
deltaX: -1.500000 m,
approachRate: -0.396852 m/s,
rangeRepo size: 4
2025-06-18T18:26:03.047Z,1750271163.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 267.140259 m,
bearing: 310.052826 deg,
lat: 36.905803 deg,
lon: -122.115937 deg,
deltaT: 7.557994 s,
deltaX: -4.261078 m,
approachRate: -0.563784 m/s,
posRepo size: 4
2025-06-18T18:26:03.048Z,1750271163.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.14 m.
2025-06-18T18:26:03.050Z,1750271163.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.140259 m,
nav range: 238.830292 m,
bearing: 309.684325 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000702 deg/s,
cmd heading: 311.695000 deg,
new cmd heading: 311.694187 deg.
2025-06-18T18:26:03.051Z,1750271163.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440090 target range: 267.140259 and range: 269.60 m.
2025-06-18T18:26:03.483Z,1750271163.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.14 m.
2025-06-18T18:26:03.486Z,1750271163.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.140259 m,
nav range: 238.549515 m,
bearing: 309.684688 deg,
approach rate: -0.639668 m/s,
LOS rate: 0.000828 deg/s,
cmd heading: 311.694180 deg,
new cmd heading: 311.695271 deg.
2025-06-18T18:26:03.487Z,1750271163.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440109 target range: 267.140259 and range: 269.60 m.
2025-06-18T18:26:03.843Z,1750271163.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:03.846Z,1750271163.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.14 m.
2025-06-18T18:26:03.848Z,1750271163.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.140259 m,
nav range: 238.321472 m,
bearing: 309.685164 deg,
approach rate: -0.628767 m/s,
LOS rate: 0.001313 deg/s,
cmd heading: 311.695273 deg,
new cmd heading: 311.696702 deg.
2025-06-18T18:26:03.850Z,1750271163.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440134 target range: 267.140259 and range: 269.60 m.
2025-06-18T18:26:03.923Z,1750271163.923 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:03.923Z,1750271163.923 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:03.925Z,1750271163.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:04.177Z,1750271164.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500068
2025-06-18T18:26:04.251Z,1750271164.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.14 m.
2025-06-18T18:26:04.254Z,1750271164.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.140259 m,
nav range: 238.066193 m,
bearing: 309.685795 deg,
approach rate: -0.629082 m/s,
LOS rate: 0.001557 deg/s,
cmd heading: 311.696694 deg,
new cmd heading: 311.698589 deg.
2025-06-18T18:26:04.255Z,1750271164.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440166 target range: 267.140259 and range: 269.60 m.
2025-06-18T18:26:04.429Z,1750271164.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752695
2025-06-18T18:26:04.674Z,1750271164.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.14 m.
2025-06-18T18:26:04.677Z,1750271164.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.140259 m,
nav range: 237.802063 m,
bearing: 309.686983 deg,
approach rate: -0.624393 m/s,
LOS rate: 0.002812 deg/s,
cmd heading: 311.698579 deg,
new cmd heading: 311.702148 deg.
2025-06-18T18:26:04.678Z,1750271164.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440229 target range: 267.140259 and range: 269.60 m.
2025-06-18T18:26:04.681Z,1750271164.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004430
2025-06-18T18:26:04.933Z,1750271164.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256213
2025-06-18T18:26:05.050Z,1750271165.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.14 m.
2025-06-18T18:26:05.053Z,1750271165.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.140259 m,
nav range: 237.567383 m,
bearing: 309.687989 deg,
approach rate: -0.624981 m/s,
LOS rate: 0.002681 deg/s,
cmd heading: 311.702158 deg,
new cmd heading: 311.705178 deg.
2025-06-18T18:26:05.054Z,1750271165.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440282 target range: 267.140259 and range: 269.60 m.
2025-06-18T18:26:05.185Z,1750271165.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508061
2025-06-18T18:26:05.437Z,1750271165.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760238
2025-06-18T18:26:05.502Z,1750271165.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.14 m.
2025-06-18T18:26:05.509Z,1750271165.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.140259 m,
nav range: 237.297211 m,
bearing: 309.689326 deg,
approach rate: -0.597816 m/s,
LOS rate: 0.002962 deg/s,
cmd heading: 311.705190 deg,
new cmd heading: 311.709207 deg.
2025-06-18T18:26:05.510Z,1750271165.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440352 target range: 267.140259 and range: 269.60 m.
2025-06-18T18:26:05.689Z,1750271165.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012208
2025-06-18T18:26:05.861Z,1750271165.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:05.863Z,1750271165.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.14 m.
2025-06-18T18:26:05.867Z,1750271165.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.140259 m,
nav range: 237.054092 m,
bearing: 309.690455 deg,
approach rate: -0.673051 m/s,
LOS rate: 0.003128 deg/s,
cmd heading: 311.709207 deg,
new cmd heading: 311.712596 deg.
2025-06-18T18:26:05.871Z,1750271165.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440411 target range: 267.140259 and range: 269.60 m.
2025-06-18T18:26:05.942Z,1750271165.942 [DAT](INFO): DAT read: Rx Time:18:26:06.4977
2025-06-18T18:26:05.943Z,1750271165.943 [DAT](INFO): Rx dataTimestamp_ set to:1750271165.942405
2025-06-18T18:26:05.945Z,1750271165.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266902
2025-06-18T18:26:06.197Z,1750271166.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519775
2025-06-18T18:26:06.286Z,1750271166.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.14 m.
2025-06-18T18:26:06.305Z,1750271166.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.140259 m,
nav range: 236.786667 m,
bearing: 309.691626 deg,
approach rate: -0.632580 m/s,
LOS rate: 0.002774 deg/s,
cmd heading: 311.712594 deg,
new cmd heading: 311.716112 deg.
2025-06-18T18:26:06.306Z,1750271166.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440473 target range: 267.140259 and range: 269.60 m.
2025-06-18T18:26:06.457Z,1750271166.457 [DAT](INFO): DAT read: 18:26:06.4977 LVL= 30848, 32753, 27266, 32755, AGC= 64, IDX= 408,-0.35, 0.371,-0.817, 0.398,-0.351, PHS= 0.810,-0.419, 0.746, RAW= 147.4, -18.5, CAL= 153.1, -25.9, ROT= 356.9, 25.9
2025-06-18T18:26:06.459Z,1750271166.459 [DAT](INFO): got valid direction response:
18:26:06.4977 LVL= 30848, 32753, 27266, 32755, AGC= 64, IDX= 408,-0.35, 0.371,-0.817, 0.398,-0.351, PHS= 0.810,-0.419, 0.746, RAW= 147.4, -18.5, CAL= 153.1, -25.9, ROT= 356.9, 25.9
2025-06-18T18:26:06.461Z,1750271166.461 [DAT](INFO): DAT read: Bearing 356.9, 25.9 (Local)
2025-06-18T18:26:06.461Z,1750271166.461 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.9, 25.9 (Local)
2025-06-18T18:26:06.463Z,1750271166.463 [DAT](INFO): DAT read: Range 10 to 50 : 266.8 m (Round-trip 355.8 ms) speed 0.4 m/s
2025-06-18T18:26:06.464Z,1750271166.464 [DAT](INFO): DAT read: user:1194>
2025-06-18T18:26:06.465Z,1750271166.465 [DAT](INFO): DAT read: Tx time:18:26:07.5877
2025-06-18T18:26:06.465Z,1750271166.465 [DAT](INFO): Ping request sent.
2025-06-18T18:26:06.465Z,1750271166.465 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:06.466Z,1750271166.466 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:26:06.467Z,1750271166.467 [DAT](INFO): direction in FSK: [0.898241,-0.048647,-0.436802]
2025-06-18T18:26:06.467Z,1750271166.467 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:06.467Z,1750271166.467 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:06.470Z,1750271166.470 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:06.470Z,1750271166.470 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:06.697Z,1750271166.697 [DAT](INFO): DAT read: TxSync time:18:26:07.5870
2025-06-18T18:26:06.742Z,1750271166.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 266.799988 m,
deltaT: 3.785484 s,
deltaX: -2.800018 m,
approachRate: -0.739672 m/s,
rangeRepo size: 4
2025-06-18T18:26:06.749Z,1750271166.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 264.365479 m,
bearing: 310.700872 deg,
lat: 36.905821 deg,
lon: -122.115931 deg,
deltaT: 3.785484 s,
deltaX: -2.774780 m,
approachRate: -0.733005 m/s,
posRepo size: 4
2025-06-18T18:26:06.749Z,1750271166.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:06.756Z,1750271166.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 237.385712 m,
bearing: 310.150459 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002774 deg/s,
cmd heading: 311.716119 deg,
new cmd heading: 311.719911 deg.
2025-06-18T18:26:06.757Z,1750271166.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440539 target range: 264.365479 and range: 266.80 m.
2025-06-18T18:26:07.073Z,1750271167.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:07.076Z,1750271167.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 237.164093 m,
bearing: 310.151913 deg,
approach rate: -0.667693 m/s,
LOS rate: 0.004384 deg/s,
cmd heading: 311.719916 deg,
new cmd heading: 311.724281 deg.
2025-06-18T18:26:07.077Z,1750271167.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440615 target range: 264.365479 and range: 266.80 m.
2025-06-18T18:26:07.561Z,1750271167.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:07.565Z,1750271167.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 236.860718 m,
bearing: 310.152922 deg,
approach rate: -0.622246 m/s,
LOS rate: 0.002072 deg/s,
cmd heading: 311.724288 deg,
new cmd heading: 311.727318 deg.
2025-06-18T18:26:07.566Z,1750271167.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440668 target range: 264.365479 and range: 266.80 m.
2025-06-18T18:26:07.918Z,1750271167.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:07.924Z,1750271167.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:07.927Z,1750271167.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 236.641785 m,
bearing: 310.153673 deg,
approach rate: -0.609949 m/s,
LOS rate: 0.002095 deg/s,
cmd heading: 311.727320 deg,
new cmd heading: 311.729576 deg.
2025-06-18T18:26:07.932Z,1750271167.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440708 target range: 264.365479 and range: 266.80 m.
2025-06-18T18:26:07.957Z,1750271167.957 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:07.957Z,1750271167.957 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:07.957Z,1750271167.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:08.209Z,1750271168.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743667
2025-06-18T18:26:08.370Z,1750271168.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:08.425Z,1750271168.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 236.360580 m,
bearing: 310.154467 deg,
approach rate: -0.629015 m/s,
LOS rate: 0.001778 deg/s,
cmd heading: 311.729588 deg,
new cmd heading: 311.731972 deg.
2025-06-18T18:26:08.432Z,1750271168.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440749 target range: 264.365479 and range: 266.80 m.
2025-06-18T18:26:08.461Z,1750271168.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995682
2025-06-18T18:26:08.713Z,1750271168.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247532
2025-06-18T18:26:08.753Z,1750271168.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:08.755Z,1750271168.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 236.129059 m,
bearing: 310.154933 deg,
approach rate: -0.600495 m/s,
LOS rate: 0.001209 deg/s,
cmd heading: 311.731965 deg,
new cmd heading: 311.733363 deg.
2025-06-18T18:26:08.760Z,1750271168.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440773 target range: 264.365479 and range: 266.80 m.
2025-06-18T18:26:08.965Z,1750271168.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500135
2025-06-18T18:26:09.131Z,1750271169.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:09.134Z,1750271169.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 235.891602 m,
bearing: 310.155331 deg,
approach rate: -0.627460 m/s,
LOS rate: 0.001053 deg/s,
cmd heading: 311.733358 deg,
new cmd heading: 311.734553 deg.
2025-06-18T18:26:09.135Z,1750271169.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440794 target range: 264.365479 and range: 266.80 m.
2025-06-18T18:26:09.218Z,1750271169.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752037
2025-06-18T18:26:09.469Z,1750271169.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003444
2025-06-18T18:26:09.524Z,1750271169.524 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -11.83, +3664.40, 4.51
2025-06-18T18:26:09.556Z,1750271169.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:09.559Z,1750271169.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 235.613007 m,
bearing: 310.155747 deg,
approach rate: -0.654798 m/s,
LOS rate: 0.000980 deg/s,
cmd heading: 311.734560 deg,
new cmd heading: 311.735811 deg.
2025-06-18T18:26:09.560Z,1750271169.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440816 target range: 264.365479 and range: 266.80 m.
2025-06-18T18:26:09.724Z,1750271169.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258886
2025-06-18T18:26:09.915Z,1750271169.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:09.934Z,1750271169.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 235.388062 m,
bearing: 310.156078 deg,
approach rate: -0.626502 m/s,
LOS rate: 0.000921 deg/s,
cmd heading: 311.735817 deg,
new cmd heading: 311.736810 deg.
2025-06-18T18:26:09.935Z,1750271169.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440834 target range: 264.365479 and range: 266.80 m.
2025-06-18T18:26:09.973Z,1750271169.973 [DAT](INFO): DAT read: Rx Time:18:26:10.3451
2025-06-18T18:26:09.974Z,1750271169.974 [DAT](INFO): Rx dataTimestamp_ set to:1750271169.973330
2025-06-18T18:26:09.974Z,1750271169.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508855
2025-06-18T18:26:10.225Z,1750271170.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759577
2025-06-18T18:26:10.319Z,1750271170.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:10.322Z,1750271170.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:10.329Z,1750271170.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 235.143967 m,
bearing: 310.156448 deg,
approach rate: -0.600875 m/s,
LOS rate: 0.000912 deg/s,
cmd heading: 311.736801 deg,
new cmd heading: 311.737913 deg.
2025-06-18T18:26:10.330Z,1750271170.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440853 target range: 264.365479 and range: 266.80 m.
2025-06-18T18:26:10.478Z,1750271170.478 [DAT](INFO): DAT read: Range 10 to 50 : 264.9 m (Round-trip 353.2 ms) speed 0.4 m/s
2025-06-18T18:26:10.479Z,1750271170.479 [DAT](INFO): DAT read: user:1195>
2025-06-18T18:26:10.480Z,1750271170.480 [DAT](INFO): DAT read: Tx time:18:26:11.4377
2025-06-18T18:26:10.480Z,1750271170.480 [DAT](INFO): Ping request sent.
2025-06-18T18:26:10.480Z,1750271170.480 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:10.481Z,1750271170.481 [DAT](INFO): DAT read: TxSync time:18:26:11.4370
2025-06-18T18:26:10.481Z,1750271170.481 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:26:10.481Z,1750271170.481 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:10.482Z,1750271170.482 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:10.736Z,1750271170.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 264.899994 m,
deltaT: 4.030505 s,
deltaX: -1.899994 m,
approachRate: -0.471403 m/s,
rangeRepo size: 4
2025-06-18T18:26:10.737Z,1750271170.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:10.740Z,1750271170.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 234.876450 m,
bearing: 310.154778 deg,
approach rate: -0.646773 m/s,
LOS rate: -0.004041 deg/s,
cmd heading: 311.737921 deg,
new cmd heading: 311.732906 deg.
2025-06-18T18:26:10.743Z,1750271170.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440765 target range: 264.365479 and range: 264.90 m.
2025-06-18T18:26:11.120Z,1750271171.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:11.123Z,1750271171.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 234.635788 m,
bearing: 310.153466 deg,
approach rate: -0.625846 m/s,
LOS rate: -0.003415 deg/s,
cmd heading: 311.732894 deg,
new cmd heading: 311.728954 deg.
2025-06-18T18:26:11.124Z,1750271171.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440697 target range: 264.365479 and range: 264.90 m.
2025-06-18T18:26:11.554Z,1750271171.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:11.557Z,1750271171.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 234.362091 m,
bearing: 310.151969 deg,
approach rate: -0.630658 m/s,
LOS rate: -0.003454 deg/s,
cmd heading: 311.728959 deg,
new cmd heading: 311.724462 deg.
2025-06-18T18:26:11.558Z,1750271171.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440618 target range: 264.365479 and range: 264.90 m.
2025-06-18T18:26:11.927Z,1750271171.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:11.930Z,1750271171.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 234.126404 m,
bearing: 310.150691 deg,
approach rate: -0.630949 m/s,
LOS rate: -0.003426 deg/s,
cmd heading: 311.724452 deg,
new cmd heading: 311.720612 deg.
2025-06-18T18:26:11.931Z,1750271171.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440551 target range: 264.365479 and range: 264.90 m.
2025-06-18T18:26:12.322Z,1750271172.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:12.325Z,1750271172.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:12.327Z,1750271172.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 233.876297 m,
bearing: 310.149212 deg,
approach rate: -0.629673 m/s,
LOS rate: -0.003726 deg/s,
cmd heading: 311.720599 deg,
new cmd heading: 311.716159 deg.
2025-06-18T18:26:12.328Z,1750271172.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440473 target range: 264.365479 and range: 264.90 m.
2025-06-18T18:26:12.493Z,1750271172.493 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:12.493Z,1750271172.493 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:12.493Z,1750271172.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:12.745Z,1750271172.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264875
2025-06-18T18:26:12.750Z,1750271172.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:12.753Z,1750271172.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 233.611023 m,
bearing: 310.148583 deg,
approach rate: -0.623697 m/s,
LOS rate: -0.001482 deg/s,
cmd heading: 311.716146 deg,
new cmd heading: 311.714255 deg.
2025-06-18T18:26:12.754Z,1750271172.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440440 target range: 264.365479 and range: 264.90 m.
2025-06-18T18:26:12.998Z,1750271172.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517830
2025-06-18T18:26:13.145Z,1750271173.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:13.148Z,1750271173.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 233.361969 m,
bearing: 310.148007 deg,
approach rate: -0.629740 m/s,
LOS rate: -0.001457 deg/s,
cmd heading: 311.714261 deg,
new cmd heading: 311.712532 deg.
2025-06-18T18:26:13.149Z,1750271173.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440410 target range: 264.365479 and range: 264.90 m.
2025-06-18T18:26:13.249Z,1750271173.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768609
2025-06-18T18:26:13.503Z,1750271173.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022626
2025-06-18T18:26:13.594Z,1750271173.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:13.601Z,1750271173.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 233.079346 m,
bearing: 310.147173 deg,
approach rate: -0.630172 m/s,
LOS rate: -0.001862 deg/s,
cmd heading: 311.712540 deg,
new cmd heading: 311.710034 deg.
2025-06-18T18:26:13.603Z,1750271173.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440366 target range: 264.365479 and range: 264.90 m.
2025-06-18T18:26:13.753Z,1750271173.753 [DAT](INFO): DAT read: Rx Time:18:26:14.1924
2025-06-18T18:26:13.753Z,1750271173.753 [DAT](INFO): Rx dataTimestamp_ set to:1750271173.753021
2025-06-18T18:26:13.754Z,1750271173.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273599
2025-06-18T18:26:13.836Z,1750271173.836 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:26:13.952Z,1750271173.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.37 m.
2025-06-18T18:26:13.955Z,1750271173.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.365479 m,
nav range: 232.838333 m,
bearing: 310.146474 deg,
approach rate: -0.672290 m/s,
LOS rate: -0.001951 deg/s,
cmd heading: 311.710026 deg,
new cmd heading: 311.707928 deg.
2025-06-18T18:26:13.956Z,1750271173.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440330 target range: 264.365479 and range: 264.90 m.
2025-06-18T18:26:14.006Z,1750271174.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525144
2025-06-18T18:26:14.263Z,1750271174.263 [DAT](INFO): DAT read: 18:26:14.1924 LVL= 30544, 29857, 28626, 32755, AGC= 63, IDX= 416, 0.35, 2.793, 1.533, 2.856, 1.995, PHS= 0.886,-0.414, 0.858, RAW= 148.9, -20.1, CAL= 154.3, -27.2, ROT= 355.7, 27.2
2025-06-18T18:26:14.264Z,1750271174.264 [DAT](INFO): got valid direction response:
18:26:14.1924 LVL= 30544, 29857, 28626, 32755, AGC= 63, IDX= 416, 0.35, 2.793, 1.533, 2.856, 1.995, PHS= 0.886,-0.414, 0.858, RAW= 148.9, -20.1, CAL= 154.3, -27.2, ROT= 355.7, 27.2
2025-06-18T18:26:14.265Z,1750271174.265 [DAT](INFO): DAT read: Bearing 355.7, 27.2 (Local)
2025-06-18T18:26:14.265Z,1750271174.265 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.7, 27.2 (Local)
2025-06-18T18:26:14.267Z,1750271174.267 [DAT](INFO): DAT read: Range 10 to 50 : 262.8 m (Round-trip 350.4 ms) speed 0.8 m/s
2025-06-18T18:26:14.268Z,1750271174.268 [DAT](INFO): DAT read: user:1196>
2025-06-18T18:26:14.269Z,1750271174.269 [DAT](INFO): DAT read: Tx time:18:26:15.2878
2025-06-18T18:26:14.269Z,1750271174.269 [DAT](INFO): Ping request sent.
2025-06-18T18:26:14.269Z,1750271174.269 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:14.269Z,1750271174.269 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:26:14.270Z,1750271174.270 [DAT](INFO): direction in FSK: [0.886913,-0.066687,-0.457098]
2025-06-18T18:26:14.271Z,1750271174.271 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:14.271Z,1750271174.271 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:14.274Z,1750271174.274 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:14.274Z,1750271174.274 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:14.466Z,1750271174.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 262.799988 m,
deltaT: 3.780143 s,
deltaX: -2.100006 m,
approachRate: -0.555536 m/s,
rangeRepo size: 4
2025-06-18T18:26:14.494Z,1750271174.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 260.402374 m,
bearing: 309.651727 deg,
lat: 36.905821 deg,
lon: -122.115937 deg,
deltaT: 7.810648 s,
deltaX: -3.963104 m,
approachRate: -0.507398 m/s,
posRepo size: 4
2025-06-18T18:26:14.501Z,1750271174.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:14.512Z,1750271174.512 [DAT](INFO): DAT read: TxSync time:18:26:15.2871
2025-06-18T18:26:14.521Z,1750271174.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 232.972870 m,
bearing: 310.059147 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001951 deg/s,
cmd heading: 311.707922 deg,
new cmd heading: 311.705140 deg.
2025-06-18T18:26:14.522Z,1750271174.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440281 target range: 260.402374 and range: 262.80 m.
2025-06-18T18:26:14.819Z,1750271174.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:14.821Z,1750271174.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:14.824Z,1750271174.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 232.691376 m,
bearing: 310.059615 deg,
approach rate: -0.715175 m/s,
LOS rate: 0.001190 deg/s,
cmd heading: 311.705136 deg,
new cmd heading: 311.706541 deg.
2025-06-18T18:26:14.825Z,1750271174.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440305 target range: 260.402374 and range: 262.80 m.
2025-06-18T18:26:14.843Z,1750271174.843 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:26:15.013Z,1750271175.013 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:15.013Z,1750271175.013 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:15.013Z,1750271175.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:15.203Z,1750271175.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:15.206Z,1750271175.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 232.442596 m,
bearing: 310.060128 deg,
approach rate: -0.651043 m/s,
LOS rate: 0.001343 deg/s,
cmd heading: 311.706529 deg,
new cmd heading: 311.708069 deg.
2025-06-18T18:26:15.207Z,1750271175.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440332 target range: 260.402374 and range: 262.80 m.
2025-06-18T18:26:15.273Z,1750271175.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001707
2025-06-18T18:26:15.523Z,1750271175.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253703
2025-06-18T18:26:15.642Z,1750271175.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:15.653Z,1750271175.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 232.165421 m,
bearing: 310.060092 deg,
approach rate: -0.635161 m/s,
LOS rate: -0.000082 deg/s,
cmd heading: 311.708059 deg,
new cmd heading: 311.707952 deg.
2025-06-18T18:26:15.654Z,1750271175.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440330 target range: 260.402374 and range: 262.80 m.
2025-06-18T18:26:15.773Z,1750271175.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503602
2025-06-18T18:26:16.005Z,1750271176.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:16.025Z,1750271176.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755655
2025-06-18T18:26:16.007Z,1750271176.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 231.914764 m,
bearing: 310.060024 deg,
approach rate: -0.688238 m/s,
LOS rate: -0.000188 deg/s,
cmd heading: 311.707950 deg,
new cmd heading: 311.707744 deg.
2025-06-18T18:26:16.026Z,1750271176.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440326 target range: 260.402374 and range: 262.80 m.
2025-06-18T18:26:16.277Z,1750271176.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007617
2025-06-18T18:26:16.439Z,1750271176.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:16.441Z,1750271176.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 231.628357 m,
bearing: 310.059836 deg,
approach rate: -0.659178 m/s,
LOS rate: -0.000433 deg/s,
cmd heading: 311.707731 deg,
new cmd heading: 311.707167 deg.
2025-06-18T18:26:16.442Z,1750271176.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440316 target range: 260.402374 and range: 262.80 m.
2025-06-18T18:26:16.536Z,1750271176.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266297
2025-06-18T18:26:16.785Z,1750271176.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515729
2025-06-18T18:26:16.861Z,1750271176.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:16.863Z,1750271176.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:16.877Z,1750271176.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 231.358658 m,
bearing: 310.060232 deg,
approach rate: -0.635459 m/s,
LOS rate: 0.000935 deg/s,
cmd heading: 311.707157 deg,
new cmd heading: 311.708347 deg.
2025-06-18T18:26:16.878Z,1750271176.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440337 target range: 260.402374 and range: 262.80 m.
2025-06-18T18:26:17.037Z,1750271177.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767519
2025-06-18T18:26:17.223Z,1750271177.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:17.226Z,1750271177.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 231.117432 m,
bearing: 310.060607 deg,
approach rate: -0.669783 m/s,
LOS rate: 0.001042 deg/s,
cmd heading: 311.708360 deg,
new cmd heading: 311.709485 deg.
2025-06-18T18:26:17.227Z,1750271177.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440357 target range: 260.402374 and range: 262.80 m.
2025-06-18T18:26:17.289Z,1750271177.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020079
2025-06-18T18:26:17.544Z,1750271177.544 [DAT](INFO): DAT read: Rx Time:18:26:18.0395
2025-06-18T18:26:17.545Z,1750271177.545 [DAT](INFO): Rx dataTimestamp_ set to:1750271177.544664
2025-06-18T18:26:17.547Z,1750271177.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277409
2025-06-18T18:26:17.672Z,1750271177.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:17.674Z,1750271177.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 230.840317 m,
bearing: 310.061603 deg,
approach rate: -0.618066 m/s,
LOS rate: 0.002224 deg/s,
cmd heading: 311.709480 deg,
new cmd heading: 311.712471 deg.
2025-06-18T18:26:17.675Z,1750271177.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440409 target range: 260.402374 and range: 262.80 m.
2025-06-18T18:26:17.793Z,1750271177.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523697
2025-06-18T18:26:18.046Z,1750271178.046 [DAT](INFO): DAT read: Range 10 to 50 : 260.6 m (Round-trip 347.5 ms) speed 0.4 m/s
2025-06-18T18:26:18.047Z,1750271178.047 [DAT](INFO): DAT read: user:1197>
2025-06-18T18:26:18.047Z,1750271178.047 [DAT](INFO): DAT read: Tx time:18:26:19.1378
2025-06-18T18:26:18.048Z,1750271178.048 [DAT](INFO): Ping request sent.
2025-06-18T18:26:18.048Z,1750271178.048 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:18.048Z,1750271178.048 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:26:18.048Z,1750271178.048 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:18.049Z,1750271178.049 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:18.052Z,1750271178.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 260.600006 m,
deltaT: 3.787873 s,
deltaX: -2.199982 m,
approachRate: -0.580796 m/s,
rangeRepo size: 4
2025-06-18T18:26:18.052Z,1750271178.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:18.055Z,1750271178.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 230.610977 m,
bearing: 310.062473 deg,
approach rate: -0.604386 m/s,
LOS rate: 0.002296 deg/s,
cmd heading: 311.712458 deg,
new cmd heading: 311.715072 deg.
2025-06-18T18:26:18.056Z,1750271178.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440454 target range: 260.402374 and range: 260.60 m.
2025-06-18T18:26:18.297Z,1750271178.297 [DAT](INFO): DAT read: TxSync time:18:26:19.1371
2025-06-18T18:26:18.441Z,1750271178.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:18.460Z,1750271178.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 230.357239 m,
bearing: 310.063473 deg,
approach rate: -0.650446 m/s,
LOS rate: 0.002564 deg/s,
cmd heading: 311.715081 deg,
new cmd heading: 311.718082 deg.
2025-06-18T18:26:18.461Z,1750271178.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440507 target range: 260.402374 and range: 260.60 m.
2025-06-18T18:26:18.862Z,1750271178.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:18.866Z,1750271178.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:18.870Z,1750271178.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 230.084320 m,
bearing: 310.065491 deg,
approach rate: -0.643235 m/s,
LOS rate: 0.004764 deg/s,
cmd heading: 311.718086 deg,
new cmd heading: 311.724149 deg.
2025-06-18T18:26:18.872Z,1750271178.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440613 target range: 260.402374 and range: 260.60 m.
2025-06-18T18:26:19.053Z,1750271179.053 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:19.053Z,1750271179.053 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:19.053Z,1750271179.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:19.244Z,1750271179.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:19.247Z,1750271179.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 229.844360 m,
bearing: 310.067402 deg,
approach rate: -0.634123 m/s,
LOS rate: 0.005055 deg/s,
cmd heading: 311.724151 deg,
new cmd heading: 311.729890 deg.
2025-06-18T18:26:19.264Z,1750271179.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440713 target range: 260.402374 and range: 260.60 m.
2025-06-18T18:26:19.305Z,1750271179.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257004
2025-06-18T18:26:19.559Z,1750271179.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510913
2025-06-18T18:26:19.706Z,1750271179.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:19.709Z,1750271179.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 229.569962 m,
bearing: 310.068999 deg,
approach rate: -0.593161 m/s,
LOS rate: 0.003456 deg/s,
cmd heading: 311.729888 deg,
new cmd heading: 311.734685 deg.
2025-06-18T18:26:19.710Z,1750271179.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440797 target range: 260.402374 and range: 260.60 m.
2025-06-18T18:26:19.866Z,1750271179.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.817659
2025-06-18T18:26:20.061Z,1750271180.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012953
2025-06-18T18:26:20.128Z,1750271180.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:20.131Z,1750271180.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 229.303879 m,
bearing: 310.070551 deg,
approach rate: -0.631345 m/s,
LOS rate: 0.003687 deg/s,
cmd heading: 311.734697 deg,
new cmd heading: 311.739359 deg.
2025-06-18T18:26:20.132Z,1750271180.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440878 target range: 260.402374 and range: 260.60 m.
2025-06-18T18:26:20.313Z,1750271180.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264714
2025-06-18T18:26:20.510Z,1750271180.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:20.513Z,1750271180.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 229.070587 m,
bearing: 310.071718 deg,
approach rate: -0.610850 m/s,
LOS rate: 0.003057 deg/s,
cmd heading: 311.739369 deg,
new cmd heading: 311.742871 deg.
2025-06-18T18:26:20.514Z,1750271180.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440939 target range: 260.402374 and range: 260.60 m.
2025-06-18T18:26:20.567Z,1750271180.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518897
2025-06-18T18:26:20.818Z,1750271180.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769443
2025-06-18T18:26:21.029Z,1750271181.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:21.031Z,1750271181.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:21.034Z,1750271181.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 228.749985 m,
bearing: 310.073286 deg,
approach rate: -0.614741 m/s,
LOS rate: 0.003011 deg/s,
cmd heading: 311.742866 deg,
new cmd heading: 311.747576 deg.
2025-06-18T18:26:21.035Z,1750271181.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441021 target range: 260.402374 and range: 260.60 m.
2025-06-18T18:26:21.069Z,1750271181.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020970
2025-06-18T18:26:21.321Z,1750271181.321 [DAT](INFO): DAT read: Rx Time:18:26:21.8866
2025-06-18T18:26:21.321Z,1750271181.321 [DAT](INFO): Rx dataTimestamp_ set to:1750271181.321167
2025-06-18T18:26:21.322Z,1750271181.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273986
2025-06-18T18:26:21.345Z,1750271181.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:21.352Z,1750271181.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 228.569473 m,
bearing: 310.074113 deg,
approach rate: -0.575220 m/s,
LOS rate: 0.002640 deg/s,
cmd heading: 311.747565 deg,
new cmd heading: 311.750050 deg.
2025-06-18T18:26:21.353Z,1750271181.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441065 target range: 260.402374 and range: 260.60 m.
2025-06-18T18:26:21.575Z,1750271181.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527066
2025-06-18T18:26:21.826Z,1750271181.826 [DAT](INFO): DAT read: Range 10 to 50 : 258.4 m (Round-trip 344.6 ms) speed 0.6 m/s
2025-06-18T18:26:21.827Z,1750271181.827 [DAT](INFO): DAT read: user:1198>
2025-06-18T18:26:21.828Z,1750271181.828 [DAT](INFO): DAT read: Tx time:18:26:22.9878
2025-06-18T18:26:21.828Z,1750271181.828 [DAT](INFO): Ping request sent.
2025-06-18T18:26:21.828Z,1750271181.828 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:21.829Z,1750271181.829 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:26:21.829Z,1750271181.829 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:21.829Z,1750271181.829 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:21.913Z,1750271181.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 258.399994 m,
deltaT: 3.780072 s,
deltaX: -2.200012 m,
approachRate: -0.582003 m/s,
rangeRepo size: 4
2025-06-18T18:26:21.913Z,1750271181.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:21.920Z,1750271181.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 228.222092 m,
bearing: 310.074143 deg,
approach rate: -0.617223 m/s,
LOS rate: 0.000052 deg/s,
cmd heading: 311.750051 deg,
new cmd heading: 311.750139 deg.
2025-06-18T18:26:21.921Z,1750271181.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441066 target range: 260.402374 and range: 258.40 m.
2025-06-18T18:26:22.077Z,1750271182.077 [DAT](INFO): DAT read: TxSync time:18:26:22.9871
2025-06-18T18:26:22.242Z,1750271182.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:22.245Z,1750271182.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 228.005737 m,
bearing: 310.074059 deg,
approach rate: -0.646716 m/s,
LOS rate: -0.000250 deg/s,
cmd heading: 311.750133 deg,
new cmd heading: 311.749882 deg.
2025-06-18T18:26:22.246Z,1750271182.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441062 target range: 260.402374 and range: 258.40 m.
2025-06-18T18:26:22.675Z,1750271182.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:22.678Z,1750271182.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 227.730743 m,
bearing: 310.074704 deg,
approach rate: -0.635204 m/s,
LOS rate: 0.001493 deg/s,
cmd heading: 311.749887 deg,
new cmd heading: 311.751826 deg.
2025-06-18T18:26:22.679Z,1750271182.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441096 target range: 260.402374 and range: 258.40 m.
2025-06-18T18:26:23.027Z,1750271183.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:23.030Z,1750271183.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 227.507034 m,
bearing: 310.075278 deg,
approach rate: -0.635378 m/s,
LOS rate: 0.001632 deg/s,
cmd heading: 311.751827 deg,
new cmd heading: 311.753551 deg.
2025-06-18T18:26:23.031Z,1750271183.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441126 target range: 260.402374 and range: 258.40 m.
2025-06-18T18:26:23.411Z,1750271183.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:23.414Z,1750271183.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:23.417Z,1750271183.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 227.262054 m,
bearing: 310.075908 deg,
approach rate: -0.634436 m/s,
LOS rate: 0.001633 deg/s,
cmd heading: 311.753548 deg,
new cmd heading: 311.755440 deg.
2025-06-18T18:26:23.418Z,1750271183.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441159 target range: 260.402374 and range: 258.40 m.
2025-06-18T18:26:23.589Z,1750271183.589 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:23.589Z,1750271183.589 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:23.589Z,1750271183.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:23.827Z,1750271183.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:23.841Z,1750271183.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012659
2025-06-18T18:26:23.850Z,1750271183.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 227.001831 m,
bearing: 310.075371 deg,
approach rate: -0.629129 m/s,
LOS rate: -0.001302 deg/s,
cmd heading: 311.755433 deg,
new cmd heading: 311.753818 deg.
2025-06-18T18:26:23.851Z,1750271183.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441131 target range: 260.402374 and range: 258.40 m.
2025-06-18T18:26:24.093Z,1750271184.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264493
2025-06-18T18:26:24.217Z,1750271184.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:24.219Z,1750271184.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 226.756516 m,
bearing: 310.074789 deg,
approach rate: -0.629702 m/s,
LOS rate: -0.001495 deg/s,
cmd heading: 311.753821 deg,
new cmd heading: 311.752074 deg.
2025-06-18T18:26:24.221Z,1750271184.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441100 target range: 260.402374 and range: 258.40 m.
2025-06-18T18:26:24.345Z,1750271184.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517090
2025-06-18T18:26:24.597Z,1750271184.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768683
2025-06-18T18:26:24.684Z,1750271184.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:24.687Z,1750271184.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 226.462738 m,
bearing: 310.074091 deg,
approach rate: -0.628888 m/s,
LOS rate: -0.001497 deg/s,
cmd heading: 311.752073 deg,
new cmd heading: 311.749975 deg.
2025-06-18T18:26:24.688Z,1750271184.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441063 target range: 260.402374 and range: 258.40 m.
2025-06-18T18:26:24.849Z,1750271184.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020456
2025-06-18T18:26:25.057Z,1750271185.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:25.059Z,1750271185.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 226.226837 m,
bearing: 310.073427 deg,
approach rate: -0.633934 m/s,
LOS rate: -0.001785 deg/s,
cmd heading: 311.749969 deg,
new cmd heading: 311.747977 deg.
2025-06-18T18:26:25.061Z,1750271185.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441029 target range: 260.402374 and range: 258.40 m.
2025-06-18T18:26:25.101Z,1750271185.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273051
2025-06-18T18:26:25.353Z,1750271185.353 [DAT](INFO): DAT read: Rx Time:18:26:25.7335
2025-06-18T18:26:25.353Z,1750271185.353 [DAT](INFO): Rx dataTimestamp_ set to:1750271185.353167
2025-06-18T18:26:25.354Z,1750271185.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525775
2025-06-18T18:26:25.458Z,1750271185.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:25.460Z,1750271185.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:25.463Z,1750271185.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 225.973663 m,
bearing: 310.072620 deg,
approach rate: -0.627017 m/s,
LOS rate: -0.002001 deg/s,
cmd heading: 311.747975 deg,
new cmd heading: 311.745551 deg.
2025-06-18T18:26:25.467Z,1750271185.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440986 target range: 260.402374 and range: 258.40 m.
2025-06-18T18:26:25.605Z,1750271185.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776457
2025-06-18T18:26:25.851Z,1750271185.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:25.854Z,1750271185.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 225.725067 m,
bearing: 310.071753 deg,
approach rate: -0.634784 m/s,
LOS rate: -0.002218 deg/s,
cmd heading: 311.745543 deg,
new cmd heading: 311.742937 deg.
2025-06-18T18:26:25.855Z,1750271185.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440941 target range: 260.402374 and range: 258.40 m.
2025-06-18T18:26:25.858Z,1750271185.858 [DAT](INFO): DAT read: Range 10 to 50 : 256.1 m (Round-trip 341.5 ms) speed 0.4 m/s
2025-06-18T18:26:25.859Z,1750271185.859 [DAT](INFO): DAT read: user:1199>
2025-06-18T18:26:25.859Z,1750271185.859 [DAT](INFO): DAT read: Tx time:18:26:26.8379
2025-06-18T18:26:25.860Z,1750271185.860 [DAT](INFO): Ping request sent.
2025-06-18T18:26:25.860Z,1750271185.860 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:25.861Z,1750271185.861 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:26:25.861Z,1750271185.861 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:25.861Z,1750271185.861 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:26.110Z,1750271186.110 [DAT](INFO): DAT read: TxSync time:18:26:26.8372
2025-06-18T18:26:26.249Z,1750271186.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 256.100006 m,
deltaT: 4.031932 s,
deltaX: -2.299988 m,
approachRate: -0.570443 m/s,
rangeRepo size: 4
2025-06-18T18:26:26.250Z,1750271186.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:26.256Z,1750271186.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 225.485992 m,
bearing: 310.070897 deg,
approach rate: -0.628060 m/s,
LOS rate: -0.002249 deg/s,
cmd heading: 311.742948 deg,
new cmd heading: 311.740380 deg.
2025-06-18T18:26:26.258Z,1750271186.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440896 target range: 260.402374 and range: 256.10 m.
2025-06-18T18:26:26.706Z,1750271186.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:26.712Z,1750271186.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 225.223434 m,
bearing: 310.070048 deg,
approach rate: -0.554562 m/s,
LOS rate: -0.001796 deg/s,
cmd heading: 311.740380 deg,
new cmd heading: 311.737829 deg.
2025-06-18T18:26:26.713Z,1750271186.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440852 target range: 260.402374 and range: 256.10 m.
2025-06-18T18:26:27.073Z,1750271187.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:27.076Z,1750271187.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 224.956863 m,
bearing: 310.069221 deg,
approach rate: -0.725482 m/s,
LOS rate: -0.002255 deg/s,
cmd heading: 311.737839 deg,
new cmd heading: 311.735353 deg.
2025-06-18T18:26:27.077Z,1750271187.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440808 target range: 260.402374 and range: 256.10 m.
2025-06-18T18:26:27.449Z,1750271187.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:27.452Z,1750271187.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 224.719727 m,
bearing: 310.068477 deg,
approach rate: -0.629999 m/s,
LOS rate: -0.001977 deg/s,
cmd heading: 311.735353 deg,
new cmd heading: 311.733120 deg.
2025-06-18T18:26:27.453Z,1750271187.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440769 target range: 260.402374 and range: 256.10 m.
2025-06-18T18:26:27.894Z,1750271187.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:27.908Z,1750271187.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:27.911Z,1750271187.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 224.458420 m,
bearing: 310.068178 deg,
approach rate: -0.574784 m/s,
LOS rate: -0.000660 deg/s,
cmd heading: 311.733112 deg,
new cmd heading: 311.732212 deg.
2025-06-18T18:26:27.916Z,1750271187.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440753 target range: 260.402374 and range: 256.10 m.
2025-06-18T18:26:28.130Z,1750271188.130 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:28.130Z,1750271188.130 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:28.130Z,1750271188.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:28.264Z,1750271188.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:28.267Z,1750271188.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 224.216782 m,
bearing: 310.067757 deg,
approach rate: -0.678786 m/s,
LOS rate: -0.001183 deg/s,
cmd heading: 311.732211 deg,
new cmd heading: 311.730947 deg.
2025-06-18T18:26:28.272Z,1750271188.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440732 target range: 260.402374 and range: 256.10 m.
2025-06-18T18:26:28.381Z,1750271188.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520555
2025-06-18T18:26:28.633Z,1750271188.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772622
2025-06-18T18:26:28.824Z,1750271188.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:28.827Z,1750271188.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 223.861404 m,
bearing: 310.067137 deg,
approach rate: -0.630309 m/s,
LOS rate: -0.001102 deg/s,
cmd heading: 311.730954 deg,
new cmd heading: 311.729090 deg.
2025-06-18T18:26:28.828Z,1750271188.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440699 target range: 260.402374 and range: 256.10 m.
2025-06-18T18:26:28.886Z,1750271188.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026056
2025-06-18T18:26:29.137Z,1750271189.137 [DAT](INFO): DAT read: Rx Time:18:26:29.5815
2025-06-18T18:26:29.138Z,1750271189.138 [DAT](INFO): Rx dataTimestamp_ set to:1750271189.137276
2025-06-18T18:26:29.138Z,1750271189.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277889
2025-06-18T18:26:29.152Z,1750271189.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:29.154Z,1750271189.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 223.649918 m,
bearing: 310.066776 deg,
approach rate: -0.645220 m/s,
LOS rate: -0.001100 deg/s,
cmd heading: 311.729096 deg,
new cmd heading: 311.728014 deg.
2025-06-18T18:26:29.155Z,1750271189.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440680 target range: 260.402374 and range: 256.10 m.
2025-06-18T18:26:29.389Z,1750271189.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528494
2025-06-18T18:26:29.588Z,1750271189.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m.
2025-06-18T18:26:29.591Z,1750271189.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.402374 m,
nav range: 223.381210 m,
bearing: 310.066349 deg,
approach rate: -0.615279 m/s,
LOS rate: -0.000980 deg/s,
cmd heading: 311.728003 deg,
new cmd heading: 311.726719 deg.
2025-06-18T18:26:29.596Z,1750271189.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440658 target range: 260.402374 and range: 256.10 m.
2025-06-18T18:26:29.647Z,1750271189.647 [DAT](INFO): DAT read: 18:26:29.5815 LVL= 23216, 24625, 22130, 30675, AGC= 63, IDX= 415, 0.05, 3.095, 1.952, 3.122, 2.236, PHS= 0.947,-0.237, 0.883, RAW= 147.2, -26.0, CAL= 151.5, -32.2, ROT= 358.5, 32.2
2025-06-18T18:26:29.648Z,1750271189.648 [DAT](INFO): got valid direction response:
18:26:29.5815 LVL= 23216, 24625, 22130, 30675, AGC= 63, IDX= 415, 0.05, 3.095, 1.952, 3.122, 2.236, PHS= 0.947,-0.237, 0.883, RAW= 147.2, -26.0, CAL= 151.5, -32.2, ROT= 358.5, 32.2
2025-06-18T18:26:29.649Z,1750271189.649 [DAT](INFO): DAT read: Bearing 358.5, 32.2 (Local)
2025-06-18T18:26:29.649Z,1750271189.649 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.5, 32.2 (Local)
2025-06-18T18:26:29.651Z,1750271189.651 [DAT](INFO): DAT read: Range 10 to 50 : 254.5 m (Round-trip 339.4 ms) speed 0.4 m/s
2025-06-18T18:26:29.652Z,1750271189.652 [DAT](INFO): DAT read: user:1200>
2025-06-18T18:26:29.653Z,1750271189.653 [DAT](INFO): DAT read: Tx time:18:26:30.6879
2025-06-18T18:26:29.653Z,1750271189.653 [DAT](INFO): Ping request sent.
2025-06-18T18:26:29.653Z,1750271189.653 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:29.653Z,1750271189.653 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:26:29.654Z,1750271189.654 [DAT](INFO): direction in FSK: [0.845903,-0.022151,-0.532876]
2025-06-18T18:26:29.655Z,1750271189.655 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:29.655Z,1750271189.655 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:29.658Z,1750271189.658 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:29.658Z,1750271189.658 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:29.894Z,1750271189.894 [DAT](INFO): DAT read: TxSync time:18:26:30.6872
2025-06-18T18:26:30.022Z,1750271190.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 254.500000 m,
deltaT: 3.784031 s,
deltaX: -1.600006 m,
approachRate: -0.422831 m/s,
rangeRepo size: 4
2025-06-18T18:26:30.028Z,1750271190.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 252.178497 m,
bearing: 313.097343 deg,
lat: 36.905843 deg,
lon: -122.115931 deg,
deltaT: 15.383908 s,
deltaX: -8.223877 m,
approachRate: -0.534577 m/s,
posRepo size: 4
2025-06-18T18:26:30.029Z,1750271190.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.18 m.
2025-06-18T18:26:30.036Z,1750271190.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 252.178497 m,
nav range: 224.235840 m,
bearing: 310.622194 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000980 deg/s,
cmd heading: 311.726719 deg,
new cmd heading: 311.725446 deg.
2025-06-18T18:26:30.037Z,1750271190.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440635 target range: 252.178497 and range: 254.50 m.
2025-06-18T18:26:30.372Z,1750271190.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:30.374Z,1750271190.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.18 m.
2025-06-18T18:26:30.377Z,1750271190.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 252.178497 m,
nav range: 223.996094 m,
bearing: 310.623362 deg,
approach rate: -0.679666 m/s,
LOS rate: 0.003316 deg/s,
cmd heading: 311.725435 deg,
new cmd heading: 311.728945 deg.
2025-06-18T18:26:30.378Z,1750271190.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440696 target range: 252.178497 and range: 254.50 m.
2025-06-18T18:26:30.396Z,1750271190.396 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:30.397Z,1750271190.397 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:30.397Z,1750271190.397 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:30.649Z,1750271190.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995731
2025-06-18T18:26:30.803Z,1750271190.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.18 m.
2025-06-18T18:26:30.806Z,1750271190.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 252.178497 m,
nav range: 223.720398 m,
bearing: 310.624751 deg,
approach rate: -0.643150 m/s,
LOS rate: 0.003244 deg/s,
cmd heading: 311.728932 deg,
new cmd heading: 311.733104 deg.
2025-06-18T18:26:30.807Z,1750271190.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440769 target range: 252.178497 and range: 254.50 m.
2025-06-18T18:26:30.901Z,1750271190.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248314
2025-06-18T18:26:31.153Z,1750271191.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499735
2025-06-18T18:26:31.180Z,1750271191.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.18 m.
2025-06-18T18:26:31.183Z,1750271191.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 252.178497 m,
nav range: 223.491409 m,
bearing: 310.625944 deg,
approach rate: -0.613572 m/s,
LOS rate: 0.003199 deg/s,
cmd heading: 311.733112 deg,
new cmd heading: 311.736694 deg.
2025-06-18T18:26:31.184Z,1750271191.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440832 target range: 252.178497 and range: 254.50 m.
2025-06-18T18:26:31.405Z,1750271191.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751937
2025-06-18T18:26:31.560Z,1750271191.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.18 m.
2025-06-18T18:26:31.563Z,1750271191.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 252.178497 m,
nav range: 223.230423 m,
bearing: 310.627215 deg,
approach rate: -0.678828 m/s,
LOS rate: 0.003309 deg/s,
cmd heading: 311.736691 deg,
new cmd heading: 311.740508 deg.
2025-06-18T18:26:31.564Z,1750271191.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440898 target range: 252.178497 and range: 254.50 m.
2025-06-18T18:26:31.658Z,1750271191.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004505
2025-06-18T18:26:31.909Z,1750271191.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255930
2025-06-18T18:26:32.010Z,1750271192.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.18 m.
2025-06-18T18:26:32.018Z,1750271192.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 252.178497 m,
nav range: 222.952438 m,
bearing: 310.629077 deg,
approach rate: -0.618480 m/s,
LOS rate: 0.004148 deg/s,
cmd heading: 311.740516 deg,
new cmd heading: 311.746110 deg.
2025-06-18T18:26:32.019Z,1750271192.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440996 target range: 252.178497 and range: 254.50 m.
2025-06-18T18:26:32.161Z,1750271192.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507707
2025-06-18T18:26:32.374Z,1750271192.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:32.376Z,1750271192.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.18 m.
2025-06-18T18:26:32.379Z,1750271192.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 252.178497 m,
nav range: 222.697693 m,
bearing: 310.630773 deg,
approach rate: -0.695880 m/s,
LOS rate: 0.004638 deg/s,
cmd heading: 311.746117 deg,
new cmd heading: 311.751210 deg.
2025-06-18T18:26:32.380Z,1750271192.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441085 target range: 252.178497 and range: 254.50 m.
2025-06-18T18:26:32.413Z,1750271192.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759980
2025-06-18T18:26:32.665Z,1750271192.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011927
2025-06-18T18:26:32.832Z,1750271192.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.18 m.
2025-06-18T18:26:32.835Z,1750271192.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 252.178497 m,
nav range: 222.404037 m,
bearing: 310.632419 deg,
approach rate: -0.643312 m/s,
LOS rate: 0.003611 deg/s,
cmd heading: 311.751199 deg,
new cmd heading: 311.756144 deg.
2025-06-18T18:26:32.869Z,1750271192.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441171 target range: 252.178497 and range: 254.50 m.
2025-06-18T18:26:32.917Z,1750271192.917 [DAT](INFO): DAT read: Rx Time:18:26:33.4288
2025-06-18T18:26:32.918Z,1750271192.918 [DAT](INFO): Rx dataTimestamp_ set to:1750271192.917369
2025-06-18T18:26:32.918Z,1750271192.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265061
2025-06-18T18:26:33.169Z,1750271193.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515757
2025-06-18T18:26:33.179Z,1750271193.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.18 m.
2025-06-18T18:26:33.202Z,1750271193.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 252.178497 m,
nav range: 222.181427 m,
bearing: 310.633685 deg,
approach rate: -0.642531 m/s,
LOS rate: 0.003656 deg/s,
cmd heading: 311.756144 deg,
new cmd heading: 311.759944 deg.
2025-06-18T18:26:33.203Z,1750271193.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441237 target range: 252.178497 and range: 254.50 m.
2025-06-18T18:26:33.433Z,1750271193.433 [DAT](INFO): DAT read: 18:26:33.4289 LVL= 28720, 32753, 24098, 32755, AGC= 64, IDX= 420,-0.09,-1.201,-2.611,-1.164,-1.969, PHS= 0.856,-0.595, 0.801, RAW= 148.1, -14.8, CAL= 154.6, -22.6, ROT= 355.4, 22.6
2025-06-18T18:26:33.434Z,1750271193.434 [DAT](INFO): got valid direction response:
18:26:33.4289 LVL= 28720, 32753, 24098, 32755, AGC= 64, IDX= 420,-0.09,-1.201,-2.611,-1.164,-1.969, PHS= 0.856,-0.595, 0.801, RAW= 148.1, -14.8, CAL= 154.6, -22.6, ROT= 355.4, 22.6
2025-06-18T18:26:33.435Z,1750271193.435 [DAT](INFO): DAT read: Bearing 355.4, 22.6 (Local)
2025-06-18T18:26:33.436Z,1750271193.436 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.4, 22.6 (Local)
2025-06-18T18:26:33.438Z,1750271193.438 [DAT](INFO): DAT read: Range 10 to 50 : 252.5 m (Round-trip 336.7 ms) speed 0.4 m/s
2025-06-18T18:26:33.438Z,1750271193.438 [DAT](INFO): DAT read: user:1201>
2025-06-18T18:26:33.439Z,1750271193.439 [DAT](INFO): DAT read: Tx time:18:26:34.5380
2025-06-18T18:26:33.439Z,1750271193.439 [DAT](INFO): Ping request sent.
2025-06-18T18:26:33.439Z,1750271193.439 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:33.442Z,1750271193.442 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:26:33.446Z,1750271193.446 [DAT](INFO): direction in FSK: [0.920236,-0.074041,-0.384295]
2025-06-18T18:26:33.446Z,1750271193.446 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:33.446Z,1750271193.446 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:33.450Z,1750271193.450 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:33.450Z,1750271193.450 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:33.631Z,1750271193.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 252.500000 m,
deltaT: 3.780178 s,
deltaX: -2.000000 m,
approachRate: -0.529076 m/s,
rangeRepo size: 4
2025-06-18T18:26:33.637Z,1750271193.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 250.196930 m,
bearing: 308.840632 deg,
lat: 36.905848 deg,
lon: -122.115937 deg,
deltaT: 3.780178 s,
deltaX: -1.981567 m,
approachRate: -0.524199 m/s,
posRepo size: 4
2025-06-18T18:26:33.638Z,1750271193.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:33.646Z,1750271193.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 222.728775 m,
bearing: 310.667097 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003656 deg/s,
cmd heading: 311.759941 deg,
new cmd heading: 311.764891 deg.
2025-06-18T18:26:33.647Z,1750271193.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441324 target range: 250.196930 and range: 252.50 m.
2025-06-18T18:26:33.673Z,1750271193.673 [DAT](INFO): DAT read: TxSync time:18:26:34.5373
2025-06-18T18:26:34.017Z,1750271194.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:34.019Z,1750271194.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 222.467850 m,
bearing: 310.668657 deg,
approach rate: -0.674838 m/s,
LOS rate: 0.004040 deg/s,
cmd heading: 311.764886 deg,
new cmd heading: 311.769573 deg.
2025-06-18T18:26:34.021Z,1750271194.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441406 target range: 250.196930 and range: 252.50 m.
2025-06-18T18:26:34.563Z,1750271194.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:34.565Z,1750271194.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:34.568Z,1750271194.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 222.115173 m,
bearing: 310.670933 deg,
approach rate: -0.643057 m/s,
LOS rate: 0.004156 deg/s,
cmd heading: 311.769585 deg,
new cmd heading: 311.776424 deg.
2025-06-18T18:26:34.569Z,1750271194.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441525 target range: 250.196930 and range: 252.50 m.
2025-06-18T18:26:34.681Z,1750271194.681 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:34.681Z,1750271194.681 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:34.681Z,1750271194.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:34.933Z,1750271194.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493371
2025-06-18T18:26:34.937Z,1750271194.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:34.939Z,1750271194.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 221.883499 m,
bearing: 310.671586 deg,
approach rate: -0.623608 m/s,
LOS rate: 0.001760 deg/s,
cmd heading: 311.776416 deg,
new cmd heading: 311.778377 deg.
2025-06-18T18:26:34.945Z,1750271194.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441559 target range: 250.196930 and range: 252.50 m.
2025-06-18T18:26:35.186Z,1750271195.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745747
2025-06-18T18:26:35.284Z,1750271195.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:35.287Z,1750271195.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 221.657486 m,
bearing: 310.672099 deg,
approach rate: -0.651170 m/s,
LOS rate: 0.001479 deg/s,
cmd heading: 311.778383 deg,
new cmd heading: 311.779923 deg.
2025-06-18T18:26:35.288Z,1750271195.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441586 target range: 250.196930 and range: 252.50 m.
2025-06-18T18:26:35.437Z,1750271195.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997237
2025-06-18T18:26:35.689Z,1750271195.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249369
2025-06-18T18:26:35.690Z,1750271195.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:35.693Z,1750271195.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 221.400345 m,
bearing: 310.672547 deg,
approach rate: -0.633335 m/s,
LOS rate: 0.001105 deg/s,
cmd heading: 311.779913 deg,
new cmd heading: 311.781258 deg.
2025-06-18T18:26:35.694Z,1750271195.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441609 target range: 250.196930 and range: 252.50 m.
2025-06-18T18:26:35.941Z,1750271195.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501276
2025-06-18T18:26:36.082Z,1750271196.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:36.085Z,1750271196.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 221.153290 m,
bearing: 310.671901 deg,
approach rate: -0.629291 m/s,
LOS rate: -0.001646 deg/s,
cmd heading: 311.781251 deg,
new cmd heading: 311.779312 deg.
2025-06-18T18:26:36.086Z,1750271196.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441576 target range: 250.196930 and range: 252.50 m.
2025-06-18T18:26:36.195Z,1750271196.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755573
2025-06-18T18:26:36.445Z,1750271196.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005575
2025-06-18T18:26:36.516Z,1750271196.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:36.519Z,1750271196.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 220.881363 m,
bearing: 310.671124 deg,
approach rate: -0.627031 m/s,
LOS rate: -0.001794 deg/s,
cmd heading: 311.779312 deg,
new cmd heading: 311.776978 deg.
2025-06-18T18:26:36.532Z,1750271196.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441535 target range: 250.196930 and range: 252.50 m.
2025-06-18T18:26:36.698Z,1750271196.698 [DAT](INFO): DAT read: Rx Time:18:26:37.2758
2025-06-18T18:26:36.699Z,1750271196.699 [DAT](INFO): Rx dataTimestamp_ set to:1750271196.698600
2025-06-18T18:26:36.700Z,1750271196.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260605
2025-06-18T18:26:36.944Z,1750271196.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:36.946Z,1750271196.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:36.949Z,1750271196.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509381
2025-06-18T18:26:36.950Z,1750271196.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 220.613556 m,
bearing: 310.670134 deg,
approach rate: -0.623036 m/s,
LOS rate: -0.002306 deg/s,
cmd heading: 311.776989 deg,
new cmd heading: 311.774015 deg.
2025-06-18T18:26:36.951Z,1750271196.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441483 target range: 250.196930 and range: 252.50 m.
2025-06-18T18:26:37.202Z,1750271197.202 [DAT](INFO): DAT read: Range 10 to 50 : 250.2 m (Round-trip 333.6 ms) speed 0.8 m/s
2025-06-18T18:26:37.202Z,1750271197.202 [DAT](INFO): DAT read: user:1202>
2025-06-18T18:26:37.203Z,1750271197.203 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:26:37.204Z,1750271197.204 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:37.204Z,1750271197.204 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:37.204Z,1750271197.204 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:37.361Z,1750271197.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 250.199997 m,
deltaT: 3.779674 s,
deltaX: -2.300003 m,
approachRate: -0.608519 m/s,
rangeRepo size: 4
2025-06-18T18:26:37.362Z,1750271197.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:37.365Z,1750271197.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 220.354462 m,
bearing: 310.669140 deg,
approach rate: -0.624572 m/s,
LOS rate: -0.002398 deg/s,
cmd heading: 311.774011 deg,
new cmd heading: 311.771027 deg.
2025-06-18T18:26:37.366Z,1750271197.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441431 target range: 250.196930 and range: 250.20 m.
2025-06-18T18:26:37.454Z,1750271197.454 [DAT](INFO): DAT read: Tx time:18:26:38.3896
2025-06-18T18:26:37.455Z,1750271197.455 [DAT](INFO): Ping request sent.
2025-06-18T18:26:37.455Z,1750271197.455 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:37.456Z,1750271197.456 [DAT](INFO): DAT read: TxSync time:18:26:38.3888
2025-06-18T18:26:37.456Z,1750271197.456 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:37.457Z,1750271197.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002424
2025-06-18T18:26:37.705Z,1750271197.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250076
2025-06-18T18:26:37.774Z,1750271197.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:37.777Z,1750271197.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 220.108047 m,
bearing: 310.668168 deg,
approach rate: -0.596276 m/s,
LOS rate: -0.002357 deg/s,
cmd heading: 311.771033 deg,
new cmd heading: 311.768112 deg.
2025-06-18T18:26:37.778Z,1750271197.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441380 target range: 250.196930 and range: 250.20 m.
2025-06-18T18:26:37.957Z,1750271197.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502448
2025-06-18T18:26:38.186Z,1750271198.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:38.189Z,1750271198.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 219.839630 m,
bearing: 310.667597 deg,
approach rate: -0.651595 m/s,
LOS rate: -0.001387 deg/s,
cmd heading: 311.768110 deg,
new cmd heading: 311.766396 deg.
2025-06-18T18:26:38.190Z,1750271198.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441350 target range: 250.196930 and range: 250.20 m.
2025-06-18T18:26:38.226Z,1750271198.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.770941
2025-06-18T18:26:38.477Z,1750271198.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.022058
2025-06-18T18:26:38.577Z,1750271198.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:38.579Z,1750271198.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 219.595795 m,
bearing: 310.667142 deg,
approach rate: -0.624110 m/s,
LOS rate: -0.001166 deg/s,
cmd heading: 311.766389 deg,
new cmd heading: 311.765022 deg.
2025-06-18T18:26:38.581Z,1750271198.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441326 target range: 250.196930 and range: 250.20 m.
2025-06-18T18:26:38.729Z,1750271198.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.274084
2025-06-18T18:26:38.981Z,1750271198.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526109
2025-06-18T18:26:39.014Z,1750271199.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:39.016Z,1750271199.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:39.019Z,1750271199.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 219.321030 m,
bearing: 310.667531 deg,
approach rate: -0.625586 m/s,
LOS rate: 0.000887 deg/s,
cmd heading: 311.765023 deg,
new cmd heading: 311.766191 deg.
2025-06-18T18:26:39.020Z,1750271199.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441347 target range: 250.196930 and range: 250.20 m.
2025-06-18T18:26:39.234Z,1750271199.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.779208
2025-06-18T18:26:39.390Z,1750271199.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:39.393Z,1750271199.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 219.096542 m,
bearing: 310.667647 deg,
approach rate: -0.600142 m/s,
LOS rate: 0.000312 deg/s,
cmd heading: 311.766198 deg,
new cmd heading: 311.766548 deg.
2025-06-18T18:26:39.394Z,1750271199.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441353 target range: 250.196930 and range: 250.20 m.
2025-06-18T18:26:39.485Z,1750271199.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030634
2025-06-18T18:26:39.737Z,1750271199.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282133
2025-06-18T18:26:39.783Z,1750271199.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:39.786Z,1750271199.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 218.840408 m,
bearing: 310.667735 deg,
approach rate: -0.651460 m/s,
LOS rate: 0.000223 deg/s,
cmd heading: 311.766553 deg,
new cmd heading: 311.766816 deg.
2025-06-18T18:26:39.787Z,1750271199.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441358 target range: 250.196930 and range: 250.20 m.
2025-06-18T18:26:39.989Z,1750271199.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534710
2025-06-18T18:26:40.201Z,1750271200.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:40.204Z,1750271200.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 218.574295 m,
bearing: 310.667338 deg,
approach rate: -0.636113 m/s,
LOS rate: -0.000951 deg/s,
cmd heading: 311.766826 deg,
new cmd heading: 311.765632 deg.
2025-06-18T18:26:40.205Z,1750271200.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441337 target range: 250.196930 and range: 250.20 m.
2025-06-18T18:26:40.242Z,1750271200.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787037
2025-06-18T18:26:40.493Z,1750271200.493 [DAT](INFO): DAT read: Rx Time:18:26:41.1243
2025-06-18T18:26:40.493Z,1750271200.493 [DAT](INFO): Rx dataTimestamp_ set to:1750271200.493087
2025-06-18T18:26:40.494Z,1750271200.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039233
2025-06-18T18:26:40.593Z,1750271200.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:40.596Z,1750271200.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 218.324951 m,
bearing: 310.666957 deg,
approach rate: -0.636193 m/s,
LOS rate: -0.000972 deg/s,
cmd heading: 311.765624 deg,
new cmd heading: 311.764482 deg.
2025-06-18T18:26:40.597Z,1750271200.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441317 target range: 250.196930 and range: 250.20 m.
2025-06-18T18:26:40.745Z,1750271200.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290054
2025-06-18T18:26:40.997Z,1750271200.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542169
2025-06-18T18:26:41.082Z,1750271201.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:41.088Z,1750271201.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.20 m.
2025-06-18T18:26:41.091Z,1750271201.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 250.196930 m,
nav range: 218.041656 m,
bearing: 310.666670 deg,
approach rate: -0.577557 m/s,
LOS rate: -0.000587 deg/s,
cmd heading: 311.764476 deg,
new cmd heading: 311.763612 deg.
2025-06-18T18:26:41.096Z,1750271201.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441301 target range: 250.196930 and range: 250.20 m.
2025-06-18T18:26:41.255Z,1750271201.255 [DAT](INFO): DAT read: 18:26:41.1243 LVL= 31392, 32753, 26354, 32755, AGC= 65, IDX= 405,-0.40,-0.353,-1.451,-0.293,-1.118, PHS= 0.853,-0.286, 0.822, RAW= 148.6, -23.6, CAL= 153.2, -30.3, ROT= 356.8, 30.3
2025-06-18T18:26:41.256Z,1750271201.256 [DAT](INFO): got valid direction response:
18:26:41.1243 LVL= 31392, 32753, 26354, 32755, AGC= 65, IDX= 405,-0.40,-0.353,-1.451,-0.293,-1.118, PHS= 0.853,-0.286, 0.822, RAW= 148.6, -23.6, CAL= 153.2, -30.3, ROT= 356.8, 30.3
2025-06-18T18:26:41.257Z,1750271201.257 [DAT](INFO): DAT read: Bearing 356.8, 30.3 (Local)
2025-06-18T18:26:41.257Z,1750271201.257 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.8, 30.3 (Local)
2025-06-18T18:26:41.259Z,1750271201.259 [DAT](INFO): DAT read: Range 10 to 50 : 247.8 m (Round-trip 330.5 ms) speed 0.4 m/s
2025-06-18T18:26:41.259Z,1750271201.259 [DAT](INFO): DAT read: user:1203>
2025-06-18T18:26:41.260Z,1750271201.260 [DAT](INFO): DAT read: Tx time:18:26:42.2380
2025-06-18T18:26:41.261Z,1750271201.261 [DAT](INFO): Ping request sent.
2025-06-18T18:26:41.261Z,1750271201.261 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:41.261Z,1750271201.261 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:26:41.262Z,1750271201.262 [DAT](INFO): direction in FSK: [0.862049,-0.048196,-0.504528]
2025-06-18T18:26:41.262Z,1750271201.262 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:41.263Z,1750271201.263 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:41.283Z,1750271201.283 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:41.283Z,1750271201.283 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:41.461Z,1750271201.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 247.800003 m,
deltaT: 4.048008 s,
deltaX: -2.399994 m,
approachRate: -0.592883 m/s,
rangeRepo size: 4
2025-06-18T18:26:41.463Z,1750271201.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 245.540298 m,
bearing: 311.306364 deg,
lat: 36.905848 deg,
lon: -122.115931 deg,
deltaT: 7.827682 s,
deltaX: -4.656631 m,
approachRate: -0.594893 m/s,
posRepo size: 4
2025-06-18T18:26:41.464Z,1750271201.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.54 m.
2025-06-18T18:26:41.467Z,1750271201.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.540298 m,
nav range: 217.374512 m,
bearing: 310.760133 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000587 deg/s,
cmd heading: 311.763602 deg,
new cmd heading: 311.762939 deg.
2025-06-18T18:26:41.472Z,1750271201.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441290 target range: 245.540298 and range: 247.80 m.
2025-06-18T18:26:41.502Z,1750271201.502 [DAT](INFO): DAT read: TxSync time:18:26:42.2373
2025-06-18T18:26:41.801Z,1750271201.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.54 m.
2025-06-18T18:26:41.804Z,1750271201.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.540298 m,
nav range: 217.144379 m,
bearing: 310.760263 deg,
approach rate: -0.675487 m/s,
LOS rate: 0.000381 deg/s,
cmd heading: 311.762946 deg,
new cmd heading: 311.763336 deg.
2025-06-18T18:26:41.805Z,1750271201.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441297 target range: 245.540298 and range: 247.80 m.
2025-06-18T18:26:42.253Z,1750271202.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.54 m.
2025-06-18T18:26:42.260Z,1750271202.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.540298 m,
nav range: 216.871582 m,
bearing: 310.760984 deg,
approach rate: -0.603131 m/s,
LOS rate: 0.001596 deg/s,
cmd heading: 311.763329 deg,
new cmd heading: 311.765495 deg.
2025-06-18T18:26:42.261Z,1750271202.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441334 target range: 245.540298 and range: 247.80 m.
2025-06-18T18:26:42.649Z,1750271202.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.54 m.
2025-06-18T18:26:42.656Z,1750271202.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.540298 m,
nav range: 216.609177 m,
bearing: 310.761760 deg,
approach rate: -0.663521 m/s,
LOS rate: 0.001965 deg/s,
cmd heading: 311.765487 deg,
new cmd heading: 311.767818 deg.
2025-06-18T18:26:42.657Z,1750271202.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441375 target range: 245.540298 and range: 247.80 m.
2025-06-18T18:26:43.042Z,1750271203.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.54 m.
2025-06-18T18:26:43.045Z,1750271203.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.540298 m,
nav range: 216.353500 m,
bearing: 310.763141 deg,
approach rate: -0.650647 m/s,
LOS rate: 0.003520 deg/s,
cmd heading: 311.767810 deg,
new cmd heading: 311.771959 deg.
2025-06-18T18:26:43.046Z,1750271203.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441447 target range: 245.540298 and range: 247.80 m.
2025-06-18T18:26:43.420Z,1750271203.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:43.422Z,1750271203.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.54 m.
2025-06-18T18:26:43.425Z,1750271203.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.540298 m,
nav range: 216.110977 m,
bearing: 310.764205 deg,
approach rate: -0.637655 m/s,
LOS rate: 0.002800 deg/s,
cmd heading: 311.771962 deg,
new cmd heading: 311.775157 deg.
2025-06-18T18:26:43.426Z,1750271203.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441503 target range: 245.540298 and range: 247.80 m.
2025-06-18T18:26:43.517Z,1750271203.517 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:43.517Z,1750271203.517 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:43.518Z,1750271203.518 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:43.769Z,1750271203.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507970
2025-06-18T18:26:43.826Z,1750271203.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.54 m.
2025-06-18T18:26:43.829Z,1750271203.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.540298 m,
nav range: 215.853256 m,
bearing: 310.765250 deg,
approach rate: -0.638938 m/s,
LOS rate: 0.002594 deg/s,
cmd heading: 311.775159 deg,
new cmd heading: 311.778298 deg.
2025-06-18T18:26:43.830Z,1750271203.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441558 target range: 245.540298 and range: 247.80 m.
2025-06-18T18:26:44.021Z,1750271204.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760623
2025-06-18T18:26:44.241Z,1750271204.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.54 m.
2025-06-18T18:26:44.244Z,1750271204.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.540298 m,
nav range: 215.588821 m,
bearing: 310.765627 deg,
approach rate: -0.635879 m/s,
LOS rate: 0.000909 deg/s,
cmd heading: 311.778301 deg,
new cmd heading: 311.779434 deg.
2025-06-18T18:26:44.245Z,1750271204.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441577 target range: 245.540298 and range: 247.80 m.
2025-06-18T18:26:44.273Z,1750271204.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012046
2025-06-18T18:26:44.525Z,1750271204.525 [DAT](INFO): DAT read: Rx Time:18:26:44.9704
2025-06-18T18:26:44.525Z,1750271204.525 [DAT](INFO): Rx dataTimestamp_ set to:1750271204.525039
2025-06-18T18:26:44.526Z,1750271204.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265077
2025-06-18T18:26:44.631Z,1750271204.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.54 m.
2025-06-18T18:26:44.634Z,1750271204.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 245.540298 m,
nav range: 215.340683 m,
bearing: 310.765906 deg,
approach rate: -0.636435 m/s,
LOS rate: 0.000716 deg/s,
cmd heading: 311.779421 deg,
new cmd heading: 311.780259 deg.
2025-06-18T18:26:44.635Z,1750271204.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441592 target range: 245.540298 and range: 247.80 m.
2025-06-18T18:26:44.777Z,1750271204.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516178
2025-06-18T18:26:44.966Z,1750271204.966 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:26:45.035Z,1750271205.035 [DAT](INFO): DAT read: 18:26:44.9704 LVL= 32752, 28593, 28562, 32755, AGC= 65, IDX= 411,-0.09,-2.555, 2.248,-2.642, 2.616, PHS= 1.200,-0.321, 1.023, RAW= 143.9, -25.0, CAL= 148.5, -31.4, ROT= 1.5, 31.4
2025-06-18T18:26:45.040Z,1750271205.040 [DAT](INFO): got valid direction response:
18:26:44.9704 LVL= 32752, 28593, 28562, 32755, AGC= 65, IDX= 411,-0.09,-2.555, 2.248,-2.642, 2.616, PHS= 1.200,-0.321, 1.023, RAW= 143.9, -25.0, CAL= 148.5, -31.4, ROT= 1.5, 31.4
2025-06-18T18:26:45.041Z,1750271205.041 [DAT](INFO): DAT read: Bearing 1.5, 31.4 (Local)
2025-06-18T18:26:45.041Z,1750271205.041 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.5, 31.4 (Local)
2025-06-18T18:26:45.043Z,1750271205.043 [DAT](INFO): DAT read: Range 10 to 50 : 246.0 m (Round-trip 328.1 ms) speed 0.4 m/s
2025-06-18T18:26:45.044Z,1750271205.044 [DAT](INFO): DAT read: user:1204>
2025-06-18T18:26:45.045Z,1750271205.045 [DAT](INFO): DAT read: Tx time:18:26:46.0881
2025-06-18T18:26:45.045Z,1750271205.045 [DAT](INFO): Ping request sent.
2025-06-18T18:26:45.045Z,1750271205.045 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:45.045Z,1750271205.045 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:26:45.046Z,1750271205.046 [DAT](INFO): direction in FSK: [0.853258,0.022343,-0.521010]
2025-06-18T18:26:45.046Z,1750271205.046 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:45.047Z,1750271205.047 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:45.066Z,1750271205.066 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:45.066Z,1750271205.066 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:45.106Z,1750271205.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 246.000000 m,
deltaT: 3.780112 s,
deltaX: -1.800003 m,
approachRate: -0.476177 m/s,
rangeRepo size: 4
2025-06-18T18:26:45.113Z,1750271205.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 243.756729 m,
bearing: 316.294754 deg,
lat: 36.905852 deg,
lon: -122.115878 deg,
deltaT: 3.780112 s,
deltaX: -1.783569 m,
approachRate: -0.471830 m/s,
posRepo size: 4
2025-06-18T18:26:45.113Z,1750271205.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:45.121Z,1750271205.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 211.865784 m,
bearing: 311.684019 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000716 deg/s,
cmd heading: 311.780268 deg,
new cmd heading: 311.781287 deg.
2025-06-18T18:26:45.129Z,1750271205.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441610 target range: 243.756729 and range: 246.00 m.
2025-06-18T18:26:45.281Z,1750271205.281 [DAT](INFO): DAT read: TxSync time:18:26:46.0874
2025-06-18T18:26:45.448Z,1750271205.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:45.450Z,1750271205.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:45.457Z,1750271205.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 211.631989 m,
bearing: 311.685054 deg,
approach rate: -0.679006 m/s,
LOS rate: 0.003011 deg/s,
cmd heading: 311.781279 deg,
new cmd heading: 311.784389 deg.
2025-06-18T18:26:45.458Z,1750271205.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441664 target range: 243.756729 and range: 246.00 m.
2025-06-18T18:26:45.533Z,1750271205.533 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:45.533Z,1750271205.533 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:45.533Z,1750271205.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:45.785Z,1750271205.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739875
2025-06-18T18:26:45.849Z,1750271205.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:45.851Z,1750271205.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 211.384857 m,
bearing: 311.686360 deg,
approach rate: -0.619778 m/s,
LOS rate: 0.003277 deg/s,
cmd heading: 311.784393 deg,
new cmd heading: 311.788313 deg.
2025-06-18T18:26:45.857Z,1750271205.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441732 target range: 243.756729 and range: 246.00 m.
2025-06-18T18:26:45.969Z,1750271205.969 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:26:46.038Z,1750271206.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992760
2025-06-18T18:26:46.268Z,1750271206.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:46.271Z,1750271206.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 211.111053 m,
bearing: 311.688408 deg,
approach rate: -0.652843 m/s,
LOS rate: 0.004891 deg/s,
cmd heading: 311.788300 deg,
new cmd heading: 311.794454 deg.
2025-06-18T18:26:46.272Z,1750271206.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441840 target range: 243.756729 and range: 246.00 m.
2025-06-18T18:26:46.291Z,1750271206.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245672
2025-06-18T18:26:46.541Z,1750271206.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495951
2025-06-18T18:26:46.662Z,1750271206.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:46.665Z,1750271206.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 210.863678 m,
bearing: 311.690263 deg,
approach rate: -0.627552 m/s,
LOS rate: 0.004712 deg/s,
cmd heading: 311.794447 deg,
new cmd heading: 311.800020 deg.
2025-06-18T18:26:46.666Z,1750271206.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441937 target range: 243.756729 and range: 246.00 m.
2025-06-18T18:26:46.793Z,1750271206.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747819
2025-06-18T18:26:47.045Z,1750271207.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999886
2025-06-18T18:26:47.066Z,1750271207.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:47.069Z,1750271207.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 210.607544 m,
bearing: 311.691688 deg,
approach rate: -0.634677 m/s,
LOS rate: 0.003535 deg/s,
cmd heading: 311.800021 deg,
new cmd heading: 311.804301 deg.
2025-06-18T18:26:47.070Z,1750271207.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442012 target range: 243.756729 and range: 246.00 m.
2025-06-18T18:26:47.298Z,1750271207.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253243
2025-06-18T18:26:47.507Z,1750271207.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:47.509Z,1750271207.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:47.511Z,1750271207.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 210.327484 m,
bearing: 311.693178 deg,
approach rate: -0.632029 m/s,
LOS rate: 0.003367 deg/s,
cmd heading: 311.804310 deg,
new cmd heading: 311.808786 deg.
2025-06-18T18:26:47.513Z,1750271207.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442090 target range: 243.756729 and range: 246.00 m.
2025-06-18T18:26:47.549Z,1750271207.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504267
2025-06-18T18:26:47.801Z,1750271207.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755823
2025-06-18T18:26:47.902Z,1750271207.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:47.905Z,1750271207.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 210.093094 m,
bearing: 311.694428 deg,
approach rate: -0.595613 m/s,
LOS rate: 0.003180 deg/s,
cmd heading: 311.808791 deg,
new cmd heading: 311.812545 deg.
2025-06-18T18:26:47.906Z,1750271207.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442155 target range: 243.756729 and range: 246.00 m.
2025-06-18T18:26:48.053Z,1750271208.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007940
2025-06-18T18:26:48.293Z,1750271208.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:48.296Z,1750271208.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 209.826233 m,
bearing: 311.696556 deg,
approach rate: -0.682596 m/s,
LOS rate: 0.005449 deg/s,
cmd heading: 311.812534 deg,
new cmd heading: 311.818924 deg.
2025-06-18T18:26:48.297Z,1750271208.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442267 target range: 243.756729 and range: 246.00 m.
2025-06-18T18:26:48.305Z,1750271208.305 [DAT](INFO): DAT read: Rx Time:18:26:48.8181
2025-06-18T18:26:48.305Z,1750271208.305 [DAT](INFO): Rx dataTimestamp_ set to:1750271208.305037
2025-06-18T18:26:48.306Z,1750271208.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260908
2025-06-18T18:26:48.558Z,1750271208.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512769
2025-06-18T18:26:48.714Z,1750271208.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:48.723Z,1750271208.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 209.574921 m,
bearing: 311.698615 deg,
approach rate: -0.630505 m/s,
LOS rate: 0.005171 deg/s,
cmd heading: 311.818927 deg,
new cmd heading: 311.825111 deg.
2025-06-18T18:26:48.732Z,1750271208.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442375 target range: 243.756729 and range: 246.00 m.
2025-06-18T18:26:48.811Z,1750271208.811 [DAT](INFO): DAT read: Range 10 to 50 : 244.3 m (Round-trip 325.8 ms) speed 0.7 m/s
2025-06-18T18:26:48.813Z,1750271208.813 [DAT](INFO): DAT read: user:1205>
2025-06-18T18:26:48.814Z,1750271208.814 [DAT](INFO): DAT read: Tx time:18:26:49.9381
2025-06-18T18:26:48.814Z,1750271208.814 [DAT](INFO): Ping request sent.
2025-06-18T18:26:48.814Z,1750271208.814 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:48.814Z,1750271208.814 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:26:48.814Z,1750271208.814 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:48.815Z,1750271208.815 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:49.063Z,1750271209.063 [DAT](INFO): DAT read: TxSync time:18:26:49.9374
2025-06-18T18:26:49.099Z,1750271209.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 244.300003 m,
deltaT: 3.780421 s,
deltaX: -1.699997 m,
approachRate: -0.449685 m/s,
rangeRepo size: 4
2025-06-18T18:26:49.100Z,1750271209.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:49.105Z,1750271209.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 209.313354 m,
bearing: 311.700550 deg,
approach rate: -0.645154 m/s,
LOS rate: 0.004778 deg/s,
cmd heading: 311.825101 deg,
new cmd heading: 311.830913 deg.
2025-06-18T18:26:49.107Z,1750271209.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442476 target range: 243.756729 and range: 244.30 m.
2025-06-18T18:26:49.493Z,1750271209.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:49.495Z,1750271209.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 209.056458 m,
bearing: 311.702593 deg,
approach rate: -0.649561 m/s,
LOS rate: 0.005174 deg/s,
cmd heading: 311.830921 deg,
new cmd heading: 311.837059 deg.
2025-06-18T18:26:49.513Z,1750271209.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442584 target range: 243.756729 and range: 244.30 m.
2025-06-18T18:26:49.888Z,1750271209.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:49.891Z,1750271209.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:49.910Z,1750271209.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 208.804642 m,
bearing: 311.704746 deg,
approach rate: -0.632390 m/s,
LOS rate: 0.005412 deg/s,
cmd heading: 311.837068 deg,
new cmd heading: 311.843532 deg.
2025-06-18T18:26:49.911Z,1750271209.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442697 target range: 243.756729 and range: 244.30 m.
2025-06-18T18:26:50.073Z,1750271210.073 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:50.073Z,1750271210.073 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:50.073Z,1750271210.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:50.319Z,1750271210.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:50.322Z,1750271210.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 208.521866 m,
bearing: 311.705726 deg,
approach rate: -0.660918 m/s,
LOS rate: 0.002296 deg/s,
cmd heading: 311.843543 deg,
new cmd heading: 311.846489 deg.
2025-06-18T18:26:50.323Z,1750271210.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442748 target range: 243.756729 and range: 244.30 m.
2025-06-18T18:26:50.325Z,1750271210.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510907
2025-06-18T18:26:50.577Z,1750271210.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762591
2025-06-18T18:26:50.699Z,1750271210.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:50.702Z,1750271210.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 208.276291 m,
bearing: 311.706650 deg,
approach rate: -0.646641 m/s,
LOS rate: 0.002434 deg/s,
cmd heading: 311.846493 deg,
new cmd heading: 311.849266 deg.
2025-06-18T18:26:50.703Z,1750271210.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442796 target range: 243.756729 and range: 244.30 m.
2025-06-18T18:26:50.829Z,1750271210.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014981
2025-06-18T18:26:51.081Z,1750271211.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266878
2025-06-18T18:26:51.138Z,1750271211.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:51.145Z,1750271211.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 207.998978 m,
bearing: 311.707678 deg,
approach rate: -0.630676 m/s,
LOS rate: 0.002343 deg/s,
cmd heading: 311.849253 deg,
new cmd heading: 311.852343 deg.
2025-06-18T18:26:51.146Z,1750271211.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442850 target range: 243.756729 and range: 244.30 m.
2025-06-18T18:26:51.333Z,1750271211.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518726
2025-06-18T18:26:51.494Z,1750271211.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:51.497Z,1750271211.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 207.767548 m,
bearing: 311.708508 deg,
approach rate: -0.650693 m/s,
LOS rate: 0.002336 deg/s,
cmd heading: 311.852340 deg,
new cmd heading: 311.854832 deg.
2025-06-18T18:26:51.498Z,1750271211.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442894 target range: 243.756729 and range: 244.30 m.
2025-06-18T18:26:51.589Z,1750271211.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774797
2025-06-18T18:26:51.841Z,1750271211.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026779
2025-06-18T18:26:51.909Z,1750271211.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:51.911Z,1750271211.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:51.930Z,1750271211.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 207.502014 m,
bearing: 311.709376 deg,
approach rate: -0.636942 m/s,
LOS rate: 0.002085 deg/s,
cmd heading: 311.854826 deg,
new cmd heading: 311.857434 deg.
2025-06-18T18:26:51.931Z,1750271211.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442939 target range: 243.756729 and range: 244.30 m.
2025-06-18T18:26:52.093Z,1750271212.093 [DAT](INFO): DAT read: Rx Time:18:26:52.6653
2025-06-18T18:26:52.093Z,1750271212.093 [DAT](INFO): Rx dataTimestamp_ set to:1750271212.093092
2025-06-18T18:26:52.094Z,1750271212.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279870
2025-06-18T18:26:52.317Z,1750271212.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.76 m.
2025-06-18T18:26:52.319Z,1750271212.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.756729 m,
nav range: 207.246475 m,
bearing: 311.708846 deg,
approach rate: -0.629622 m/s,
LOS rate: -0.001309 deg/s,
cmd heading: 311.857422 deg,
new cmd heading: 311.855828 deg.
2025-06-18T18:26:52.321Z,1750271212.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442911 target range: 243.756729 and range: 244.30 m.
2025-06-18T18:26:52.345Z,1750271212.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531439
2025-06-18T18:26:52.615Z,1750271212.615 [DAT](INFO): DAT read: 18:26:52.6653 LVL= 32752, 32753, 32098, 32755, AGC= 61, IDX= 407, 0.08,-1.299,-2.481,-1.236,-2.135, PHS= 0.925,-0.299, 0.896, RAW= 148.8, -24.0, CAL= 153.3, -30.6, ROT= 356.7, 30.6
2025-06-18T18:26:52.631Z,1750271212.631 [DAT](INFO): got valid direction response:
18:26:52.6653 LVL= 32752, 32753, 32098, 32755, AGC= 61, IDX= 407, 0.08,-1.299,-2.481,-1.236,-2.135, PHS= 0.925,-0.299, 0.896, RAW= 148.8, -24.0, CAL= 153.3, -30.6, ROT= 356.7, 30.6
2025-06-18T18:26:52.638Z,1750271212.638 [DAT](INFO): DAT read: Bearing 356.7, 30.6 (Local)
2025-06-18T18:26:52.639Z,1750271212.639 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.7, 30.6 (Local)
2025-06-18T18:26:52.649Z,1750271212.649 [DAT](INFO): DAT read: Range 10 to 50 : 242.2 m (Round-trip 323.0 ms) speed 0.5 m/s
2025-06-18T18:26:52.650Z,1750271212.650 [DAT](INFO): DAT read: user:1206>
2025-06-18T18:26:52.651Z,1750271212.651 [DAT](INFO): DAT read: Tx time:18:26:53.7881
2025-06-18T18:26:52.651Z,1750271212.651 [DAT](INFO): Ping request sent.
2025-06-18T18:26:52.651Z,1750271212.651 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:52.651Z,1750271212.651 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:26:52.657Z,1750271212.657 [DAT](INFO): direction in FSK: [0.859315,-0.049548,-0.509041]
2025-06-18T18:26:52.657Z,1750271212.657 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:52.658Z,1750271212.658 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:52.665Z,1750271212.665 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:52.666Z,1750271212.666 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:52.777Z,1750271212.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 242.199997 m,
deltaT: 3.789389 s,
deltaX: -2.100006 m,
approachRate: -0.554181 m/s,
rangeRepo size: 4
2025-06-18T18:26:52.779Z,1750271212.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 239.990875 m,
bearing: 311.291180 deg,
lat: 36.905852 deg,
lon: -122.115878 deg,
deltaT: 7.569810 s,
deltaX: -3.765854 m,
approachRate: -0.497483 m/s,
posRepo size: 4
2025-06-18T18:26:52.784Z,1750271212.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.99 m.
2025-06-18T18:26:52.787Z,1750271212.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.990875 m,
nav range: 206.977203 m,
bearing: 311.708152 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001309 deg/s,
cmd heading: 311.855837 deg,
new cmd heading: 311.854031 deg.
2025-06-18T18:26:52.792Z,1750271212.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442880 target range: 239.990875 and range: 242.20 m.
2025-06-18T18:26:52.850Z,1750271212.850 [DAT](INFO): DAT read: TxSync time:18:26:53.7874
2025-06-18T18:26:53.147Z,1750271213.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.99 m.
2025-06-18T18:26:53.150Z,1750271213.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.990875 m,
nav range: 206.723938 m,
bearing: 311.707087 deg,
approach rate: -0.683980 m/s,
LOS rate: -0.002881 deg/s,
cmd heading: 311.854034 deg,
new cmd heading: 311.850833 deg.
2025-06-18T18:26:53.151Z,1750271213.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442824 target range: 239.990875 and range: 242.20 m.
2025-06-18T18:26:53.577Z,1750271213.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.99 m.
2025-06-18T18:26:53.579Z,1750271213.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.990875 m,
nav range: 206.461060 m,
bearing: 311.706188 deg,
approach rate: -0.611584 m/s,
LOS rate: -0.002094 deg/s,
cmd heading: 311.850837 deg,
new cmd heading: 311.848137 deg.
2025-06-18T18:26:53.585Z,1750271213.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442777 target range: 239.990875 and range: 242.20 m.
2025-06-18T18:26:53.925Z,1750271213.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:53.927Z,1750271213.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.99 m.
2025-06-18T18:26:53.930Z,1750271213.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.990875 m,
nav range: 206.232986 m,
bearing: 311.705481 deg,
approach rate: -0.650899 m/s,
LOS rate: -0.002021 deg/s,
cmd heading: 311.848133 deg,
new cmd heading: 311.846009 deg.
2025-06-18T18:26:53.931Z,1750271213.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442739 target range: 239.990875 and range: 242.20 m.
2025-06-18T18:26:54.111Z,1750271214.111 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:54.111Z,1750271214.111 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:54.112Z,1750271214.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:54.361Z,1750271214.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709649
2025-06-18T18:26:54.384Z,1750271214.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.99 m.
2025-06-18T18:26:54.386Z,1750271214.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.990875 m,
nav range: 205.949814 m,
bearing: 311.704776 deg,
approach rate: -0.620427 m/s,
LOS rate: -0.001546 deg/s,
cmd heading: 311.846002 deg,
new cmd heading: 311.843885 deg.
2025-06-18T18:26:54.387Z,1750271214.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442703 target range: 239.990875 and range: 242.20 m.
2025-06-18T18:26:54.613Z,1750271214.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961877
2025-06-18T18:26:54.788Z,1750271214.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.99 m.
2025-06-18T18:26:54.791Z,1750271214.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.990875 m,
nav range: 205.705521 m,
bearing: 311.704005 deg,
approach rate: -0.607181 m/s,
LOS rate: -0.001920 deg/s,
cmd heading: 311.843898 deg,
new cmd heading: 311.841581 deg.
2025-06-18T18:26:54.792Z,1750271214.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442662 target range: 239.990875 and range: 242.20 m.
2025-06-18T18:26:54.866Z,1750271214.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214420
2025-06-18T18:26:55.119Z,1750271215.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467487
2025-06-18T18:26:55.217Z,1750271215.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.99 m.
2025-06-18T18:26:55.219Z,1750271215.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.990875 m,
nav range: 205.443909 m,
bearing: 311.703720 deg,
approach rate: -0.608282 m/s,
LOS rate: -0.000662 deg/s,
cmd heading: 311.841576 deg,
new cmd heading: 311.840721 deg.
2025-06-18T18:26:55.220Z,1750271215.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442647 target range: 239.990875 and range: 242.20 m.
2025-06-18T18:26:55.369Z,1750271215.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717517
2025-06-18T18:26:55.550Z,1750271215.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.99 m.
2025-06-18T18:26:55.553Z,1750271215.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.990875 m,
nav range: 205.220749 m,
bearing: 311.703284 deg,
approach rate: -0.667743 m/s,
LOS rate: -0.001306 deg/s,
cmd heading: 311.840729 deg,
new cmd heading: 311.839419 deg.
2025-06-18T18:26:55.554Z,1750271215.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442625 target range: 239.990875 and range: 242.20 m.
2025-06-18T18:26:55.622Z,1750271215.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971097
2025-06-18T18:26:55.876Z,1750271215.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224120
2025-06-18T18:26:55.953Z,1750271215.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:55.955Z,1750271215.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.99 m.
2025-06-18T18:26:55.961Z,1750271215.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.990875 m,
nav range: 204.978470 m,
bearing: 311.702783 deg,
approach rate: -0.599118 m/s,
LOS rate: -0.001241 deg/s,
cmd heading: 311.839417 deg,
new cmd heading: 311.837911 deg.
2025-06-18T18:26:55.962Z,1750271215.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442598 target range: 239.990875 and range: 242.20 m.
2025-06-18T18:26:56.127Z,1750271216.127 [DAT](INFO): DAT read: Rx Time:18:26:56.5115
2025-06-18T18:26:56.129Z,1750271216.129 [DAT](INFO): Rx dataTimestamp_ set to:1750271216.128245
2025-06-18T18:26:56.131Z,1750271216.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479264
2025-06-18T18:26:56.377Z,1750271216.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.725635
2025-06-18T18:26:56.446Z,1750271216.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.99 m.
2025-06-18T18:26:56.462Z,1750271216.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 239.990875 m,
nav range: 204.687790 m,
bearing: 311.704364 deg,
approach rate: -0.614652 m/s,
LOS rate: 0.003349 deg/s,
cmd heading: 311.837915 deg,
new cmd heading: 311.842666 deg.
2025-06-18T18:26:56.463Z,1750271216.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442681 target range: 239.990875 and range: 242.20 m.
2025-06-18T18:26:56.636Z,1750271216.636 [DAT](INFO): DAT read: 18:26:56.5115 LVL= 19808, 25617, 19058, 27715, AGC= 61, IDX= 399, 0.11, 2.536, 1.251, 2.568, 1.613, PHS= 1.011,-0.315, 0.951, RAW= 147.7, -24.2, CAL= 152.2, -30.7, ROT= 357.8, 30.7
2025-06-18T18:26:56.637Z,1750271216.637 [DAT](INFO): got valid direction response:
18:26:56.5115 LVL= 19808, 25617, 19058, 27715, AGC= 61, IDX= 399, 0.11, 2.536, 1.251, 2.568, 1.613, PHS= 1.011,-0.315, 0.951, RAW= 147.7, -24.2, CAL= 152.2, -30.7, ROT= 357.8, 30.7
2025-06-18T18:26:56.638Z,1750271216.638 [DAT](INFO): DAT read: Bearing 357.8, 30.7 (Local)
2025-06-18T18:26:56.638Z,1750271216.638 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.8, 30.7 (Local)
2025-06-18T18:26:56.640Z,1750271216.640 [DAT](INFO): DAT read: Range 10 to 50 : 239.3 m (Round-trip 319.1 ms) speed 0.2 m/s
2025-06-18T18:26:56.641Z,1750271216.641 [DAT](INFO): DAT read: user:1207>
2025-06-18T18:26:56.642Z,1750271216.642 [DAT](INFO): DAT read: Tx time:18:26:57.5882
2025-06-18T18:26:56.642Z,1750271216.642 [DAT](INFO): Ping request sent.
2025-06-18T18:26:56.642Z,1750271216.642 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:26:56.643Z,1750271216.643 [DAT](INFO): DAT read: TxSync time:18:26:57.5875
2025-06-18T18:26:56.643Z,1750271216.643 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:26:56.664Z,1750271216.664 [DAT](INFO): direction in FSK: [0.859218,-0.033008,-0.510543]
2025-06-18T18:26:56.664Z,1750271216.664 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:56.665Z,1750271216.665 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:56.668Z,1750271216.668 [DAT](INFO): publishing transmit ping time
2025-06-18T18:26:56.719Z,1750271216.719 [DAT](INFO): publishing direction and range info
2025-06-18T18:26:56.799Z,1750271216.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 239.300003 m,
deltaT: 4.030099 s,
deltaX: -2.899994 m,
approachRate: -0.719584 m/s,
rangeRepo size: 4
2025-06-18T18:26:56.805Z,1750271216.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 237.117416 m,
bearing: 312.589072 deg,
lat: 36.905852 deg,
lon: -122.115878 deg,
deltaT: 4.030099 s,
deltaX: -2.873459 m,
approachRate: -0.713000 m/s,
posRepo size: 4
2025-06-18T18:26:56.806Z,1750271216.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:26:56.822Z,1750271216.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 204.459915 m,
bearing: 311.705668 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003349 deg/s,
cmd heading: 311.842668 deg,
new cmd heading: 311.846391 deg.
2025-06-18T18:26:56.823Z,1750271216.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442746 target range: 237.117416 and range: 239.30 m.
2025-06-18T18:26:57.212Z,1750271217.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:26:57.215Z,1750271217.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 204.192444 m,
bearing: 311.708141 deg,
approach rate: -0.679627 m/s,
LOS rate: 0.006292 deg/s,
cmd heading: 311.846384 deg,
new cmd heading: 311.853813 deg.
2025-06-18T18:26:57.220Z,1750271217.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442876 target range: 237.117416 and range: 239.30 m.
2025-06-18T18:26:57.550Z,1750271217.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:26:57.553Z,1750271217.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 203.967484 m,
bearing: 311.710345 deg,
approach rate: -0.628125 m/s,
LOS rate: 0.006160 deg/s,
cmd heading: 311.853815 deg,
new cmd heading: 311.860434 deg.
2025-06-18T18:26:57.554Z,1750271217.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442991 target range: 237.117416 and range: 239.30 m.
2025-06-18T18:26:57.959Z,1750271217.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:57.961Z,1750271217.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:26:57.964Z,1750271217.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 203.709183 m,
bearing: 311.712974 deg,
approach rate: -0.627338 m/s,
LOS rate: 0.006393 deg/s,
cmd heading: 311.860427 deg,
new cmd heading: 311.868324 deg.
2025-06-18T18:26:57.965Z,1750271217.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443129 target range: 237.117416 and range: 239.30 m.
2025-06-18T18:26:58.143Z,1750271218.143 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:26:58.144Z,1750271218.144 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:26:58.145Z,1750271218.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:26:58.380Z,1750271218.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:26:58.383Z,1750271218.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 203.446671 m,
bearing: 311.716125 deg,
approach rate: -0.627421 m/s,
LOS rate: 0.007542 deg/s,
cmd heading: 311.868323 deg,
new cmd heading: 311.877790 deg.
2025-06-18T18:26:58.384Z,1750271218.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443295 target range: 237.117416 and range: 239.30 m.
2025-06-18T18:26:58.393Z,1750271218.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750531
2025-06-18T18:26:58.645Z,1750271218.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002528
2025-06-18T18:26:58.769Z,1750271218.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:26:58.771Z,1750271218.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 203.202866 m,
bearing: 311.718971 deg,
approach rate: -0.627132 m/s,
LOS rate: 0.007329 deg/s,
cmd heading: 311.877803 deg,
new cmd heading: 311.886350 deg.
2025-06-18T18:26:58.773Z,1750271218.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443444 target range: 237.117416 and range: 239.30 m.
2025-06-18T18:26:58.897Z,1750271218.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255120
2025-06-18T18:26:59.151Z,1750271219.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508550
2025-06-18T18:26:59.223Z,1750271219.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:26:59.250Z,1750271219.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 202.918793 m,
bearing: 311.724225 deg,
approach rate: -0.624846 m/s,
LOS rate: 0.011573 deg/s,
cmd heading: 311.886354 deg,
new cmd heading: 311.902138 deg.
2025-06-18T18:26:59.251Z,1750271219.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443719 target range: 237.117416 and range: 239.30 m.
2025-06-18T18:26:59.401Z,1750271219.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758495
2025-06-18T18:26:59.574Z,1750271219.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:26:59.577Z,1750271219.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 202.699646 m,
bearing: 311.728280 deg,
approach rate: -0.625221 m/s,
LOS rate: 0.011579 deg/s,
cmd heading: 311.902146 deg,
new cmd heading: 311.914322 deg.
2025-06-18T18:26:59.578Z,1750271219.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443932 target range: 237.117416 and range: 239.30 m.
2025-06-18T18:26:59.654Z,1750271219.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011336
2025-06-18T18:26:59.905Z,1750271219.905 [DAT](INFO): DAT read: Rx Time:18:27:00.3090
2025-06-18T18:26:59.905Z,1750271219.905 [DAT](INFO): Rx dataTimestamp_ set to:1750271219.905097
2025-06-18T18:26:59.906Z,1750271219.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263592
2025-06-18T18:26:59.976Z,1750271219.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:26:59.978Z,1750271219.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:26:59.993Z,1750271219.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 202.447357 m,
bearing: 311.732950 deg,
approach rate: -0.624426 m/s,
LOS rate: 0.011573 deg/s,
cmd heading: 311.914331 deg,
new cmd heading: 311.928358 deg.
2025-06-18T18:26:59.994Z,1750271219.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444177 target range: 237.117416 and range: 239.30 m.
2025-06-18T18:27:00.159Z,1750271220.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516469
2025-06-18T18:27:00.410Z,1750271220.410 [DAT](INFO): DAT read: Range 10 to 50 : 237.4 m (Round-trip 316.6 ms) speed 0.7 m/s
2025-06-18T18:27:00.410Z,1750271220.410 [DAT](INFO): DAT read: user:1208>
2025-06-18T18:27:00.411Z,1750271220.411 [DAT](INFO): DAT read: Tx time:18:27:01.3882
2025-06-18T18:27:00.411Z,1750271220.411 [DAT](INFO): Ping request sent.
2025-06-18T18:27:00.412Z,1750271220.412 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:00.412Z,1750271220.412 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:27:00.412Z,1750271220.412 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:00.413Z,1750271220.413 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:00.538Z,1750271220.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 237.399994 m,
deltaT: 3.779800 s,
deltaX: -1.900009 m,
approachRate: -0.502675 m/s,
rangeRepo size: 4
2025-06-18T18:27:00.539Z,1750271220.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:27:00.542Z,1750271220.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 202.092163 m,
bearing: 311.738466 deg,
approach rate: -0.634360 m/s,
LOS rate: 0.009870 deg/s,
cmd heading: 311.928346 deg,
new cmd heading: 311.944925 deg.
2025-06-18T18:27:00.543Z,1750271220.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444466 target range: 237.117416 and range: 237.40 m.
2025-06-18T18:27:00.665Z,1750271220.665 [DAT](INFO): DAT read: TxSync time:18:27:01.3875
2025-06-18T18:27:00.862Z,1750271220.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:27:00.870Z,1750271220.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 201.891571 m,
bearing: 311.741631 deg,
approach rate: -0.618493 m/s,
LOS rate: 0.009769 deg/s,
cmd heading: 311.944930 deg,
new cmd heading: 311.954435 deg.
2025-06-18T18:27:00.876Z,1750271220.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444632 target range: 237.117416 and range: 237.40 m.
2025-06-18T18:27:01.282Z,1750271221.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:27:01.284Z,1750271221.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 201.618393 m,
bearing: 311.746377 deg,
approach rate: -0.651199 m/s,
LOS rate: 0.011328 deg/s,
cmd heading: 311.954438 deg,
new cmd heading: 311.968693 deg.
2025-06-18T18:27:01.285Z,1750271221.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444881 target range: 237.117416 and range: 237.40 m.
2025-06-18T18:27:01.665Z,1750271221.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:27:01.667Z,1750271221.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 201.371887 m,
bearing: 311.750748 deg,
approach rate: -0.643197 m/s,
LOS rate: 0.011420 deg/s,
cmd heading: 311.968699 deg,
new cmd heading: 311.981830 deg.
2025-06-18T18:27:01.670Z,1750271221.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445110 target range: 237.117416 and range: 237.40 m.
2025-06-18T18:27:02.059Z,1750271222.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:02.077Z,1750271222.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:27:02.084Z,1750271222.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 201.117935 m,
bearing: 311.755183 deg,
approach rate: -0.615473 m/s,
LOS rate: 0.010763 deg/s,
cmd heading: 311.981840 deg,
new cmd heading: 311.995163 deg.
2025-06-18T18:27:02.085Z,1750271222.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445343 target range: 237.117416 and range: 237.40 m.
2025-06-18T18:27:02.176Z,1750271222.176 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:02.176Z,1750271222.176 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:02.177Z,1750271222.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:02.425Z,1750271222.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013167
2025-06-18T18:27:02.487Z,1750271222.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:27:02.490Z,1750271222.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 200.847519 m,
bearing: 311.758087 deg,
approach rate: -0.660365 m/s,
LOS rate: 0.007101 deg/s,
cmd heading: 311.995173 deg,
new cmd heading: 312.003896 deg.
2025-06-18T18:27:02.491Z,1750271222.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445495 target range: 237.117416 and range: 237.40 m.
2025-06-18T18:27:02.677Z,1750271222.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265779
2025-06-18T18:27:02.867Z,1750271222.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:27:02.871Z,1750271222.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 200.607269 m,
bearing: 311.760619 deg,
approach rate: -0.632740 m/s,
LOS rate: 0.006677 deg/s,
cmd heading: 312.003888 deg,
new cmd heading: 312.011494 deg.
2025-06-18T18:27:02.873Z,1750271222.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445628 target range: 237.117416 and range: 237.40 m.
2025-06-18T18:27:02.930Z,1750271222.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518731
2025-06-18T18:27:03.183Z,1750271223.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771109
2025-06-18T18:27:03.308Z,1750271223.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:27:03.310Z,1750271223.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 200.322479 m,
bearing: 311.762227 deg,
approach rate: -0.645982 m/s,
LOS rate: 0.003651 deg/s,
cmd heading: 312.011483 deg,
new cmd heading: 312.016312 deg.
2025-06-18T18:27:03.311Z,1750271223.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445712 target range: 237.117416 and range: 237.40 m.
2025-06-18T18:27:03.433Z,1750271223.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021321
2025-06-18T18:27:03.685Z,1750271223.685 [DAT](INFO): DAT read: Rx Time:18:27:04.1065
2025-06-18T18:27:03.685Z,1750271223.685 [DAT](INFO): Rx dataTimestamp_ set to:1750271223.685149
2025-06-18T18:27:03.686Z,1750271223.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274374
2025-06-18T18:27:03.695Z,1750271223.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:27:03.702Z,1750271223.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 200.089325 m,
bearing: 311.763510 deg,
approach rate: -0.601757 m/s,
LOS rate: 0.003316 deg/s,
cmd heading: 312.016319 deg,
new cmd heading: 312.020174 deg.
2025-06-18T18:27:03.703Z,1750271223.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445779 target range: 237.117416 and range: 237.40 m.
2025-06-18T18:27:03.939Z,1750271223.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527064
2025-06-18T18:27:04.083Z,1750271224.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:04.085Z,1750271224.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.12 m.
2025-06-18T18:27:04.088Z,1750271224.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 237.117416 m,
nav range: 199.820770 m,
bearing: 311.764969 deg,
approach rate: -0.688619 m/s,
LOS rate: 0.003746 deg/s,
cmd heading: 312.020171 deg,
new cmd heading: 312.024555 deg.
2025-06-18T18:27:04.089Z,1750271224.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445856 target range: 237.117416 and range: 237.40 m.
2025-06-18T18:27:04.197Z,1750271224.197 [DAT](INFO): DAT read: 18:27:04.1065 LVL= 25456, 27121, 21842, 31091, AGC= 62, IDX= 412, 0.47, 1.255,-0.092, 1.220, 0.378, PHS= 0.965,-0.423, 0.839, RAW= 145.3, -20.2, CAL= 150.7, -27.5, ROT= 359.3, 27.5
2025-06-18T18:27:04.198Z,1750271224.198 [DAT](INFO): got valid direction response:
18:27:04.1065 LVL= 25456, 27121, 21842, 31091, AGC= 62, IDX= 412, 0.47, 1.255,-0.092, 1.220, 0.378, PHS= 0.965,-0.423, 0.839, RAW= 145.3, -20.2, CAL= 150.7, -27.5, ROT= 359.3, 27.5
2025-06-18T18:27:04.199Z,1750271224.199 [DAT](INFO): DAT read: Bearing 359.3, 27.5 (Local)
2025-06-18T18:27:04.199Z,1750271224.199 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.3, 27.5 (Local)
2025-06-18T18:27:04.202Z,1750271224.202 [DAT](INFO): DAT read: Range 10 to 50 : 235.5 m (Round-trip 314.1 ms) speed 0.4 m/s
2025-06-18T18:27:04.209Z,1750271224.209 [DAT](INFO): DAT read: user:1209>
2025-06-18T18:27:04.216Z,1750271224.216 [DAT](INFO): DAT read: Tx time:18:27:05.1882
2025-06-18T18:27:04.218Z,1750271224.218 [DAT](INFO): Ping request sent.
2025-06-18T18:27:04.218Z,1750271224.218 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:04.219Z,1750271224.219 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:27:04.227Z,1750271224.227 [DAT](INFO): direction in FSK: [0.886945,-0.010837,-0.461749]
2025-06-18T18:27:04.233Z,1750271224.233 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:04.234Z,1750271224.234 [DAT](INFO): publishing direction and range info
2025-06-18T18:27:04.259Z,1750271224.259 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:04.264Z,1750271224.264 [DAT](INFO): publishing direction and range info
2025-06-18T18:27:04.441Z,1750271224.441 [DAT](INFO): DAT read: TxSync time:18:27:05.1875
2025-06-18T18:27:04.603Z,1750271224.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 235.500000 m,
deltaT: 3.780558 s,
deltaX: -1.899994 m,
approachRate: -0.502570 m/s,
rangeRepo size: 4
2025-06-18T18:27:04.614Z,1750271224.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 233.352402 m,
bearing: 313.737010 deg,
lat: 36.905868 deg,
lon: -122.115878 deg,
deltaT: 7.560358 s,
deltaX: -3.765015 m,
approachRate: -0.497994 m/s,
posRepo size: 4
2025-06-18T18:27:04.615Z,1750271224.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:04.622Z,1750271224.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 200.617615 m,
bearing: 312.122992 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003746 deg/s,
cmd heading: 312.024543 deg,
new cmd heading: 312.030356 deg.
2025-06-18T18:27:04.623Z,1750271224.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445957 target range: 233.352402 and range: 235.50 m.
2025-06-18T18:27:04.927Z,1750271224.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:04.947Z,1750271224.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 200.400925 m,
bearing: 312.123671 deg,
approach rate: -0.666796 m/s,
LOS rate: 0.002091 deg/s,
cmd heading: 312.030362 deg,
new cmd heading: 312.032401 deg.
2025-06-18T18:27:04.953Z,1750271224.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445993 target range: 233.352402 and range: 235.50 m.
2025-06-18T18:27:05.406Z,1750271225.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:05.409Z,1750271225.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 200.095520 m,
bearing: 312.123210 deg,
approach rate: -0.637968 m/s,
LOS rate: -0.000963 deg/s,
cmd heading: 312.032411 deg,
new cmd heading: 312.031028 deg.
2025-06-18T18:27:05.410Z,1750271225.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445969 target range: 233.352402 and range: 235.50 m.
2025-06-18T18:27:05.770Z,1750271225.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:05.773Z,1750271225.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 199.856888 m,
bearing: 312.122856 deg,
approach rate: -0.655942 m/s,
LOS rate: -0.000974 deg/s,
cmd heading: 312.031018 deg,
new cmd heading: 312.029954 deg.
2025-06-18T18:27:05.774Z,1750271225.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445950 target range: 233.352402 and range: 235.50 m.
2025-06-18T18:27:06.133Z,1750271226.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:06.135Z,1750271226.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:06.142Z,1750271226.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 199.631073 m,
bearing: 312.122373 deg,
approach rate: -0.617682 m/s,
LOS rate: -0.001322 deg/s,
cmd heading: 312.029952 deg,
new cmd heading: 312.028502 deg.
2025-06-18T18:27:06.143Z,1750271226.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445925 target range: 233.352402 and range: 235.50 m.
2025-06-18T18:27:06.215Z,1750271226.215 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:06.215Z,1750271226.215 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:06.217Z,1750271226.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:06.465Z,1750271226.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247522
2025-06-18T18:27:06.623Z,1750271226.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:06.626Z,1750271226.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 199.305893 m,
bearing: 312.120312 deg,
approach rate: -0.666765 m/s,
LOS rate: -0.004234 deg/s,
cmd heading: 312.028504 deg,
new cmd heading: 312.022309 deg.
2025-06-18T18:27:06.627Z,1750271226.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445817 target range: 233.352402 and range: 235.50 m.
2025-06-18T18:27:06.718Z,1750271226.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500194
2025-06-18T18:27:06.969Z,1750271226.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751520
2025-06-18T18:27:06.981Z,1750271226.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:06.989Z,1750271226.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 199.083496 m,
bearing: 312.118848 deg,
approach rate: -0.630325 m/s,
LOS rate: -0.004152 deg/s,
cmd heading: 312.022302 deg,
new cmd heading: 312.017907 deg.
2025-06-18T18:27:06.990Z,1750271226.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445740 target range: 233.352402 and range: 235.50 m.
2025-06-18T18:27:07.221Z,1750271227.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003364
2025-06-18T18:27:07.368Z,1750271227.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:07.388Z,1750271227.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 198.828781 m,
bearing: 312.117785 deg,
approach rate: -0.650035 m/s,
LOS rate: -0.002718 deg/s,
cmd heading: 312.017904 deg,
new cmd heading: 312.014709 deg.
2025-06-18T18:27:07.390Z,1750271227.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445684 target range: 233.352402 and range: 235.50 m.
2025-06-18T18:27:07.473Z,1750271227.473 [DAT](INFO): DAT read: Rx Time:18:27:07.9054
2025-06-18T18:27:07.473Z,1750271227.473 [DAT](INFO): Rx dataTimestamp_ set to:1750271227.473101
2025-06-18T18:27:07.474Z,1750271227.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256515
2025-06-18T18:27:07.725Z,1750271227.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507995
2025-06-18T18:27:07.749Z,1750271227.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:07.752Z,1750271227.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 198.585693 m,
bearing: 312.116742 deg,
approach rate: -0.637101 m/s,
LOS rate: -0.002735 deg/s,
cmd heading: 312.014707 deg,
new cmd heading: 312.011577 deg.
2025-06-18T18:27:07.753Z,1750271227.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445629 target range: 233.352402 and range: 235.50 m.
2025-06-18T18:27:07.978Z,1750271227.978 [DAT](INFO): DAT read: Range 10 to 50 : 234.7 m (Round-trip 313.0 ms) speed 0.4 m/s
2025-06-18T18:27:07.979Z,1750271227.979 [DAT](INFO): DAT read: user:1210>
2025-06-18T18:27:07.979Z,1750271227.979 [DAT](INFO): DAT read: Tx time:18:27:08.9882
2025-06-18T18:27:07.980Z,1750271227.980 [DAT](INFO): Ping request sent.
2025-06-18T18:27:07.980Z,1750271227.980 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:07.980Z,1750271227.980 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:27:07.980Z,1750271227.980 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:07.981Z,1750271227.981 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:08.146Z,1750271228.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:08.149Z,1750271228.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 234.699997 m,
deltaT: 3.787629 s,
deltaX: -0.800003 m,
approachRate: -0.211215 m/s,
rangeRepo size: 4
2025-06-18T18:27:08.149Z,1750271228.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:08.152Z,1750271228.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 198.331955 m,
bearing: 312.115639 deg,
approach rate: -0.636354 m/s,
LOS rate: -0.002771 deg/s,
cmd heading: 312.011565 deg,
new cmd heading: 312.008251 deg.
2025-06-18T18:27:08.153Z,1750271228.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445571 target range: 233.352402 and range: 234.70 m.
2025-06-18T18:27:08.229Z,1750271228.229 [DAT](INFO): DAT read: TxSync time:18:27:08.9875
2025-06-18T18:27:08.230Z,1750271228.230 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:08.230Z,1750271228.230 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:08.230Z,1750271228.230 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:08.481Z,1750271228.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500866
2025-06-18T18:27:08.590Z,1750271228.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:08.597Z,1750271228.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 198.060104 m,
bearing: 312.115668 deg,
approach rate: -0.614314 m/s,
LOS rate: 0.000065 deg/s,
cmd heading: 312.008260 deg,
new cmd heading: 312.008346 deg.
2025-06-18T18:27:08.598Z,1750271228.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445573 target range: 233.352402 and range: 234.70 m.
2025-06-18T18:27:08.733Z,1750271228.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752760
2025-06-18T18:27:08.966Z,1750271228.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:08.985Z,1750271228.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005047
2025-06-18T18:27:08.987Z,1750271228.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 197.810593 m,
bearing: 312.115694 deg,
approach rate: -0.663678 m/s,
LOS rate: 0.000070 deg/s,
cmd heading: 312.008342 deg,
new cmd heading: 312.008421 deg.
2025-06-18T18:27:08.992Z,1750271228.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445574 target range: 233.352402 and range: 234.70 m.
2025-06-18T18:27:09.237Z,1750271229.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256847
2025-06-18T18:27:09.388Z,1750271229.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:09.391Z,1750271229.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 197.544556 m,
bearing: 312.117716 deg,
approach rate: -0.631187 m/s,
LOS rate: 0.004803 deg/s,
cmd heading: 312.008423 deg,
new cmd heading: 312.014496 deg.
2025-06-18T18:27:09.393Z,1750271229.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445680 target range: 233.352402 and range: 234.70 m.
2025-06-18T18:27:09.489Z,1750271229.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508977
2025-06-18T18:27:09.744Z,1750271229.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764458
2025-06-18T18:27:09.767Z,1750271229.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:09.770Z,1750271229.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 197.305084 m,
bearing: 312.119540 deg,
approach rate: -0.631153 m/s,
LOS rate: 0.004814 deg/s,
cmd heading: 312.014489 deg,
new cmd heading: 312.019968 deg.
2025-06-18T18:27:09.771Z,1750271229.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445776 target range: 233.352402 and range: 234.70 m.
2025-06-18T18:27:09.993Z,1750271229.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012819
2025-06-18T18:27:10.158Z,1750271230.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:10.160Z,1750271230.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:10.163Z,1750271230.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 197.057571 m,
bearing: 312.121218 deg,
approach rate: -0.629672 m/s,
LOS rate: 0.004275 deg/s,
cmd heading: 312.019980 deg,
new cmd heading: 312.025021 deg.
2025-06-18T18:27:10.164Z,1750271230.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445864 target range: 233.352402 and range: 234.70 m.
2025-06-18T18:27:10.246Z,1750271230.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265601
2025-06-18T18:27:10.497Z,1750271230.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516753
2025-06-18T18:27:10.592Z,1750271230.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:10.594Z,1750271230.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 196.786560 m,
bearing: 312.126768 deg,
approach rate: -0.628579 m/s,
LOS rate: 0.012889 deg/s,
cmd heading: 312.025034 deg,
new cmd heading: 312.041706 deg.
2025-06-18T18:27:10.595Z,1750271230.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446155 target range: 233.352402 and range: 234.70 m.
2025-06-18T18:27:10.749Z,1750271230.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768898
2025-06-18T18:27:10.965Z,1750271230.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:10.968Z,1750271230.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 196.551971 m,
bearing: 312.131554 deg,
approach rate: -0.628067 m/s,
LOS rate: 0.012831 deg/s,
cmd heading: 312.041700 deg,
new cmd heading: 312.056077 deg.
2025-06-18T18:27:10.969Z,1750271230.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446406 target range: 233.352402 and range: 234.70 m.
2025-06-18T18:27:11.001Z,1750271231.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021409
2025-06-18T18:27:11.253Z,1750271231.253 [DAT](INFO): DAT read: Rx Time:18:27:11.7023
2025-06-18T18:27:11.254Z,1750271231.254 [DAT](INFO): Rx dataTimestamp_ set to:1750271231.253290
2025-06-18T18:27:11.254Z,1750271231.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274174
2025-06-18T18:27:11.410Z,1750271231.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:11.413Z,1750271231.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 196.280075 m,
bearing: 312.136986 deg,
approach rate: -0.610655 m/s,
LOS rate: 0.012217 deg/s,
cmd heading: 312.056071 deg,
new cmd heading: 312.072389 deg.
2025-06-18T18:27:11.414Z,1750271231.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446691 target range: 233.352402 and range: 234.70 m.
2025-06-18T18:27:11.506Z,1750271231.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525711
2025-06-18T18:27:11.758Z,1750271231.758 [DAT](INFO): DAT read: Range 10 to 50 : 232.3 m (Round-trip 309.8 ms) speed 0.6 m/s
2025-06-18T18:27:11.759Z,1750271231.759 [DAT](INFO): DAT read: user:1211>
2025-06-18T18:27:11.759Z,1750271231.759 [DAT](INFO): DAT read: Tx time:18:27:12.7883
2025-06-18T18:27:11.760Z,1750271231.760 [DAT](INFO): Ping request sent.
2025-06-18T18:27:11.760Z,1750271231.760 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:11.760Z,1750271231.760 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:27:11.760Z,1750271231.760 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:11.761Z,1750271231.761 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:11.823Z,1750271231.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 232.300003 m,
deltaT: 3.780050 s,
deltaX: -2.399994 m,
approachRate: -0.634911 m/s,
rangeRepo size: 4
2025-06-18T18:27:11.828Z,1750271231.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:11.831Z,1750271231.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 196.057449 m,
bearing: 312.141418 deg,
approach rate: -0.543831 m/s,
LOS rate: 0.010837 deg/s,
cmd heading: 312.072381 deg,
new cmd heading: 312.085690 deg.
2025-06-18T18:27:11.840Z,1750271231.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446923 target range: 233.352402 and range: 232.30 m.
2025-06-18T18:27:12.009Z,1750271232.009 [DAT](INFO): DAT read: TxSync time:18:27:12.7875
2025-06-18T18:27:12.178Z,1750271232.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:12.180Z,1750271232.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:12.183Z,1750271232.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 195.810226 m,
bearing: 312.146479 deg,
approach rate: -0.686505 m/s,
LOS rate: 0.014072 deg/s,
cmd heading: 312.085687 deg,
new cmd heading: 312.100889 deg.
2025-06-18T18:27:12.184Z,1750271232.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447188 target range: 233.352402 and range: 232.30 m.
2025-06-18T18:27:12.261Z,1750271232.261 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:12.261Z,1750271232.261 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:12.261Z,1750271232.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:12.513Z,1750271232.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752786
2025-06-18T18:27:12.616Z,1750271232.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:12.619Z,1750271232.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 195.556427 m,
bearing: 312.151650 deg,
approach rate: -0.582280 m/s,
LOS rate: 0.011879 deg/s,
cmd heading: 312.100877 deg,
new cmd heading: 312.116410 deg.
2025-06-18T18:27:12.624Z,1750271232.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447459 target range: 233.352402 and range: 232.30 m.
2025-06-18T18:27:12.765Z,1750271232.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004912
2025-06-18T18:27:12.998Z,1750271232.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:13.001Z,1750271233.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 195.321976 m,
bearing: 312.156445 deg,
approach rate: -0.616443 m/s,
LOS rate: 0.012622 deg/s,
cmd heading: 312.116422 deg,
new cmd heading: 312.130824 deg.
2025-06-18T18:27:13.002Z,1750271233.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447711 target range: 233.352402 and range: 232.30 m.
2025-06-18T18:27:13.021Z,1750271233.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259747
2025-06-18T18:27:13.269Z,1750271233.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508784
2025-06-18T18:27:13.431Z,1750271233.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:13.434Z,1750271233.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 195.046570 m,
bearing: 312.161947 deg,
approach rate: -0.633094 m/s,
LOS rate: 0.012665 deg/s,
cmd heading: 312.130820 deg,
new cmd heading: 312.147349 deg.
2025-06-18T18:27:13.435Z,1750271233.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447999 target range: 233.352402 and range: 232.30 m.
2025-06-18T18:27:13.523Z,1750271233.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763001
2025-06-18T18:27:13.777Z,1750271233.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016733
2025-06-18T18:27:13.813Z,1750271233.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:13.820Z,1750271233.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 194.825180 m,
bearing: 312.166298 deg,
approach rate: -0.579044 m/s,
LOS rate: 0.011393 deg/s,
cmd heading: 312.147350 deg,
new cmd heading: 312.160417 deg.
2025-06-18T18:27:13.821Z,1750271233.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448227 target range: 233.352402 and range: 232.30 m.
2025-06-18T18:27:14.030Z,1750271234.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269916
2025-06-18T18:27:14.199Z,1750271234.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:14.205Z,1750271234.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:14.212Z,1750271234.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 194.580933 m,
bearing: 312.171107 deg,
approach rate: -0.622788 m/s,
LOS rate: 0.012280 deg/s,
cmd heading: 312.160409 deg,
new cmd heading: 312.174857 deg.
2025-06-18T18:27:14.213Z,1750271234.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448479 target range: 233.352402 and range: 232.30 m.
2025-06-18T18:27:14.282Z,1750271234.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521501
2025-06-18T18:27:14.533Z,1750271234.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772867
2025-06-18T18:27:14.650Z,1750271234.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:14.653Z,1750271234.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 194.300797 m,
bearing: 312.175309 deg,
approach rate: -0.629715 m/s,
LOS rate: 0.009458 deg/s,
cmd heading: 312.174862 deg,
new cmd heading: 312.187484 deg.
2025-06-18T18:27:14.654Z,1750271234.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448699 target range: 233.352402 and range: 232.30 m.
2025-06-18T18:27:14.785Z,1750271234.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024835
2025-06-18T18:27:15.016Z,1750271235.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:15.019Z,1750271235.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 194.086319 m,
bearing: 312.178541 deg,
approach rate: -0.586567 m/s,
LOS rate: 0.008848 deg/s,
cmd heading: 312.187484 deg,
new cmd heading: 312.197190 deg.
2025-06-18T18:27:15.024Z,1750271235.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448869 target range: 233.352402 and range: 232.30 m.
2025-06-18T18:27:15.039Z,1750271235.039 [DAT](INFO): DAT read: Rx Time:18:27:15.4987
2025-06-18T18:27:15.040Z,1750271235.040 [DAT](INFO): Rx dataTimestamp_ set to:1750271235.039716
2025-06-18T18:27:15.041Z,1750271235.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281092
2025-06-18T18:27:15.289Z,1750271235.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528781
2025-06-18T18:27:15.498Z,1750271235.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.35 m.
2025-06-18T18:27:15.501Z,1750271235.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.352402 m,
nav range: 193.776932 m,
bearing: 312.181181 deg,
approach rate: -0.642299 m/s,
LOS rate: 0.005491 deg/s,
cmd heading: 312.197183 deg,
new cmd heading: 312.205117 deg.
2025-06-18T18:27:15.502Z,1750271235.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449007 target range: 233.352402 and range: 232.30 m.
2025-06-18T18:27:15.550Z,1750271235.550 [DAT](INFO): DAT read: 18:27:15.4987 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 412,-0.30,-1.641,-2.707,-1.554,-2.499, PHS= 0.947,-0.161, 0.942, RAW= 149.8, -28.9, CAL= 153.3, -34.7, ROT= 356.7, 34.7
2025-06-18T18:27:15.551Z,1750271235.551 [DAT](INFO): got valid direction response:
18:27:15.4987 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 412,-0.30,-1.641,-2.707,-1.554,-2.499, PHS= 0.947,-0.161, 0.942, RAW= 149.8, -28.9, CAL= 153.3, -34.7, ROT= 356.7, 34.7
2025-06-18T18:27:15.553Z,1750271235.553 [DAT](INFO): DAT read: Bearing 356.7, 34.7 (Local)
2025-06-18T18:27:15.554Z,1750271235.554 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.7, 34.7 (Local)
2025-06-18T18:27:15.556Z,1750271235.556 [DAT](INFO): DAT read: Range 10 to 50 : 229.6 m (Round-trip 306.2 ms) speed 0.4 m/s
2025-06-18T18:27:15.557Z,1750271235.557 [DAT](INFO): DAT read: user:1212>
2025-06-18T18:27:15.558Z,1750271235.558 [DAT](INFO): DAT read: Tx time:18:27:16.5883
2025-06-18T18:27:15.558Z,1750271235.558 [DAT](INFO): Ping request sent.
2025-06-18T18:27:15.558Z,1750271235.558 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:15.559Z,1750271235.559 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:27:15.569Z,1750271235.569 [DAT](INFO): direction in FSK: [0.820781,-0.047326,-0.569280]
2025-06-18T18:27:15.569Z,1750271235.569 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:15.569Z,1750271235.569 [DAT](INFO): publishing direction and range info
2025-06-18T18:27:15.573Z,1750271235.573 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:15.573Z,1750271235.573 [DAT](INFO): publishing direction and range info
2025-06-18T18:27:15.793Z,1750271235.793 [DAT](INFO): DAT read: TxSync time:18:27:16.5875
2025-06-18T18:27:15.839Z,1750271235.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 229.600006 m,
deltaT: 3.784294 s,
deltaX: -2.699997 m,
approachRate: -0.713474 m/s,
rangeRepo size: 4
2025-06-18T18:27:15.846Z,1750271235.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 227.505203 m,
bearing: 312.025094 deg,
lat: 36.905868 deg,
lon: -122.115846 deg,
deltaT: 11.351973 s,
deltaX: -5.847198 m,
approachRate: -0.515082 m/s,
posRepo size: 4
2025-06-18T18:27:15.847Z,1750271235.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:15.853Z,1750271235.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 191.487045 m,
bearing: 312.752416 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.005491 deg/s,
cmd heading: 312.205106 deg,
new cmd heading: 312.210724 deg.
2025-06-18T18:27:15.854Z,1750271235.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449105 target range: 227.505203 and range: 229.60 m.
2025-06-18T18:27:16.088Z,1750271236.088 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:27:16.218Z,1750271236.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:16.220Z,1750271236.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:16.223Z,1750271236.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 191.237045 m,
bearing: 312.755582 deg,
approach rate: -0.655762 m/s,
LOS rate: 0.008314 deg/s,
cmd heading: 312.210734 deg,
new cmd heading: 312.220243 deg.
2025-06-18T18:27:16.224Z,1750271236.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449271 target range: 227.505203 and range: 229.60 m.
2025-06-18T18:27:16.297Z,1750271236.297 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:16.297Z,1750271236.297 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:16.297Z,1750271236.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:16.549Z,1750271236.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990377
2025-06-18T18:27:16.644Z,1750271236.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:16.647Z,1750271236.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 190.964096 m,
bearing: 312.757224 deg,
approach rate: -0.643671 m/s,
LOS rate: 0.003878 deg/s,
cmd heading: 312.220241 deg,
new cmd heading: 312.225175 deg.
2025-06-18T18:27:16.648Z,1750271236.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449358 target range: 227.505203 and range: 229.60 m.
2025-06-18T18:27:16.801Z,1750271236.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242456
2025-06-18T18:27:17.026Z,1750271237.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:17.029Z,1750271237.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 190.718445 m,
bearing: 312.758659 deg,
approach rate: -0.643009 m/s,
LOS rate: 0.003761 deg/s,
cmd heading: 312.225186 deg,
new cmd heading: 312.229497 deg.
2025-06-18T18:27:17.030Z,1750271237.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449433 target range: 227.505203 and range: 229.60 m.
2025-06-18T18:27:17.053Z,1750271237.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494384
2025-06-18T18:27:17.093Z,1750271237.093 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:27:17.306Z,1750271237.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747707
2025-06-18T18:27:17.516Z,1750271237.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:17.519Z,1750271237.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 190.421432 m,
bearing: 312.758096 deg,
approach rate: -0.611688 m/s,
LOS rate: -0.001160 deg/s,
cmd heading: 312.229503 deg,
new cmd heading: 312.227813 deg.
2025-06-18T18:27:17.524Z,1750271237.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449403 target range: 227.505203 and range: 229.60 m.
2025-06-18T18:27:17.557Z,1750271237.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998583
2025-06-18T18:27:17.809Z,1750271237.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250468
2025-06-18T18:27:17.849Z,1750271237.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:17.853Z,1750271237.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 190.201538 m,
bearing: 312.757612 deg,
approach rate: -0.651827 m/s,
LOS rate: -0.001437 deg/s,
cmd heading: 312.227809 deg,
new cmd heading: 312.226355 deg.
2025-06-18T18:27:17.854Z,1750271237.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449378 target range: 227.505203 and range: 229.60 m.
2025-06-18T18:27:18.061Z,1750271238.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502593
2025-06-18T18:27:18.287Z,1750271238.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:18.289Z,1750271238.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:18.292Z,1750271238.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 189.912567 m,
bearing: 312.756916 deg,
approach rate: -0.656235 m/s,
LOS rate: -0.001584 deg/s,
cmd heading: 312.226361 deg,
new cmd heading: 312.224268 deg.
2025-06-18T18:27:18.293Z,1750271238.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449341 target range: 227.505203 and range: 229.60 m.
2025-06-18T18:27:18.313Z,1750271238.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754675
2025-06-18T18:27:18.565Z,1750271238.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006382
2025-06-18T18:27:18.720Z,1750271238.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:18.723Z,1750271238.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 189.641846 m,
bearing: 312.755504 deg,
approach rate: -0.631255 m/s,
LOS rate: -0.003296 deg/s,
cmd heading: 312.224257 deg,
new cmd heading: 312.220017 deg.
2025-06-18T18:27:18.724Z,1750271238.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449267 target range: 227.505203 and range: 229.60 m.
2025-06-18T18:27:18.821Z,1750271238.821 [DAT](INFO): DAT read: Rx Time:18:27:19.2958
2025-06-18T18:27:18.823Z,1750271238.823 [DAT](INFO): Rx dataTimestamp_ set to:1750271238.821430
2025-06-18T18:27:18.823Z,1750271238.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264855
2025-06-18T18:27:19.069Z,1750271239.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510488
2025-06-18T18:27:19.133Z,1750271239.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:19.137Z,1750271239.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 189.358475 m,
bearing: 312.753940 deg,
approach rate: -0.682438 m/s,
LOS rate: -0.003774 deg/s,
cmd heading: 312.220023 deg,
new cmd heading: 312.215322 deg.
2025-06-18T18:27:19.138Z,1750271239.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449185 target range: 227.505203 and range: 229.60 m.
2025-06-18T18:27:19.325Z,1750271239.325 [DAT](INFO): DAT read: Range 10 to 50 : 227.4 m (Round-trip 303.3 ms) speed 0.4 m/s
2025-06-18T18:27:19.326Z,1750271239.326 [DAT](INFO): DAT read: user:1213>
2025-06-18T18:27:19.326Z,1750271239.326 [DAT](INFO): DAT read: Tx time:18:27:20.3883
2025-06-18T18:27:19.327Z,1750271239.327 [DAT](INFO): Ping request sent.
2025-06-18T18:27:19.327Z,1750271239.327 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:19.327Z,1750271239.327 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:27:19.327Z,1750271239.327 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:19.328Z,1750271239.328 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:19.574Z,1750271239.574 [DAT](INFO): DAT read: TxSync time:18:27:20.3875
2025-06-18T18:27:19.621Z,1750271239.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 227.399994 m,
deltaT: 3.781734 s,
deltaX: -2.200012 m,
approachRate: -0.581747 m/s,
rangeRepo size: 4
2025-06-18T18:27:19.622Z,1750271239.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:19.624Z,1750271239.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 189.041763 m,
bearing: 312.752325 deg,
approach rate: -0.650792 m/s,
LOS rate: -0.003324 deg/s,
cmd heading: 312.215324 deg,
new cmd heading: 312.210471 deg.
2025-06-18T18:27:19.626Z,1750271239.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449100 target range: 227.505203 and range: 227.40 m.
2025-06-18T18:27:19.944Z,1750271239.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:19.947Z,1750271239.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 188.843353 m,
bearing: 312.751371 deg,
approach rate: -0.620547 m/s,
LOS rate: -0.002987 deg/s,
cmd heading: 312.210460 deg,
new cmd heading: 312.207595 deg.
2025-06-18T18:27:19.952Z,1750271239.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449050 target range: 227.505203 and range: 227.40 m.
2025-06-18T18:27:20.311Z,1750271240.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:20.329Z,1750271240.329 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:20.329Z,1750271240.329 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:20.329Z,1750271240.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:20.333Z,1750271240.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:20.340Z,1750271240.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 188.586700 m,
bearing: 312.750356 deg,
approach rate: -0.651984 m/s,
LOS rate: -0.002580 deg/s,
cmd heading: 312.207592 deg,
new cmd heading: 312.204545 deg.
2025-06-18T18:27:20.341Z,1750271240.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448997 target range: 227.505203 and range: 227.40 m.
2025-06-18T18:27:20.581Z,1750271240.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254082
2025-06-18T18:27:20.762Z,1750271240.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:20.769Z,1750271240.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 188.306763 m,
bearing: 312.750076 deg,
approach rate: -0.653793 m/s,
LOS rate: -0.000656 deg/s,
cmd heading: 312.204532 deg,
new cmd heading: 312.203689 deg.
2025-06-18T18:27:20.770Z,1750271240.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448982 target range: 227.505203 and range: 227.40 m.
2025-06-18T18:27:20.834Z,1750271240.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507175
2025-06-18T18:27:21.085Z,1750271241.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758078
2025-06-18T18:27:21.117Z,1750271241.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:21.119Z,1750271241.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 188.057571 m,
bearing: 312.749752 deg,
approach rate: -0.702078 m/s,
LOS rate: -0.000913 deg/s,
cmd heading: 312.203685 deg,
new cmd heading: 312.202713 deg.
2025-06-18T18:27:21.121Z,1750271241.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448965 target range: 227.505203 and range: 227.40 m.
2025-06-18T18:27:21.337Z,1750271241.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010032
2025-06-18T18:27:21.557Z,1750271241.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:21.559Z,1750271241.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 187.775787 m,
bearing: 312.749604 deg,
approach rate: -0.641708 m/s,
LOS rate: -0.000338 deg/s,
cmd heading: 312.202701 deg,
new cmd heading: 312.202256 deg.
2025-06-18T18:27:21.560Z,1750271241.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448957 target range: 227.505203 and range: 227.40 m.
2025-06-18T18:27:21.589Z,1750271241.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262105
2025-06-18T18:27:21.841Z,1750271241.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514285
2025-06-18T18:27:21.919Z,1750271241.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:21.938Z,1750271241.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 187.541992 m,
bearing: 312.749424 deg,
approach rate: -0.643722 m/s,
LOS rate: -0.000496 deg/s,
cmd heading: 312.202264 deg,
new cmd heading: 312.201723 deg.
2025-06-18T18:27:21.939Z,1750271241.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448948 target range: 227.505203 and range: 227.40 m.
2025-06-18T18:27:22.093Z,1750271242.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766035
2025-06-18T18:27:22.335Z,1750271242.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:22.337Z,1750271242.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:22.340Z,1750271242.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 187.273499 m,
bearing: 312.749217 deg,
approach rate: -0.641527 m/s,
LOS rate: -0.000496 deg/s,
cmd heading: 312.201718 deg,
new cmd heading: 312.201095 deg.
2025-06-18T18:27:22.341Z,1750271242.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448937 target range: 227.505203 and range: 227.40 m.
2025-06-18T18:27:22.345Z,1750271242.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018548
2025-06-18T18:27:22.597Z,1750271242.597 [DAT](INFO): DAT read: Rx Time:18:27:23.0936
2025-06-18T18:27:22.598Z,1750271242.598 [DAT](INFO): Rx dataTimestamp_ set to:1750271242.597244
2025-06-18T18:27:22.598Z,1750271242.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271296
2025-06-18T18:27:22.750Z,1750271242.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.51 m.
2025-06-18T18:27:22.752Z,1750271242.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.505203 m,
nav range: 187.013748 m,
bearing: 312.749267 deg,
approach rate: -0.630334 m/s,
LOS rate: 0.000121 deg/s,
cmd heading: 312.201089 deg,
new cmd heading: 312.201240 deg.
2025-06-18T18:27:22.753Z,1750271242.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448939 target range: 227.505203 and range: 227.40 m.
2025-06-18T18:27:22.849Z,1750271242.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522121
2025-06-18T18:27:23.107Z,1750271243.107 [DAT](INFO): DAT read: 18:27:23.0936 LVL= 31008, 32753, 26354, 32755, AGC= 58, IDX= 423, 0.38,-2.889, 2.405,-2.747, 2.541, PHS= 0.941,-0.089, 0.992, RAW= 152.4, -31.7, CAL= 155.1, -37.2, ROT= 354.9, 37.2
2025-06-18T18:27:23.108Z,1750271243.108 [DAT](INFO): got valid direction response:
18:27:23.0936 LVL= 31008, 32753, 26354, 32755, AGC= 58, IDX= 423, 0.38,-2.889, 2.405,-2.747, 2.541, PHS= 0.941,-0.089, 0.992, RAW= 152.4, -31.7, CAL= 155.1, -37.2, ROT= 354.9, 37.2
2025-06-18T18:27:23.109Z,1750271243.109 [DAT](INFO): DAT read: Bearing 354.9, 37.2 (Local)
2025-06-18T18:27:23.109Z,1750271243.109 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.9, 37.2 (Local)
2025-06-18T18:27:23.111Z,1750271243.111 [DAT](INFO): DAT read: Range 10 to 50 : 225.7 m (Round-trip 301.0 ms) speed 0.6 m/s
2025-06-18T18:27:23.112Z,1750271243.112 [DAT](INFO): DAT read: user:1214>
2025-06-18T18:27:23.112Z,1750271243.112 [DAT](INFO): DAT read: Tx time:18:27:24.1884
2025-06-18T18:27:23.113Z,1750271243.113 [DAT](INFO): Ping request sent.
2025-06-18T18:27:23.113Z,1750271243.113 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:23.113Z,1750271243.113 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:27:23.114Z,1750271243.114 [DAT](INFO): direction in FSK: [0.793376,-0.070807,-0.604599]
2025-06-18T18:27:23.114Z,1750271243.114 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:23.115Z,1750271243.115 [DAT](INFO): publishing direction and range info
2025-06-18T18:27:23.123Z,1750271243.123 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:23.123Z,1750271243.123 [DAT](INFO): publishing direction and range info
2025-06-18T18:27:23.186Z,1750271243.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 225.699997 m,
deltaT: 3.777945 s,
deltaX: -1.699997 m,
approachRate: -0.449979 m/s,
rangeRepo size: 4
2025-06-18T18:27:23.193Z,1750271243.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 223.641617 m,
bearing: 310.983831 deg,
lat: 36.905838 deg,
lon: -122.115846 deg,
deltaT: 7.559679 s,
deltaX: -3.863586 m,
approachRate: -0.511078 m/s,
posRepo size: 4
2025-06-18T18:27:23.194Z,1750271243.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:23.200Z,1750271243.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 184.535721 m,
bearing: 311.995377 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000121 deg/s,
cmd heading: 312.201226 deg,
new cmd heading: 312.201385 deg.
2025-06-18T18:27:23.202Z,1750271243.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448942 target range: 223.641617 and range: 225.70 m.
2025-06-18T18:27:23.353Z,1750271243.353 [DAT](INFO): DAT read: TxSync time:18:27:24.1876
2025-06-18T18:27:23.599Z,1750271243.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:23.607Z,1750271243.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 184.263153 m,
bearing: 311.998867 deg,
approach rate: -0.659115 m/s,
LOS rate: 0.008453 deg/s,
cmd heading: 312.201390 deg,
new cmd heading: 312.211877 deg.
2025-06-18T18:27:23.613Z,1750271243.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449125 target range: 223.641617 and range: 225.70 m.
2025-06-18T18:27:23.951Z,1750271243.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:23.964Z,1750271243.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 184.047348 m,
bearing: 312.001825 deg,
approach rate: -0.622178 m/s,
LOS rate: 0.008537 deg/s,
cmd heading: 312.211881 deg,
new cmd heading: 312.220765 deg.
2025-06-18T18:27:23.965Z,1750271243.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449280 target range: 223.641617 and range: 225.70 m.
2025-06-18T18:27:24.332Z,1750271244.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:24.334Z,1750271244.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 183.796951 m,
bearing: 312.005251 deg,
approach rate: -0.649704 m/s,
LOS rate: 0.008901 deg/s,
cmd heading: 312.220760 deg,
new cmd heading: 312.231052 deg.
2025-06-18T18:27:24.335Z,1750271244.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449460 target range: 223.641617 and range: 225.70 m.
2025-06-18T18:27:24.767Z,1750271244.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:24.770Z,1750271244.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:24.793Z,1750271244.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 183.524399 m,
bearing: 312.010806 deg,
approach rate: -0.622181 m/s,
LOS rate: 0.012700 deg/s,
cmd heading: 312.231060 deg,
new cmd heading: 312.247751 deg.
2025-06-18T18:27:24.794Z,1750271244.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449751 target range: 223.641617 and range: 225.70 m.
2025-06-18T18:27:24.865Z,1750271244.865 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:24.866Z,1750271244.866 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:24.866Z,1750271244.866 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:25.117Z,1750271245.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004071
2025-06-18T18:27:25.165Z,1750271245.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:25.169Z,1750271245.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 183.277634 m,
bearing: 312.015850 deg,
approach rate: -0.623718 m/s,
LOS rate: 0.012766 deg/s,
cmd heading: 312.247753 deg,
new cmd heading: 312.262906 deg.
2025-06-18T18:27:25.170Z,1750271245.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450016 target range: 223.641617 and range: 225.70 m.
2025-06-18T18:27:25.369Z,1750271245.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255995
2025-06-18T18:27:25.614Z,1750271245.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:25.617Z,1750271245.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 182.999603 m,
bearing: 312.022077 deg,
approach rate: -0.620342 m/s,
LOS rate: 0.013915 deg/s,
cmd heading: 312.262916 deg,
new cmd heading: 312.281626 deg.
2025-06-18T18:27:25.618Z,1750271245.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450343 target range: 223.641617 and range: 225.70 m.
2025-06-18T18:27:25.621Z,1750271245.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508057
2025-06-18T18:27:25.874Z,1750271245.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761029
2025-06-18T18:27:25.970Z,1750271245.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:25.976Z,1750271245.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 182.787979 m,
bearing: 312.026839 deg,
approach rate: -0.594390 m/s,
LOS rate: 0.013390 deg/s,
cmd heading: 312.281631 deg,
new cmd heading: 312.295933 deg.
2025-06-18T18:27:25.978Z,1750271245.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450592 target range: 223.641617 and range: 225.70 m.
2025-06-18T18:27:26.125Z,1750271246.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011915
2025-06-18T18:27:26.377Z,1750271246.377 [DAT](INFO): DAT read: Rx Time:18:27:26.8900
2025-06-18T18:27:26.377Z,1750271246.377 [DAT](INFO): Rx dataTimestamp_ set to:1750271246.377160
2025-06-18T18:27:26.378Z,1750271246.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265133
2025-06-18T18:27:26.386Z,1750271246.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:26.413Z,1750271246.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 182.520828 m,
bearing: 312.032866 deg,
approach rate: -0.640748 m/s,
LOS rate: 0.014477 deg/s,
cmd heading: 312.295920 deg,
new cmd heading: 312.314028 deg.
2025-06-18T18:27:26.414Z,1750271246.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450908 target range: 223.641617 and range: 225.70 m.
2025-06-18T18:27:26.629Z,1750271246.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516026
2025-06-18T18:27:26.802Z,1750271246.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:26.826Z,1750271246.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:26.833Z,1750271246.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 182.265869 m,
bearing: 312.038667 deg,
approach rate: -0.579769 m/s,
LOS rate: 0.013211 deg/s,
cmd heading: 312.314033 deg,
new cmd heading: 312.331463 deg.
2025-06-18T18:27:26.834Z,1750271246.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451212 target range: 223.641617 and range: 225.70 m.
2025-06-18T18:27:26.883Z,1750271246.883 [DAT](INFO): DAT read: Range 10 to 50 : 223.0 m (Round-trip 297.4 ms) speed 0.5 m/s
2025-06-18T18:27:26.884Z,1750271246.884 [DAT](INFO): DAT read: user:1215>
2025-06-18T18:27:26.886Z,1750271246.886 [DAT](INFO): DAT read: Tx time:18:27:27.9884
2025-06-18T18:27:26.886Z,1750271246.886 [DAT](INFO): Ping request sent.
2025-06-18T18:27:26.886Z,1750271246.886 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:26.887Z,1750271246.887 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:27:26.887Z,1750271246.887 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:26.888Z,1750271246.888 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:27.133Z,1750271247.133 [DAT](INFO): DAT read: TxSync time:18:27:27.9876
2025-06-18T18:27:27.164Z,1750271247.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 223.000000 m,
deltaT: 3.780337 s,
deltaX: -2.699997 m,
approachRate: -0.714221 m/s,
rangeRepo size: 4
2025-06-18T18:27:27.165Z,1750271247.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:27.167Z,1750271247.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 182.047729 m,
bearing: 312.043619 deg,
approach rate: -0.647439 m/s,
LOS rate: 0.014713 deg/s,
cmd heading: 312.331464 deg,
new cmd heading: 312.346336 deg.
2025-06-18T18:27:27.189Z,1750271247.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451472 target range: 223.641617 and range: 223.00 m.
2025-06-18T18:27:27.640Z,1750271247.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:27.643Z,1750271247.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 181.753998 m,
bearing: 312.048924 deg,
approach rate: -0.615467 m/s,
LOS rate: 0.011134 deg/s,
cmd heading: 312.346327 deg,
new cmd heading: 312.362268 deg.
2025-06-18T18:27:27.644Z,1750271247.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451750 target range: 223.641617 and range: 223.00 m.
2025-06-18T18:27:27.970Z,1750271247.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:27.973Z,1750271247.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 181.549896 m,
bearing: 312.052611 deg,
approach rate: -0.619464 m/s,
LOS rate: 0.011203 deg/s,
cmd heading: 312.362255 deg,
new cmd heading: 312.373328 deg.
2025-06-18T18:27:27.974Z,1750271247.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451943 target range: 223.641617 and range: 223.00 m.
2025-06-18T18:27:28.398Z,1750271248.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:28.407Z,1750271248.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 181.298340 m,
bearing: 312.057094 deg,
approach rate: -0.588096 m/s,
LOS rate: 0.010495 deg/s,
cmd heading: 312.373320 deg,
new cmd heading: 312.386787 deg.
2025-06-18T18:27:28.409Z,1750271248.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452178 target range: 223.641617 and range: 223.00 m.
2025-06-18T18:27:28.809Z,1750271248.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:28.811Z,1750271248.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:28.822Z,1750271248.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 181.035172 m,
bearing: 312.060957 deg,
approach rate: -0.636607 m/s,
LOS rate: 0.009358 deg/s,
cmd heading: 312.386789 deg,
new cmd heading: 312.398394 deg.
2025-06-18T18:27:28.823Z,1750271248.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452381 target range: 223.641617 and range: 223.00 m.
2025-06-18T18:27:28.897Z,1750271248.897 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:28.898Z,1750271248.898 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:28.898Z,1750271248.898 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:29.149Z,1750271249.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262697
2025-06-18T18:27:29.195Z,1750271249.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:29.198Z,1750271249.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 180.782120 m,
bearing: 312.064673 deg,
approach rate: -0.658416 m/s,
LOS rate: 0.009684 deg/s,
cmd heading: 312.398400 deg,
new cmd heading: 312.409566 deg.
2025-06-18T18:27:29.199Z,1750271249.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452576 target range: 223.641617 and range: 223.00 m.
2025-06-18T18:27:29.402Z,1750271249.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515935
2025-06-18T18:27:29.644Z,1750271249.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:29.646Z,1750271249.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 180.499649 m,
bearing: 312.068807 deg,
approach rate: -0.630117 m/s,
LOS rate: 0.009237 deg/s,
cmd heading: 312.409574 deg,
new cmd heading: 312.421996 deg.
2025-06-18T18:27:29.647Z,1750271249.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452793 target range: 223.641617 and range: 223.00 m.
2025-06-18T18:27:29.664Z,1750271249.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778194
2025-06-18T18:27:29.909Z,1750271249.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022770
2025-06-18T18:27:30.025Z,1750271250.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:30.028Z,1750271250.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 180.256958 m,
bearing: 312.070052 deg,
approach rate: -0.635954 m/s,
LOS rate: 0.003266 deg/s,
cmd heading: 312.422005 deg,
new cmd heading: 312.425744 deg.
2025-06-18T18:27:30.029Z,1750271250.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452858 target range: 223.641617 and range: 223.00 m.
2025-06-18T18:27:30.161Z,1750271250.161 [DAT](INFO): DAT read: Rx Time:18:27:30.6883
2025-06-18T18:27:30.161Z,1750271250.161 [DAT](INFO): Rx dataTimestamp_ set to:1750271250.161106
2025-06-18T18:27:30.162Z,1750271250.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275917
2025-06-18T18:27:30.410Z,1750271250.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:30.413Z,1750271250.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526937
2025-06-18T18:27:30.414Z,1750271250.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 180.013138 m,
bearing: 312.071306 deg,
approach rate: -0.634235 m/s,
LOS rate: 0.003266 deg/s,
cmd heading: 312.425748 deg,
new cmd heading: 312.429514 deg.
2025-06-18T18:27:30.415Z,1750271250.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452924 target range: 223.641617 and range: 223.00 m.
2025-06-18T18:27:30.666Z,1750271250.666 [DAT](INFO): DAT read: Range 10 to 50 : 221.8 m (Round-trip 295.8 ms) speed 0.4 m/s
2025-06-18T18:27:30.667Z,1750271250.667 [DAT](INFO): DAT read: user:1216>
2025-06-18T18:27:30.667Z,1750271250.667 [DAT](INFO): DAT read: Tx time:18:27:31.7884
2025-06-18T18:27:30.668Z,1750271250.668 [DAT](INFO): Ping request sent.
2025-06-18T18:27:30.668Z,1750271250.668 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:30.668Z,1750271250.668 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:27:30.668Z,1750271250.668 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:30.669Z,1750271250.669 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:30.909Z,1750271250.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:30.912Z,1750271250.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 221.800003 m,
deltaT: 3.783675 s,
deltaX: -1.199997 m,
approachRate: -0.317151 m/s,
rangeRepo size: 4
2025-06-18T18:27:30.913Z,1750271250.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:30.917Z,1750271250.917 [DAT](INFO): DAT read: TxSync time:18:27:31.7876
2025-06-18T18:27:30.918Z,1750271250.918 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:30.918Z,1750271250.918 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:30.918Z,1750271250.918 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:30.920Z,1750271250.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 179.693924 m,
bearing: 312.071407 deg,
approach rate: -0.636020 m/s,
LOS rate: 0.000202 deg/s,
cmd heading: 312.429518 deg,
new cmd heading: 312.429822 deg.
2025-06-18T18:27:30.922Z,1750271250.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452929 target range: 223.641617 and range: 221.80 m.
2025-06-18T18:27:31.169Z,1750271251.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500848
2025-06-18T18:27:31.287Z,1750271251.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:31.294Z,1750271251.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 179.465515 m,
bearing: 312.071671 deg,
approach rate: -0.609007 m/s,
LOS rate: 0.000704 deg/s,
cmd heading: 312.429819 deg,
new cmd heading: 312.430611 deg.
2025-06-18T18:27:31.295Z,1750271251.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452943 target range: 223.641617 and range: 221.80 m.
2025-06-18T18:27:31.421Z,1750271251.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752737
2025-06-18T18:27:31.673Z,1750271251.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005131
2025-06-18T18:27:31.723Z,1750271251.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:31.726Z,1750271251.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 179.170975 m,
bearing: 312.069062 deg,
approach rate: -0.675418 m/s,
LOS rate: -0.005991 deg/s,
cmd heading: 312.430611 deg,
new cmd heading: 312.422773 deg.
2025-06-18T18:27:31.727Z,1750271251.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452806 target range: 223.641617 and range: 221.80 m.
2025-06-18T18:27:31.928Z,1750271251.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259626
2025-06-18T18:27:32.051Z,1750271252.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:32.054Z,1750271252.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 178.957153 m,
bearing: 312.067180 deg,
approach rate: -0.651303 m/s,
LOS rate: -0.005740 deg/s,
cmd heading: 312.422770 deg,
new cmd heading: 312.417117 deg.
2025-06-18T18:27:32.055Z,1750271252.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452707 target range: 223.641617 and range: 221.80 m.
2025-06-18T18:27:32.177Z,1750271252.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508742
2025-06-18T18:27:32.429Z,1750271252.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760769
2025-06-18T18:27:32.449Z,1750271252.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:32.452Z,1750271252.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 178.698013 m,
bearing: 312.064748 deg,
approach rate: -0.650917 m/s,
LOS rate: -0.006118 deg/s,
cmd heading: 312.417115 deg,
new cmd heading: 312.409808 deg.
2025-06-18T18:27:32.453Z,1750271252.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452580 target range: 223.641617 and range: 221.80 m.
2025-06-18T18:27:32.686Z,1750271252.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017834
2025-06-18T18:27:32.860Z,1750271252.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:32.864Z,1750271252.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 178.433319 m,
bearing: 312.060804 deg,
approach rate: -0.643600 m/s,
LOS rate: -0.009604 deg/s,
cmd heading: 312.409820 deg,
new cmd heading: 312.397970 deg.
2025-06-18T18:27:32.866Z,1750271252.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452373 target range: 223.641617 and range: 221.80 m.
2025-06-18T18:27:32.938Z,1750271252.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270244
2025-06-18T18:27:33.189Z,1750271253.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520824
2025-06-18T18:27:33.233Z,1750271253.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:33.235Z,1750271253.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:33.237Z,1750271253.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 178.192459 m,
bearing: 312.057023 deg,
approach rate: -0.643541 m/s,
LOS rate: -0.010117 deg/s,
cmd heading: 312.397963 deg,
new cmd heading: 312.386603 deg.
2025-06-18T18:27:33.239Z,1750271253.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452175 target range: 223.641617 and range: 221.80 m.
2025-06-18T18:27:33.441Z,1750271253.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772909
2025-06-18T18:27:33.693Z,1750271253.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024932
2025-06-18T18:27:33.709Z,1750271253.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:33.712Z,1750271253.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 177.896149 m,
bearing: 312.052288 deg,
approach rate: -0.624591 m/s,
LOS rate: -0.009997 deg/s,
cmd heading: 312.386597 deg,
new cmd heading: 312.372370 deg.
2025-06-18T18:27:33.713Z,1750271253.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451926 target range: 223.641617 and range: 221.80 m.
2025-06-18T18:27:33.945Z,1750271253.945 [DAT](INFO): DAT read: Rx Time:18:27:34.4848
2025-06-18T18:27:33.946Z,1750271253.946 [DAT](INFO): Rx dataTimestamp_ set to:1750271253.945251
2025-06-18T18:27:33.946Z,1750271253.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278112
2025-06-18T18:27:34.086Z,1750271254.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:34.089Z,1750271254.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 177.643326 m,
bearing: 312.048322 deg,
approach rate: -0.670058 m/s,
LOS rate: -0.010526 deg/s,
cmd heading: 312.372363 deg,
new cmd heading: 312.360448 deg.
2025-06-18T18:27:34.090Z,1750271254.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451718 target range: 223.641617 and range: 221.80 m.
2025-06-18T18:27:34.197Z,1750271254.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529039
2025-06-18T18:27:34.450Z,1750271254.450 [DAT](INFO): DAT read: Range 10 to 50 : 219.1 m (Round-trip 292.2 ms) speed 0.2 m/s
2025-06-18T18:27:34.451Z,1750271254.451 [DAT](INFO): DAT read: user:1217>
2025-06-18T18:27:34.451Z,1750271254.451 [DAT](INFO): DAT read: Tx time:18:27:35.5885
2025-06-18T18:27:34.452Z,1750271254.452 [DAT](INFO): Ping request sent.
2025-06-18T18:27:34.452Z,1750271254.452 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:34.452Z,1750271254.452 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:27:34.452Z,1750271254.452 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:34.453Z,1750271254.453 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:34.462Z,1750271254.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 219.100006 m,
deltaT: 3.783998 s,
deltaX: -2.699997 m,
approachRate: -0.713530 m/s,
rangeRepo size: 4
2025-06-18T18:27:34.463Z,1750271254.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:34.466Z,1750271254.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 177.412399 m,
bearing: 312.044632 deg,
approach rate: -0.615866 m/s,
LOS rate: -0.009853 deg/s,
cmd heading: 312.360451 deg,
new cmd heading: 312.349368 deg.
2025-06-18T18:27:34.467Z,1750271254.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451525 target range: 223.641617 and range: 219.10 m.
2025-06-18T18:27:34.704Z,1750271254.704 [DAT](INFO): DAT read: TxSync time:18:27:35.5877
2025-06-18T18:27:34.899Z,1750271254.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:34.906Z,1750271254.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 177.147858 m,
bearing: 312.040638 deg,
approach rate: -0.604776 m/s,
LOS rate: -0.009145 deg/s,
cmd heading: 312.349359 deg,
new cmd heading: 312.337358 deg.
2025-06-18T18:27:34.907Z,1750271254.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451315 target range: 223.641617 and range: 219.10 m.
2025-06-18T18:27:35.266Z,1750271255.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:35.270Z,1750271255.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:35.290Z,1750271255.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 176.895981 m,
bearing: 312.036824 deg,
approach rate: -0.682632 m/s,
LOS rate: -0.010352 deg/s,
cmd heading: 312.337365 deg,
new cmd heading: 312.325907 deg.
2025-06-18T18:27:35.291Z,1750271255.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451116 target range: 223.641617 and range: 219.10 m.
2025-06-18T18:27:35.457Z,1750271255.457 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:35.457Z,1750271255.457 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:35.457Z,1750271255.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:35.689Z,1750271255.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:35.702Z,1750271255.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 176.652390 m,
bearing: 312.033431 deg,
approach rate: -0.580975 m/s,
LOS rate: -0.008103 deg/s,
cmd heading: 312.325918 deg,
new cmd heading: 312.315726 deg.
2025-06-18T18:27:35.711Z,1750271255.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259047
2025-06-18T18:27:35.725Z,1750271255.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450938 target range: 223.641617 and range: 219.10 m.
2025-06-18T18:27:35.963Z,1750271255.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511118
2025-06-18T18:27:36.092Z,1750271256.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:36.095Z,1750271256.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 176.375992 m,
bearing: 312.030117 deg,
approach rate: -0.682386 m/s,
LOS rate: -0.008195 deg/s,
cmd heading: 312.315727 deg,
new cmd heading: 312.305770 deg.
2025-06-18T18:27:36.096Z,1750271256.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450764 target range: 223.641617 and range: 219.10 m.
2025-06-18T18:27:36.217Z,1750271256.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765090
2025-06-18T18:27:36.463Z,1750271256.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:36.470Z,1750271256.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017978
2025-06-18T18:27:36.472Z,1750271256.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 176.141449 m,
bearing: 312.027132 deg,
approach rate: -0.634044 m/s,
LOS rate: -0.008081 deg/s,
cmd heading: 312.305783 deg,
new cmd heading: 312.296814 deg.
2025-06-18T18:27:36.475Z,1750271256.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450608 target range: 223.641617 and range: 219.10 m.
2025-06-18T18:27:36.724Z,1750271256.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270877
2025-06-18T18:27:36.918Z,1750271256.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:36.925Z,1750271256.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 175.859192 m,
bearing: 312.027607 deg,
approach rate: -0.618853 m/s,
LOS rate: 0.001043 deg/s,
cmd heading: 312.296821 deg,
new cmd heading: 312.298248 deg.
2025-06-18T18:27:36.926Z,1750271256.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450633 target range: 223.641617 and range: 219.10 m.
2025-06-18T18:27:36.974Z,1750271256.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520909
2025-06-18T18:27:37.225Z,1750271257.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772864
2025-06-18T18:27:37.274Z,1750271257.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:37.276Z,1750271257.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:37.279Z,1750271257.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 175.628540 m,
bearing: 312.027981 deg,
approach rate: -0.644281 m/s,
LOS rate: 0.001046 deg/s,
cmd heading: 312.298242 deg,
new cmd heading: 312.299365 deg.
2025-06-18T18:27:37.280Z,1750271257.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450652 target range: 223.641617 and range: 219.10 m.
2025-06-18T18:27:37.478Z,1750271257.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026225
2025-06-18T18:27:37.731Z,1750271257.731 [DAT](INFO): DAT read: Rx Time:18:27:38.2824
2025-06-18T18:27:37.733Z,1750271257.733 [DAT](INFO): Rx dataTimestamp_ set to:1750271257.731929
2025-06-18T18:27:37.734Z,1750271257.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281960
2025-06-18T18:27:37.753Z,1750271257.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:37.755Z,1750271257.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 175.371521 m,
bearing: 312.028403 deg,
approach rate: -0.539035 m/s,
LOS rate: 0.000887 deg/s,
cmd heading: 312.299362 deg,
new cmd heading: 312.300631 deg.
2025-06-18T18:27:37.761Z,1750271257.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450674 target range: 223.641617 and range: 219.10 m.
2025-06-18T18:27:37.981Z,1750271257.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529530
2025-06-18T18:27:38.106Z,1750271258.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:38.109Z,1750271258.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 175.102493 m,
bearing: 312.029874 deg,
approach rate: -0.761585 m/s,
LOS rate: 0.004172 deg/s,
cmd heading: 312.300619 deg,
new cmd heading: 312.305040 deg.
2025-06-18T18:27:38.110Z,1750271258.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450751 target range: 223.641617 and range: 219.10 m.
2025-06-18T18:27:38.234Z,1750271258.234 [DAT](INFO): DAT read: Range 10 to 50 : 217.2 m (Round-trip 289.7 ms) speed 0.3 m/s
2025-06-18T18:27:38.235Z,1750271258.235 [DAT](INFO): DAT read: user:1218>
2025-06-18T18:27:38.236Z,1750271258.236 [DAT](INFO): DAT read: Tx time:18:27:39.3885
2025-06-18T18:27:38.236Z,1750271258.236 [DAT](INFO): Ping request sent.
2025-06-18T18:27:38.236Z,1750271258.236 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:38.236Z,1750271258.236 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:27:38.236Z,1750271258.236 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:38.237Z,1750271258.237 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:38.481Z,1750271258.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 217.199997 m,
deltaT: 3.784081 s,
deltaX: -1.900009 m,
approachRate: -0.502106 m/s,
rangeRepo size: 4
2025-06-18T18:27:38.482Z,1750271258.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:38.485Z,1750271258.485 [DAT](INFO): DAT read: TxSync time:18:27:39.3877
2025-06-18T18:27:38.487Z,1750271258.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 174.863739 m,
bearing: 312.031218 deg,
approach rate: -0.637230 m/s,
LOS rate: 0.003593 deg/s,
cmd heading: 312.305045 deg,
new cmd heading: 312.309083 deg.
2025-06-18T18:27:38.504Z,1750271258.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450822 target range: 223.641617 and range: 217.20 m.
2025-06-18T18:27:38.941Z,1750271258.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:38.943Z,1750271258.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 174.581192 m,
bearing: 312.033597 deg,
approach rate: -0.614442 m/s,
LOS rate: 0.005180 deg/s,
cmd heading: 312.309088 deg,
new cmd heading: 312.316235 deg.
2025-06-18T18:27:38.957Z,1750271258.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450947 target range: 223.641617 and range: 217.20 m.
2025-06-18T18:27:39.294Z,1750271259.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:39.296Z,1750271259.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:39.299Z,1750271259.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 174.335098 m,
bearing: 312.035901 deg,
approach rate: -0.693054 m/s,
LOS rate: 0.006499 deg/s,
cmd heading: 312.316246 deg,
new cmd heading: 312.323169 deg.
2025-06-18T18:27:39.300Z,1750271259.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451067 target range: 223.641617 and range: 217.20 m.
2025-06-18T18:27:39.493Z,1750271259.493 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:39.493Z,1750271259.493 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:39.494Z,1750271259.494 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:39.705Z,1750271259.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:39.708Z,1750271259.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 174.071747 m,
bearing: 312.038356 deg,
approach rate: -0.643477 m/s,
LOS rate: 0.006008 deg/s,
cmd heading: 312.323159 deg,
new cmd heading: 312.330535 deg.
2025-06-18T18:27:39.709Z,1750271259.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451196 target range: 223.641617 and range: 217.20 m.
2025-06-18T18:27:39.747Z,1750271259.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510884
2025-06-18T18:27:39.997Z,1750271259.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761301
2025-06-18T18:27:40.126Z,1750271260.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:40.129Z,1750271260.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 173.801117 m,
bearing: 312.042471 deg,
approach rate: -0.643520 m/s,
LOS rate: 0.009801 deg/s,
cmd heading: 312.330535 deg,
new cmd heading: 312.342900 deg.
2025-06-18T18:27:40.130Z,1750271260.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451412 target range: 223.641617 and range: 217.20 m.
2025-06-18T18:27:40.249Z,1750271260.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012877
2025-06-18T18:27:40.501Z,1750271260.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264754
2025-06-18T18:27:40.508Z,1750271260.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:40.511Z,1750271260.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 173.558411 m,
bearing: 312.046173 deg,
approach rate: -0.634825 m/s,
LOS rate: 0.009696 deg/s,
cmd heading: 312.342911 deg,
new cmd heading: 312.354032 deg.
2025-06-18T18:27:40.512Z,1750271260.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451606 target range: 223.641617 and range: 217.20 m.
2025-06-18T18:27:40.756Z,1750271260.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519180
2025-06-18T18:27:40.953Z,1750271260.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:40.955Z,1750271260.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 173.278366 m,
bearing: 312.051138 deg,
approach rate: -0.629379 m/s,
LOS rate: 0.011177 deg/s,
cmd heading: 312.354031 deg,
new cmd heading: 312.368951 deg.
2025-06-18T18:27:40.957Z,1750271260.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451867 target range: 223.641617 and range: 217.20 m.
2025-06-18T18:27:41.007Z,1750271261.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770584
2025-06-18T18:27:41.257Z,1750271261.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020646
2025-06-18T18:27:41.330Z,1750271261.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:41.336Z,1750271261.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:41.339Z,1750271261.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 173.050888 m,
bearing: 312.055107 deg,
approach rate: -0.599968 m/s,
LOS rate: 0.010481 deg/s,
cmd heading: 312.368948 deg,
new cmd heading: 312.380870 deg.
2025-06-18T18:27:41.345Z,1750271261.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452075 target range: 223.641617 and range: 217.20 m.
2025-06-18T18:27:41.509Z,1750271261.509 [DAT](INFO): DAT read: Rx Time:18:27:42.0793
2025-06-18T18:27:41.509Z,1750271261.509 [DAT](INFO): Rx dataTimestamp_ set to:1750271261.509047
2025-06-18T18:27:41.510Z,1750271261.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273837
2025-06-18T18:27:41.718Z,1750271261.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:41.721Z,1750271261.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 172.802185 m,
bearing: 312.059392 deg,
approach rate: -0.644848 m/s,
LOS rate: 0.011125 deg/s,
cmd heading: 312.380860 deg,
new cmd heading: 312.393732 deg.
2025-06-18T18:27:41.722Z,1750271261.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452299 target range: 223.641617 and range: 217.20 m.
2025-06-18T18:27:41.764Z,1750271261.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527622
2025-06-18T18:27:42.015Z,1750271262.015 [DAT](INFO): DAT read: Range 10 to 50 : 215.0 m (Round-trip 286.7 ms) speed 0.5 m/s
2025-06-18T18:27:42.016Z,1750271262.016 [DAT](INFO): DAT read: user:1219>
2025-06-18T18:27:42.017Z,1750271262.017 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:27:42.018Z,1750271262.018 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:42.018Z,1750271262.018 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:42.018Z,1750271262.018 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:42.199Z,1750271262.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 215.000000 m,
deltaT: 3.780442 s,
deltaX: -2.199997 m,
approachRate: -0.581942 m/s,
rangeRepo size: 4
2025-06-18T18:27:42.199Z,1750271262.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:42.206Z,1750271262.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 172.505035 m,
bearing: 312.063760 deg,
approach rate: -0.618723 m/s,
LOS rate: 0.009112 deg/s,
cmd heading: 312.393728 deg,
new cmd heading: 312.406857 deg.
2025-06-18T18:27:42.207Z,1750271262.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452528 target range: 223.641617 and range: 215.00 m.
2025-06-18T18:27:42.266Z,1750271262.266 [DAT](INFO): DAT read: Tx time:18:27:43.1885
2025-06-18T18:27:42.266Z,1750271262.266 [DAT](INFO): Ping request sent.
2025-06-18T18:27:42.267Z,1750271262.267 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:42.269Z,1750271262.269 [DAT](INFO): DAT read: TxSync time:18:27:43.1877
2025-06-18T18:27:42.270Z,1750271262.270 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:42.271Z,1750271262.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003992
2025-06-18T18:27:42.517Z,1750271262.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250261
2025-06-18T18:27:42.700Z,1750271262.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:42.703Z,1750271262.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 172.186981 m,
bearing: 312.068556 deg,
approach rate: -0.633848 m/s,
LOS rate: 0.009575 deg/s,
cmd heading: 312.406869 deg,
new cmd heading: 312.421284 deg.
2025-06-18T18:27:42.704Z,1750271262.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452780 target range: 223.641617 and range: 215.00 m.
2025-06-18T18:27:42.774Z,1750271262.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507168
2025-06-18T18:27:43.025Z,1750271263.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758326
2025-06-18T18:27:43.151Z,1750271263.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:43.158Z,1750271263.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 171.917511 m,
bearing: 312.072727 deg,
approach rate: -0.597396 m/s,
LOS rate: 0.009262 deg/s,
cmd heading: 312.421295 deg,
new cmd heading: 312.433828 deg.
2025-06-18T18:27:43.159Z,1750271263.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452999 target range: 223.641617 and range: 215.00 m.
2025-06-18T18:27:43.277Z,1750271263.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010244
2025-06-18T18:27:43.529Z,1750271263.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262233
2025-06-18T18:27:43.618Z,1750271263.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:43.624Z,1750271263.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:43.627Z,1750271263.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 171.626541 m,
bearing: 312.077191 deg,
approach rate: -0.620406 m/s,
LOS rate: 0.009534 deg/s,
cmd heading: 312.433835 deg,
new cmd heading: 312.447249 deg.
2025-06-18T18:27:43.635Z,1750271263.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453233 target range: 223.641617 and range: 215.00 m.
2025-06-18T18:27:43.783Z,1750271263.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515870
2025-06-18T18:27:44.014Z,1750271264.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:44.017Z,1750271264.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 171.366302 m,
bearing: 312.081309 deg,
approach rate: -0.660238 m/s,
LOS rate: 0.010463 deg/s,
cmd heading: 312.447249 deg,
new cmd heading: 312.459622 deg.
2025-06-18T18:27:44.018Z,1750271264.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453449 target range: 223.641617 and range: 215.00 m.
2025-06-18T18:27:44.033Z,1750271264.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766191
2025-06-18T18:27:44.285Z,1750271264.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018116
2025-06-18T18:27:44.426Z,1750271264.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:44.429Z,1750271264.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 171.113052 m,
bearing: 312.085202 deg,
approach rate: -0.615003 m/s,
LOS rate: 0.009468 deg/s,
cmd heading: 312.459626 deg,
new cmd heading: 312.471322 deg.
2025-06-18T18:27:44.430Z,1750271264.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453653 target range: 223.641617 and range: 215.00 m.
2025-06-18T18:27:44.537Z,1750271264.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270239
2025-06-18T18:27:44.774Z,1750271264.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:44.777Z,1750271264.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 170.884567 m,
bearing: 312.088715 deg,
approach rate: -0.655562 m/s,
LOS rate: 0.010094 deg/s,
cmd heading: 312.471319 deg,
new cmd heading: 312.481873 deg.
2025-06-18T18:27:44.778Z,1750271264.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453837 target range: 223.641617 and range: 215.00 m.
2025-06-18T18:27:44.789Z,1750271264.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522356
2025-06-18T18:27:45.041Z,1750271265.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774073
2025-06-18T18:27:45.222Z,1750271265.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:45.228Z,1750271265.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 170.600754 m,
bearing: 312.091619 deg,
approach rate: -0.634627 m/s,
LOS rate: 0.006503 deg/s,
cmd heading: 312.481865 deg,
new cmd heading: 312.490590 deg.
2025-06-18T18:27:45.229Z,1750271265.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453990 target range: 223.641617 and range: 215.00 m.
2025-06-18T18:27:45.293Z,1750271265.293 [DAT](INFO): DAT read: Rx Time:18:27:45.8782
2025-06-18T18:27:45.294Z,1750271265.294 [DAT](INFO): Rx dataTimestamp_ set to:1750271265.293353
2025-06-18T18:27:45.294Z,1750271265.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027578
2025-06-18T18:27:45.545Z,1750271265.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278215
2025-06-18T18:27:45.587Z,1750271265.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:45.590Z,1750271265.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 170.368576 m,
bearing: 312.094011 deg,
approach rate: -0.634443 m/s,
LOS rate: 0.006545 deg/s,
cmd heading: 312.490580 deg,
new cmd heading: 312.497765 deg.
2025-06-18T18:27:45.591Z,1750271265.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454115 target range: 223.641617 and range: 215.00 m.
2025-06-18T18:27:45.801Z,1750271265.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533024
2025-06-18T18:27:46.015Z,1750271266.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:46.019Z,1750271266.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.64 m.
2025-06-18T18:27:46.038Z,1750271266.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.641617 m,
nav range: 170.093475 m,
bearing: 312.095991 deg,
approach rate: -0.637790 m/s,
LOS rate: 0.004599 deg/s,
cmd heading: 312.497766 deg,
new cmd heading: 312.503717 deg.
2025-06-18T18:27:46.039Z,1750271266.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454219 target range: 223.641617 and range: 215.00 m.
2025-06-18T18:27:46.060Z,1750271266.060 [DAT](INFO): DAT read: 18:27:45.8782 LVL= 29616, 32753, 29234, 32755, AGC= 64, IDX= 122,-0.34,-1.276,-2.615,-1.405,-1.855, PHS= 0.667,-0.714, 0.447, RAW= 141.5, -6.3, CAL= 147.4, -15.7, ROT= 2.6, 15.7
2025-06-18T18:27:46.061Z,1750271266.061 [DAT](INFO): got valid direction response:
18:27:45.8782 LVL= 29616, 32753, 29234, 32755, AGC= 64, IDX= 122,-0.34,-1.276,-2.615,-1.405,-1.855, PHS= 0.667,-0.714, 0.447, RAW= 141.5, -6.3, CAL= 147.4, -15.7, ROT= 2.6, 15.7
2025-06-18T18:27:46.062Z,1750271266.062 [DAT](INFO): DAT read: Bearing 2.6, 15.7 (Local)
2025-06-18T18:27:46.062Z,1750271266.062 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.6, 15.7 (Local)
2025-06-18T18:27:46.068Z,1750271266.068 [DAT](INFO): DAT read: Range 10 to 50 : 214.0 m (Round-trip 285.4 ms) speed 0.4 m/s
2025-06-18T18:27:46.069Z,1750271266.069 [DAT](INFO): DAT read: user:1220>
2025-06-18T18:27:46.070Z,1750271266.070 [DAT](INFO): DAT read: Tx time:18:27:46.9886
2025-06-18T18:27:46.070Z,1750271266.070 [DAT](INFO): Ping request sent.
2025-06-18T18:27:46.070Z,1750271266.070 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:46.071Z,1750271266.071 [DAT](INFO): DAT read: TxSync time:18:27:46.9878
2025-06-18T18:27:46.071Z,1750271266.071 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:27:46.081Z,1750271266.081 [DAT](INFO): direction in FSK: [0.961701,0.043671,-0.270600]
2025-06-18T18:27:46.081Z,1750271266.081 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:46.081Z,1750271266.081 [DAT](INFO): publishing direction and range info
2025-06-18T18:27:46.092Z,1750271266.092 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:46.093Z,1750271266.093 [DAT](INFO): publishing direction and range info
2025-06-18T18:27:46.404Z,1750271266.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 214.000000 m,
deltaT: 4.035525 s,
deltaX: -1.000000 m,
approachRate: -0.247799 m/s,
rangeRepo size: 4
2025-06-18T18:27:46.406Z,1750271266.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 212.047546 m,
bearing: 316.306004 deg,
lat: 36.905868 deg,
lon: -122.115846 deg,
deltaT: 22.948058 s,
deltaX: -11.594070 m,
approachRate: -0.505231 m/s,
posRepo size: 4
2025-06-18T18:27:46.407Z,1750271266.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:46.410Z,1750271266.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 172.082932 m,
bearing: 312.914754 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004599 deg/s,
cmd heading: 312.503721 deg,
new cmd heading: 312.509028 deg.
2025-06-18T18:27:46.411Z,1750271266.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454311 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:46.797Z,1750271266.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:46.800Z,1750271266.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 171.828323 m,
bearing: 312.918056 deg,
approach rate: -0.646084 m/s,
LOS rate: 0.008392 deg/s,
cmd heading: 312.509022 deg,
new cmd heading: 312.518943 deg.
2025-06-18T18:27:46.801Z,1750271266.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454484 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:47.212Z,1750271267.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:27:47.242Z,1750271267.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:47.245Z,1750271267.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 171.553589 m,
bearing: 312.924197 deg,
approach rate: -0.618341 m/s,
LOS rate: 0.013844 deg/s,
cmd heading: 312.518939 deg,
new cmd heading: 312.537392 deg.
2025-06-18T18:27:47.246Z,1750271267.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454806 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:47.629Z,1750271267.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:47.637Z,1750271267.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 171.307297 m,
bearing: 312.929756 deg,
approach rate: -0.635670 m/s,
LOS rate: 0.014369 deg/s,
cmd heading: 312.537381 deg,
new cmd heading: 312.554082 deg.
2025-06-18T18:27:47.638Z,1750271267.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455098 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:48.035Z,1750271268.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:48.053Z,1750271268.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:48.060Z,1750271268.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 171.058762 m,
bearing: 312.932315 deg,
approach rate: -0.586166 m/s,
LOS rate: 0.006044 deg/s,
cmd heading: 312.554074 deg,
new cmd heading: 312.561762 deg.
2025-06-18T18:27:48.061Z,1750271268.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455232 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:48.065Z,1750271268.065 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:48.065Z,1750271268.065 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:48.065Z,1750271268.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:48.216Z,1750271268.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:27:48.317Z,1750271268.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246658
2025-06-18T18:27:48.417Z,1750271268.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:48.425Z,1750271268.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 170.820175 m,
bearing: 312.934779 deg,
approach rate: -0.655094 m/s,
LOS rate: 0.006774 deg/s,
cmd heading: 312.561751 deg,
new cmd heading: 312.569152 deg.
2025-06-18T18:27:48.426Z,1750271268.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455361 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:48.569Z,1750271268.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499057
2025-06-18T18:27:48.815Z,1750271268.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:48.821Z,1750271268.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750795
2025-06-18T18:27:48.849Z,1750271268.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 170.575241 m,
bearing: 312.937189 deg,
approach rate: -0.617835 m/s,
LOS rate: 0.006088 deg/s,
cmd heading: 312.569155 deg,
new cmd heading: 312.576395 deg.
2025-06-18T18:27:48.850Z,1750271268.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455487 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:49.073Z,1750271269.073 [DAT](INFO): DAT read: Rx Time:18:27:49.6461
2025-06-18T18:27:49.073Z,1750271269.073 [DAT](INFO): Rx dataTimestamp_ set to:1750271269.073018
2025-06-18T18:27:49.074Z,1750271269.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003639
2025-06-18T18:27:49.261Z,1750271269.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:49.264Z,1750271269.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 170.297882 m,
bearing: 312.938288 deg,
approach rate: -0.619781 m/s,
LOS rate: 0.002461 deg/s,
cmd heading: 312.576395 deg,
new cmd heading: 312.579699 deg.
2025-06-18T18:27:49.265Z,1750271269.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455545 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:49.325Z,1750271269.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254810
2025-06-18T18:27:49.578Z,1750271269.578 [DAT](INFO): DAT read: Range 10 to .0 m (Round-trip 253.4 ms) speed 0.1 m/s
2025-06-18T18:27:49.579Z,1750271269.579 [DAT](INFO): unknown deviceResponse_: Range 10 to .0 m (Round-trip 253.4 ms) speed 0.1 m/s
2025-06-18T18:27:49.579Z,1750271269.579 [DAT](INFO): DAT read: user:1221>
2025-06-18T18:27:49.580Z,1750271269.580 [DAT](INFO): DAT read: Tx time:18:27:50.7386
2025-06-18T18:27:49.580Z,1750271269.580 [DAT](INFO): Ping request sent.
2025-06-18T18:27:49.580Z,1750271269.580 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:49.581Z,1750271269.581 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:49.581Z,1750271269.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-06-18T18:27:49.679Z,1750271269.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:49.686Z,1750271269.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 170.044144 m,
bearing: 312.939273 deg,
approach rate: -0.608084 m/s,
LOS rate: 0.002364 deg/s,
cmd heading: 312.579700 deg,
new cmd heading: 312.582659 deg.
2025-06-18T18:27:49.687Z,1750271269.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455596 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:49.829Z,1750271269.829 [DAT](INFO): DAT read: TxSync time:18:27:50.7378
2025-06-18T18:27:49.830Z,1750271269.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249181
2025-06-18T18:27:50.073Z,1750271270.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:50.075Z,1750271270.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:50.079Z,1750271270.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 169.793076 m,
bearing: 312.939508 deg,
approach rate: -0.632810 m/s,
LOS rate: 0.000592 deg/s,
cmd heading: 312.582651 deg,
new cmd heading: 312.583356 deg.
2025-06-18T18:27:50.081Z,1750271270.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500482
2025-06-18T18:27:50.082Z,1750271270.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455609 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:50.333Z,1750271270.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752287
2025-06-18T18:27:50.486Z,1750271270.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:50.510Z,1750271270.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 169.538895 m,
bearing: 312.939838 deg,
approach rate: -0.618900 m/s,
LOS rate: 0.000806 deg/s,
cmd heading: 312.583361 deg,
new cmd heading: 312.584355 deg.
2025-06-18T18:27:50.511Z,1750271270.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455626 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:50.586Z,1750271270.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005103
2025-06-18T18:27:50.837Z,1750271270.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256456
2025-06-18T18:27:50.842Z,1750271270.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:50.844Z,1750271270.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 169.318054 m,
bearing: 312.940185 deg,
approach rate: -0.621211 m/s,
LOS rate: 0.000977 deg/s,
cmd heading: 312.584345 deg,
new cmd heading: 312.585387 deg.
2025-06-18T18:27:50.846Z,1750271270.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455644 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:51.090Z,1750271271.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509969
2025-06-18T18:27:51.269Z,1750271271.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:51.288Z,1750271271.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 169.048553 m,
bearing: 312.940292 deg,
approach rate: -0.630486 m/s,
LOS rate: 0.000251 deg/s,
cmd heading: 312.585383 deg,
new cmd heading: 312.585705 deg.
2025-06-18T18:27:51.289Z,1750271271.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455650 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:51.342Z,1750271271.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761460
2025-06-18T18:27:51.593Z,1750271271.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012316
2025-06-18T18:27:51.699Z,1750271271.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:51.706Z,1750271271.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 168.783203 m,
bearing: 312.940227 deg,
approach rate: -0.616612 m/s,
LOS rate: -0.000153 deg/s,
cmd heading: 312.585711 deg,
new cmd heading: 312.585514 deg.
2025-06-18T18:27:51.707Z,1750271271.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455647 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:51.845Z,1750271271.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264613
2025-06-18T18:27:52.071Z,1750271272.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:52.074Z,1750271272.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 168.543579 m,
bearing: 312.939718 deg,
approach rate: -0.644358 m/s,
LOS rate: -0.001369 deg/s,
cmd heading: 312.585520 deg,
new cmd heading: 312.583993 deg.
2025-06-18T18:27:52.075Z,1750271272.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455620 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:52.097Z,1750271272.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516432
2025-06-18T18:27:52.349Z,1750271272.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768570
2025-06-18T18:27:52.450Z,1750271272.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:52.452Z,1750271272.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:52.455Z,1750271272.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 168.303589 m,
bearing: 312.939176 deg,
approach rate: -0.630587 m/s,
LOS rate: -0.001427 deg/s,
cmd heading: 312.583990 deg,
new cmd heading: 312.582360 deg.
2025-06-18T18:27:52.456Z,1750271272.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455591 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:52.601Z,1750271272.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020218
2025-06-18T18:27:52.853Z,1750271272.853 [DAT](INFO): DAT read: Rx Time:18:27:53.3940
2025-06-18T18:27:52.854Z,1750271272.854 [DAT](INFO): Rx dataTimestamp_ set to:1750271272.853275
2025-06-18T18:27:52.854Z,1750271272.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273634
2025-06-18T18:27:52.926Z,1750271272.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:52.935Z,1750271272.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 168.007187 m,
bearing: 312.938504 deg,
approach rate: -0.626816 m/s,
LOS rate: -0.001424 deg/s,
cmd heading: 312.582351 deg,
new cmd heading: 312.580331 deg.
2025-06-18T18:27:52.939Z,1750271272.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455556 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:53.105Z,1750271273.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524314
2025-06-18T18:27:53.329Z,1750271273.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:53.332Z,1750271273.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 167.767899 m,
bearing: 312.938922 deg,
approach rate: -0.591880 m/s,
LOS rate: 0.001035 deg/s,
cmd heading: 312.580329 deg,
new cmd heading: 312.581584 deg.
2025-06-18T18:27:53.333Z,1750271273.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455578 target range: 212.047546 and range: 214.00 m.
2025-06-18T18:27:53.358Z,1750271273.358 [DAT](INFO): DAT read: Range 10 to 50 : 188.4 m (Round-trip 251.2 ms) speed 0.0 m/s
2025-06-18T18:27:53.359Z,1750271273.359 [DAT](INFO): DAT read: user:1222>
2025-06-18T18:27:53.359Z,1750271273.359 [DAT](INFO): DAT read: Tx time:18:27:54.4886
2025-06-18T18:27:53.360Z,1750271273.360 [DAT](INFO): Ping request sent.
2025-06-18T18:27:53.360Z,1750271273.360 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:53.360Z,1750271273.360 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:27:53.360Z,1750271273.360 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:53.361Z,1750271273.361 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:53.609Z,1750271273.609 [DAT](INFO): DAT read: TxSync time:18:27:54.4878
2025-06-18T18:27:53.666Z,1750271273.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 188.399994 m,
deltaT: 7.308022 s,
deltaX: -25.600006 m,
approachRate: -3.503001 m/s,
rangeRepo size: 4
2025-06-18T18:27:53.667Z,1750271273.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:53.670Z,1750271273.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 167.527039 m,
bearing: 312.939347 deg,
approach rate: -0.715308 m/s,
LOS rate: 0.001266 deg/s,
cmd heading: 312.581586 deg,
new cmd heading: 312.582864 deg.
2025-06-18T18:27:53.671Z,1750271273.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455600 target range: 212.047546 and range: 188.40 m.
2025-06-18T18:27:54.115Z,1750271274.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:54.122Z,1750271274.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 167.246063 m,
bearing: 312.940031 deg,
approach rate: -0.625484 m/s,
LOS rate: 0.001526 deg/s,
cmd heading: 312.582870 deg,
new cmd heading: 312.584926 deg.
2025-06-18T18:27:54.123Z,1750271274.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455636 target range: 212.047546 and range: 188.40 m.
2025-06-18T18:27:54.465Z,1750271274.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:54.467Z,1750271274.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:54.470Z,1750271274.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 167.006348 m,
bearing: 312.940860 deg,
approach rate: -0.680363 m/s,
LOS rate: 0.002354 deg/s,
cmd heading: 312.584919 deg,
new cmd heading: 312.587407 deg.
2025-06-18T18:27:54.471Z,1750271274.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455679 target range: 212.047546 and range: 188.40 m.
2025-06-18T18:27:54.617Z,1750271274.617 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:54.617Z,1750271274.617 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:54.617Z,1750271274.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:54.870Z,1750271274.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509450
2025-06-18T18:27:54.894Z,1750271274.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:54.898Z,1750271274.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 166.732376 m,
bearing: 312.941908 deg,
approach rate: -0.643147 m/s,
LOS rate: 0.002466 deg/s,
cmd heading: 312.587405 deg,
new cmd heading: 312.590556 deg.
2025-06-18T18:27:54.899Z,1750271274.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455734 target range: 212.047546 and range: 188.40 m.
2025-06-18T18:27:55.121Z,1750271275.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760645
2025-06-18T18:27:55.373Z,1750271275.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013167
2025-06-18T18:27:55.414Z,1750271275.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:55.417Z,1750271275.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 166.385788 m,
bearing: 312.944233 deg,
approach rate: -0.665267 m/s,
LOS rate: 0.004471 deg/s,
cmd heading: 312.590547 deg,
new cmd heading: 312.597535 deg.
2025-06-18T18:27:55.418Z,1750271275.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455856 target range: 212.047546 and range: 188.40 m.
2025-06-18T18:27:55.625Z,1750271275.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264602
2025-06-18T18:27:55.767Z,1750271275.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:55.774Z,1750271275.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 166.158600 m,
bearing: 312.945707 deg,
approach rate: -0.643946 m/s,
LOS rate: 0.004184 deg/s,
cmd heading: 312.597541 deg,
new cmd heading: 312.601969 deg.
2025-06-18T18:27:55.775Z,1750271275.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455934 target range: 212.047546 and range: 188.40 m.
2025-06-18T18:27:55.878Z,1750271275.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517418
2025-06-18T18:27:56.129Z,1750271276.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768683
2025-06-18T18:27:56.178Z,1750271276.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:56.197Z,1750271276.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 165.886200 m,
bearing: 312.947784 deg,
approach rate: -0.663435 m/s,
LOS rate: 0.005067 deg/s,
cmd heading: 312.601967 deg,
new cmd heading: 312.608208 deg.
2025-06-18T18:27:56.198Z,1750271276.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456042 target range: 212.047546 and range: 188.40 m.
2025-06-18T18:27:56.381Z,1750271276.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020670
2025-06-18T18:27:56.558Z,1750271276.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:56.583Z,1750271276.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:56.586Z,1750271276.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 165.637421 m,
bearing: 312.949663 deg,
approach rate: -0.650691 m/s,
LOS rate: 0.004922 deg/s,
cmd heading: 312.608196 deg,
new cmd heading: 312.613842 deg.
2025-06-18T18:27:56.587Z,1750271276.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456141 target range: 212.047546 and range: 188.40 m.
2025-06-18T18:27:56.634Z,1750271276.634 [DAT](INFO): DAT read: Rx Time:18:27:57.1402
2025-06-18T18:27:56.634Z,1750271276.634 [DAT](INFO): Rx dataTimestamp_ set to:1750271276.633954
2025-06-18T18:27:56.635Z,1750271276.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275047
2025-06-18T18:27:56.886Z,1750271276.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525427
2025-06-18T18:27:56.949Z,1750271276.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.05 m.
2025-06-18T18:27:56.951Z,1750271276.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.047546 m,
nav range: 165.395279 m,
bearing: 312.951511 deg,
approach rate: -0.631061 m/s,
LOS rate: 0.004823 deg/s,
cmd heading: 312.613851 deg,
new cmd heading: 312.619403 deg.
2025-06-18T18:27:56.956Z,1750271276.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456238 target range: 212.047546 and range: 188.40 m.
2025-06-18T18:27:57.143Z,1750271277.143 [DAT](INFO): DAT read: 18:27:57.1402 LVL= 32352, 32753, 28850, 32755, AGC= 61, IDX= 402,-0.30, 0.052,-1.373,-0.115,-0.510, PHS= 0.650,-0.816, 0.392, RAW= 140.5, -3.4, CAL= 145.7, -12.7, ROT= 4.3, 12.7
2025-06-18T18:27:57.145Z,1750271277.145 [DAT](INFO): got valid direction response:
18:27:57.1402 LVL= 32352, 32753, 28850, 32755, AGC= 61, IDX= 402,-0.30, 0.052,-1.373,-0.115,-0.510, PHS= 0.650,-0.816, 0.392, RAW= 140.5, -3.4, CAL= 145.7, -12.7, ROT= 4.3, 12.7
2025-06-18T18:27:57.146Z,1750271277.146 [DAT](INFO): DAT read: Bearing 4.3, 12.7 (Local)
2025-06-18T18:27:57.146Z,1750271277.146 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.3, 12.7 (Local)
2025-06-18T18:27:57.148Z,1750271277.148 [DAT](INFO): DAT read: Range 10 to 50 : 185.5 m (Round-trip 247.4 ms) speed 0.8 m/s
2025-06-18T18:27:57.149Z,1750271277.149 [DAT](INFO): DAT read: user:1223>
2025-06-18T18:27:57.149Z,1750271277.149 [DAT](INFO): DAT read: Tx time:18:27:58.2386
2025-06-18T18:27:57.150Z,1750271277.150 [DAT](INFO): Ping request sent.
2025-06-18T18:27:57.150Z,1750271277.150 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:27:57.150Z,1750271277.150 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:27:57.151Z,1750271277.151 [DAT](INFO): direction in FSK: [0.972789,0.073144,-0.219846]
2025-06-18T18:27:57.151Z,1750271277.151 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:57.152Z,1750271277.152 [DAT](INFO): publishing direction and range info
2025-06-18T18:27:57.155Z,1750271277.155 [DAT](INFO): publishing transmit ping time
2025-06-18T18:27:57.155Z,1750271277.155 [DAT](INFO): publishing direction and range info
2025-06-18T18:27:57.389Z,1750271277.389 [DAT](INFO): DAT read: TxSync time:18:27:58.2378
2025-06-18T18:27:57.435Z,1750271277.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 185.500000 m,
deltaT: 3.779844 s,
deltaX: -2.899994 m,
approachRate: -0.767226 m/s,
rangeRepo size: 4
2025-06-18T18:27:57.441Z,1750271277.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 183.807388 m,
bearing: 317.759290 deg,
lat: 36.905941 deg,
lon: -122.115847 deg,
deltaT: 11.087866 s,
deltaX: -28.240158 m,
approachRate: -2.546942 m/s,
posRepo size: 4
2025-06-18T18:27:57.442Z,1750271277.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:27:57.457Z,1750271277.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 170.788528 m,
bearing: 314.932211 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004823 deg/s,
cmd heading: 312.619398 deg,
new cmd heading: 312.626494 deg.
2025-06-18T18:27:57.458Z,1750271277.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456362 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:27:57.747Z,1750271277.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:27:57.751Z,1750271277.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 170.564590 m,
bearing: 314.937582 deg,
approach rate: -0.715873 m/s,
LOS rate: 0.017193 deg/s,
cmd heading: 312.626501 deg,
new cmd heading: 312.642636 deg.
2025-06-18T18:27:57.752Z,1750271277.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456644 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:27:58.182Z,1750271278.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:27:58.185Z,1750271278.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 170.287827 m,
bearing: 314.945625 deg,
approach rate: -0.635866 m/s,
LOS rate: 0.018508 deg/s,
cmd heading: 312.642648 deg,
new cmd heading: 312.666814 deg.
2025-06-18T18:27:58.186Z,1750271278.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457066 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:27:58.559Z,1750271278.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:27:58.562Z,1750271278.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 170.055008 m,
bearing: 314.952410 deg,
approach rate: -0.617386 m/s,
LOS rate: 0.018017 deg/s,
cmd heading: 312.666826 deg,
new cmd heading: 312.687210 deg.
2025-06-18T18:27:58.563Z,1750271278.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457421 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:27:58.951Z,1750271278.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:27:58.953Z,1750271278.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:27:58.972Z,1750271278.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 169.797424 m,
bearing: 314.959917 deg,
approach rate: -0.654056 m/s,
LOS rate: 0.019090 deg/s,
cmd heading: 312.687208 deg,
new cmd heading: 312.709763 deg.
2025-06-18T18:27:58.973Z,1750271278.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457815 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:27:59.153Z,1750271279.153 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:27:59.153Z,1750271279.153 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:27:59.153Z,1750271279.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:27:59.381Z,1750271279.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:27:59.384Z,1750271279.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 169.527740 m,
bearing: 314.966871 deg,
approach rate: -0.629863 m/s,
LOS rate: 0.016268 deg/s,
cmd heading: 312.709775 deg,
new cmd heading: 312.730671 deg.
2025-06-18T18:27:59.385Z,1750271279.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458180 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:27:59.405Z,1750271279.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255014
2025-06-18T18:27:59.657Z,1750271279.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506981
2025-06-18T18:27:59.762Z,1750271279.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:27:59.766Z,1750271279.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 169.288406 m,
bearing: 314.972879 deg,
approach rate: -0.628634 m/s,
LOS rate: 0.015803 deg/s,
cmd heading: 312.730675 deg,
new cmd heading: 312.748725 deg.
2025-06-18T18:27:59.767Z,1750271279.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458495 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:27:59.909Z,1750271279.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759096
2025-06-18T18:28:00.161Z,1750271280.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011409
2025-06-18T18:28:00.211Z,1750271280.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:28:00.214Z,1750271280.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 169.005966 m,
bearing: 314.980060 deg,
approach rate: -0.629438 m/s,
LOS rate: 0.016030 deg/s,
cmd heading: 312.748734 deg,
new cmd heading: 312.770313 deg.
2025-06-18T18:28:00.215Z,1750271280.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458872 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:28:00.413Z,1750271280.413 [DAT](INFO): DAT read: Rx Time:18:28:00.8576
2025-06-18T18:28:00.414Z,1750271280.414 [DAT](INFO): Rx dataTimestamp_ set to:1750271280.413353
2025-06-18T18:28:00.414Z,1750271280.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264326
2025-06-18T18:28:00.569Z,1750271280.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:28:00.571Z,1750271280.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 168.780945 m,
bearing: 314.985685 deg,
approach rate: -0.628783 m/s,
LOS rate: 0.015737 deg/s,
cmd heading: 312.770317 deg,
new cmd heading: 312.787213 deg.
2025-06-18T18:28:00.573Z,1750271280.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459167 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:28:00.665Z,1750271280.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515268
2025-06-18T18:28:00.928Z,1750271280.928 [DAT](INFO): DAT read: 18:28:00.8576 LVL= 32752, 32753, 30434, 32755, AGC= 63, IDX= 418,-0.20, 0.938, 0.277, 0.960,-0.315, PHS= 1.342, 0.639, 1.272, RAW= 144.8, -59.7, CAL= 152.1, -54.0, ROT= 357.9, 54.0
2025-06-18T18:28:00.929Z,1750271280.929 [DAT](INFO): got valid direction response:
18:28:00.8576 LVL= 32752, 32753, 30434, 32755, AGC= 63, IDX= 418,-0.20, 0.938, 0.277, 0.960,-0.315, PHS= 1.342, 0.639, 1.272, RAW= 144.8, -59.7, CAL= 152.1, -54.0, ROT= 357.9, 54.0
2025-06-18T18:28:00.930Z,1750271280.930 [DAT](INFO): DAT read: Bearing 357.9, 54.0 (Local)
2025-06-18T18:28:00.930Z,1750271280.930 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.9, 54.0 (Local)
2025-06-18T18:28:00.944Z,1750271280.944 [DAT](INFO): DAT read: Range 10 to 50 : 161.0 m (Round-trip 214.7 ms) speed 0.6 m/s
2025-06-18T18:28:00.945Z,1750271280.945 [DAT](INFO): DAT read: user:1224>
2025-06-18T18:28:00.946Z,1750271280.946 [DAT](INFO): DAT read: Tx time:18:28:01.9387
2025-06-18T18:28:00.946Z,1750271280.946 [DAT](INFO): Ping request sent.
2025-06-18T18:28:00.946Z,1750271280.946 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:00.946Z,1750271280.946 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:28:00.947Z,1750271280.947 [DAT](INFO): direction in FSK: [0.587390,-0.021539,-0.809017]
2025-06-18T18:28:00.948Z,1750271280.948 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:00.948Z,1750271280.948 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:00.951Z,1750271280.951 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:00.951Z,1750271280.951 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:01.082Z,1750271281.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 161.000000 m,
deltaT: 3.780012 s,
deltaX: -24.500000 m,
approachRate: -6.481461 m/s,
rangeRepo size: 4
2025-06-18T18:28:01.083Z,1750271281.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:28:01.112Z,1750271281.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 168.493362 m,
bearing: 314.992882 deg,
approach rate: -0.569679 m/s,
LOS rate: 0.014281 deg/s,
cmd heading: 312.787202 deg,
new cmd heading: 312.808830 deg.
2025-06-18T18:28:01.113Z,1750271281.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459544 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:28:01.170Z,1750271281.170 [DAT](INFO): DAT read: TxSync time:18:28:01.9379
2025-06-18T18:28:01.423Z,1750271281.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:01.426Z,1750271281.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:28:01.429Z,1750271281.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 168.245071 m,
bearing: 314.998348 deg,
approach rate: -0.705438 m/s,
LOS rate: 0.015553 deg/s,
cmd heading: 312.808840 deg,
new cmd heading: 312.825262 deg.
2025-06-18T18:28:01.430Z,1750271281.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459831 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:28:01.672Z,1750271281.672 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:01.673Z,1750271281.673 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:01.673Z,1750271281.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:01.811Z,1750271281.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:28:01.814Z,1750271281.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 168.002594 m,
bearing: 315.004001 deg,
approach rate: -0.628291 m/s,
LOS rate: 0.014669 deg/s,
cmd heading: 312.825259 deg,
new cmd heading: 312.842243 deg.
2025-06-18T18:28:01.815Z,1750271281.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460127 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:28:01.925Z,1750271281.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979066
2025-06-18T18:28:02.177Z,1750271282.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230878
2025-06-18T18:28:02.254Z,1750271282.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:28:02.261Z,1750271282.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 167.733948 m,
bearing: 315.009458 deg,
approach rate: -0.607149 m/s,
LOS rate: 0.012353 deg/s,
cmd heading: 312.842253 deg,
new cmd heading: 312.858650 deg.
2025-06-18T18:28:02.263Z,1750271282.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460413 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:28:02.430Z,1750271282.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484102
2025-06-18T18:28:02.614Z,1750271282.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:28:02.617Z,1750271282.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 167.510880 m,
bearing: 315.013924 deg,
approach rate: -0.619961 m/s,
LOS rate: 0.012430 deg/s,
cmd heading: 312.858645 deg,
new cmd heading: 312.872063 deg.
2025-06-18T18:28:02.618Z,1750271282.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460648 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:28:02.682Z,1750271282.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735538
2025-06-18T18:28:02.933Z,1750271282.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986846
2025-06-18T18:28:03.015Z,1750271283.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:28:03.018Z,1750271283.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 167.265091 m,
bearing: 315.018671 deg,
approach rate: -0.612976 m/s,
LOS rate: 0.011854 deg/s,
cmd heading: 312.872060 deg,
new cmd heading: 312.886319 deg.
2025-06-18T18:28:03.019Z,1750271283.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460896 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:28:03.185Z,1750271283.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238853
2025-06-18T18:28:03.437Z,1750271283.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491026
2025-06-18T18:28:03.446Z,1750271283.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:03.448Z,1750271283.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:28:03.451Z,1750271283.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 166.998260 m,
bearing: 315.025536 deg,
approach rate: -0.616144 m/s,
LOS rate: 0.015878 deg/s,
cmd heading: 312.886321 deg,
new cmd heading: 312.906950 deg.
2025-06-18T18:28:03.452Z,1750271283.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461257 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:28:03.689Z,1750271283.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742926
2025-06-18T18:28:03.853Z,1750271283.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:28:03.863Z,1750271283.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 166.752960 m,
bearing: 315.031805 deg,
approach rate: -0.604985 m/s,
LOS rate: 0.015485 deg/s,
cmd heading: 312.906949 deg,
new cmd heading: 312.925784 deg.
2025-06-18T18:28:03.865Z,1750271283.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461585 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:28:03.941Z,1750271283.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995054
2025-06-18T18:28:04.193Z,1750271284.193 [DAT](INFO): DAT read: Rx Time:18:28:04.6154
2025-06-18T18:28:04.193Z,1750271284.193 [DAT](INFO): Rx dataTimestamp_ set to:1750271284.192998
2025-06-18T18:28:04.194Z,1750271284.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247813
2025-06-18T18:28:04.271Z,1750271284.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:28:04.274Z,1750271284.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 166.495438 m,
bearing: 315.038370 deg,
approach rate: -0.616497 m/s,
LOS rate: 0.015739 deg/s,
cmd heading: 312.925773 deg,
new cmd heading: 312.945496 deg.
2025-06-18T18:28:04.275Z,1750271284.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461929 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:28:04.445Z,1750271284.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498832
2025-06-18T18:28:04.638Z,1750271284.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.81 m.
2025-06-18T18:28:04.641Z,1750271284.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.807388 m,
nav range: 166.273331 m,
bearing: 315.043995 deg,
approach rate: -0.604921 m/s,
LOS rate: 0.015342 deg/s,
cmd heading: 312.945498 deg,
new cmd heading: 312.962397 deg.
2025-06-18T18:28:04.642Z,1750271284.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462224 target range: 183.807388 and range: 185.50 m.
2025-06-18T18:28:04.708Z,1750271284.708 [DAT](INFO): DAT read: 18:28:04.6154 LVL= 11920, 13297, 9122, 12243, AGC= 62, IDX= 2,-0.17,-1.061,-2.002,-0.976,-2.077, PHS= 1.104, 0.121, 1.098, RAW= 149.7, -40.0, CAL= 152.7, -42.7, ROT= 357.3, 42.7
2025-06-18T18:28:04.710Z,1750271284.710 [DAT](INFO): got valid direction response:
18:28:04.6154 LVL= 11920, 13297, 9122, 12243, AGC= 62, IDX= 2,-0.17,-1.061,-2.002,-0.976,-2.077, PHS= 1.104, 0.121, 1.098, RAW= 149.7, -40.0, CAL= 152.7, -42.7, ROT= 357.3, 42.7
2025-06-18T18:28:04.711Z,1750271284.711 [DAT](INFO): DAT read: Bearing 357.3, 42.7 (Local)
2025-06-18T18:28:04.711Z,1750271284.711 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.3, 42.7 (Local)
2025-06-18T18:28:04.726Z,1750271284.726 [DAT](INFO): DAT read: Range 10 to 50 : 204.3 m (Round72.5 ms) speed 0.4 m:1225>
2025-06-18T18:28:04.727Z,1750271284.727 [DAT](INFO): DAT read: Tx time:18:28:05.7387
2025-06-18T18:28:04.752Z,1750271284.752 [DAT](INFO): Ping request sent.
2025-06-18T18:28:04.752Z,1750271284.752 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:04.752Z,1750271284.752 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:28:04.753Z,1750271284.753 [DAT](INFO): direction in FSK: [0.734099,-0.034619,-0.678160]
2025-06-18T18:28:04.754Z,1750271284.754 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:04.754Z,1750271284.754 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:04.761Z,1750271284.761 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:04.761Z,1750271284.761 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:04.949Z,1750271284.949 [DAT](INFO): DAT read: TxSync time:18:28:05.7379
2025-06-18T18:28:05.065Z,1750271285.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 204.300003 m,
deltaT: 7.560571 s,
deltaX: 18.800003 m,
approachRate: 2.486585 m/s,
rangeRepo size: 4
2025-06-18T18:28:05.067Z,1750271285.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 202.435669 m,
bearing: 314.532348 deg,
lat: 36.905830 deg,
lon: -122.115801 deg,
deltaT: 7.560571 s,
deltaX: 18.628281 m,
approachRate: 2.463872 m/s,
posRepo size: 4
2025-06-18T18:28:05.068Z,1750271285.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.44 m.
2025-06-18T18:28:05.071Z,1750271285.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 202.435669 m,
nav range: 154.530655 m,
bearing: 312.910852 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.015342 deg/s,
cmd heading: 312.962410 deg,
new cmd heading: 312.982033 deg.
2025-06-18T18:28:05.072Z,1750271285.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462567 target range: 202.435669 and range: 204.30 m.
2025-06-18T18:28:05.461Z,1750271285.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:05.463Z,1750271285.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.44 m.
2025-06-18T18:28:05.466Z,1750271285.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 202.435669 m,
nav range: 154.270096 m,
bearing: 312.914734 deg,
approach rate: -0.653096 m/s,
LOS rate: 0.009745 deg/s,
cmd heading: 312.982026 deg,
new cmd heading: 312.993689 deg.
2025-06-18T18:28:05.467Z,1750271285.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462770 target range: 202.435669 and range: 204.30 m.
2025-06-18T18:28:05.705Z,1750271285.705 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:05.705Z,1750271285.705 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:05.705Z,1750271285.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:05.852Z,1750271285.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.44 m.
2025-06-18T18:28:05.854Z,1750271285.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 202.435669 m,
nav range: 154.029831 m,
bearing: 312.918316 deg,
approach rate: -0.618919 m/s,
LOS rate: 0.009242 deg/s,
cmd heading: 312.993692 deg,
new cmd heading: 313.004455 deg.
2025-06-18T18:28:05.855Z,1750271285.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462958 target range: 202.435669 and range: 204.30 m.
2025-06-18T18:28:05.957Z,1750271285.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229338
2025-06-18T18:28:06.209Z,1750271286.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481055
2025-06-18T18:28:06.289Z,1750271286.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.44 m.
2025-06-18T18:28:06.292Z,1750271286.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 202.435669 m,
nav range: 153.758423 m,
bearing: 312.921733 deg,
approach rate: -0.620341 m/s,
LOS rate: 0.007824 deg/s,
cmd heading: 313.004456 deg,
new cmd heading: 313.014726 deg.
2025-06-18T18:28:06.293Z,1750271286.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463138 target range: 202.435669 and range: 204.30 m.
2025-06-18T18:28:06.461Z,1750271286.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733401
2025-06-18T18:28:06.651Z,1750271286.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.44 m.
2025-06-18T18:28:06.654Z,1750271286.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 202.435669 m,
nav range: 153.532990 m,
bearing: 312.924446 deg,
approach rate: -0.623274 m/s,
LOS rate: 0.007512 deg/s,
cmd heading: 313.014729 deg,
new cmd heading: 313.022880 deg.
2025-06-18T18:28:06.655Z,1750271286.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463280 target range: 202.435669 and range: 204.30 m.
2025-06-18T18:28:06.714Z,1750271286.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985916
2025-06-18T18:28:06.965Z,1750271286.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237089
2025-06-18T18:28:07.110Z,1750271287.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.44 m.
2025-06-18T18:28:07.134Z,1750271287.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 202.435669 m,
nav range: 153.247116 m,
bearing: 312.927842 deg,
approach rate: -0.622673 m/s,
LOS rate: 0.007412 deg/s,
cmd heading: 313.022870 deg,
new cmd heading: 313.033079 deg.
2025-06-18T18:28:07.141Z,1750271287.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463458 target range: 202.435669 and range: 204.30 m.
2025-06-18T18:28:07.217Z,1750271287.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489186
2025-06-18T18:28:07.469Z,1750271287.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741100
2025-06-18T18:28:07.593Z,1750271287.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:07.595Z,1750271287.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.44 m.
2025-06-18T18:28:07.614Z,1750271287.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 202.435669 m,
nav range: 152.944153 m,
bearing: 312.932109 deg,
approach rate: -0.624149 m/s,
LOS rate: 0.008808 deg/s,
cmd heading: 313.033088 deg,
new cmd heading: 313.045914 deg.
2025-06-18T18:28:07.615Z,1750271287.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463682 target range: 202.435669 and range: 204.30 m.
2025-06-18T18:28:07.721Z,1750271287.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993550
2025-06-18T18:28:07.965Z,1750271287.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.44 m.
2025-06-18T18:28:07.973Z,1750271287.973 [DAT](INFO): DAT read: Rx Time:18:28:08.4131
2025-06-18T18:28:07.973Z,1750271287.973 [DAT](INFO): Rx dataTimestamp_ set to:1750271287.973129
2025-06-18T18:28:07.974Z,1750271287.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246249
2025-06-18T18:28:07.975Z,1750271287.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 202.435669 m,
nav range: 152.717682 m,
bearing: 312.935336 deg,
approach rate: -0.612180 m/s,
LOS rate: 0.008735 deg/s,
cmd heading: 313.045902 deg,
new cmd heading: 313.055596 deg.
2025-06-18T18:28:07.980Z,1750271287.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463851 target range: 202.435669 and range: 204.30 m.
2025-06-18T18:28:08.225Z,1750271288.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497508
2025-06-18T18:28:08.411Z,1750271288.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.44 m.
2025-06-18T18:28:08.414Z,1750271288.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 202.435669 m,
nav range: 152.426804 m,
bearing: 312.937345 deg,
approach rate: -0.652512 m/s,
LOS rate: 0.004516 deg/s,
cmd heading: 313.055601 deg,
new cmd heading: 313.061640 deg.
2025-06-18T18:28:08.415Z,1750271288.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463956 target range: 202.435669 and range: 204.30 m.
2025-06-18T18:28:08.485Z,1750271288.485 [DAT](INFO): DAT read: 18:28:08.4131 LVL= 22976, 28897, 17794, 21651, AGC= 66, IDX= 435, 0.06,-0.127,-0.820,-0.196,-1.542, PHS= 1.503, 0.769, 1.343, RAW= 138.0, -62.4, CAL= 147.6, -55.5, ROT= 2.4, 55.5
2025-06-18T18:28:08.486Z,1750271288.486 [DAT](INFO): got valid direction response:
18:28:08.4131 LVL= 22976, 28897, 17794, 21651, AGC= 66, IDX= 435, 0.06,-0.127,-0.820,-0.196,-1.542, PHS= 1.503, 0.769, 1.343, RAW= 138.0, -62.4, CAL= 147.6, -55.5, ROT= 2.4, 55.5
2025-06-18T18:28:08.489Z,1750271288.489 [DAT](INFO): DAT read: Bearing 2.4, 55.5 (Local)
2025-06-18T18:28:08.489Z,1750271288.489 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.4, 55.5 (Local)
2025-06-18T18:28:08.491Z,1750271288.491 [DAT](INFO): DAT read: Range 10 to 50 : 202.7 m (Round-trip 270.3 ms) speed 0.2 m/s
2025-06-18T18:28:08.493Z,1750271288.493 [DAT](INFO): DAT read: user:1226>
2025-06-18T18:28:08.494Z,1750271288.494 [DAT](INFO): DAT read: Tx time:18:28:09.5387
2025-06-18T18:28:08.494Z,1750271288.494 [DAT](INFO): Ping request sent.
2025-06-18T18:28:08.494Z,1750271288.494 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:08.495Z,1750271288.495 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:28:08.505Z,1750271288.505 [DAT](INFO): direction in FSK: [0.565909,0.023719,-0.824126]
2025-06-18T18:28:08.505Z,1750271288.505 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:08.505Z,1750271288.505 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:08.525Z,1750271288.525 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:08.525Z,1750271288.525 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:08.729Z,1750271288.729 [DAT](INFO): DAT read: TxSync time:18:28:09.5379
2025-06-18T18:28:08.766Z,1750271288.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 202.699997 m,
deltaT: 3.781189 s,
deltaX: -1.600006 m,
approachRate: -0.423149 m/s,
rangeRepo size: 4
2025-06-18T18:28:08.776Z,1750271288.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 200.850174 m,
bearing: 321.853204 deg,
lat: 36.905830 deg,
lon: -122.115731 deg,
deltaT: 3.781189 s,
deltaX: -1.585495 m,
approachRate: -0.419311 m/s,
posRepo size: 4
2025-06-18T18:28:08.777Z,1750271288.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:08.800Z,1750271288.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 147.699203 m,
bearing: 314.587358 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004516 deg/s,
cmd heading: 313.061639 deg,
new cmd heading: 313.066440 deg.
2025-06-18T18:28:08.801Z,1750271288.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464040 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:09.122Z,1750271289.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:09.125Z,1750271289.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 147.464996 m,
bearing: 314.591966 deg,
approach rate: -0.656250 m/s,
LOS rate: 0.012935 deg/s,
cmd heading: 313.066447 deg,
new cmd heading: 313.080296 deg.
2025-06-18T18:28:09.126Z,1750271289.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464282 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:09.575Z,1750271289.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:09.582Z,1750271289.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 147.180634 m,
bearing: 314.595803 deg,
approach rate: -0.627999 m/s,
LOS rate: 0.008490 deg/s,
cmd heading: 313.080299 deg,
new cmd heading: 313.091832 deg.
2025-06-18T18:28:09.583Z,1750271289.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464483 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:09.933Z,1750271289.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:09.935Z,1750271289.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:09.938Z,1750271289.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 146.945648 m,
bearing: 314.599016 deg,
approach rate: -0.653276 m/s,
LOS rate: 0.008946 deg/s,
cmd heading: 313.091828 deg,
new cmd heading: 313.101482 deg.
2025-06-18T18:28:09.939Z,1750271289.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464652 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:09.989Z,1750271289.989 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:09.989Z,1750271289.989 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:09.990Z,1750271289.990 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:10.241Z,1750271290.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746656
2025-06-18T18:28:10.371Z,1750271290.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:10.374Z,1750271290.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 146.661301 m,
bearing: 314.602159 deg,
approach rate: -0.651958 m/s,
LOS rate: 0.007220 deg/s,
cmd heading: 313.101472 deg,
new cmd heading: 313.110919 deg.
2025-06-18T18:28:10.375Z,1750271290.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464817 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:10.493Z,1750271290.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998462
2025-06-18T18:28:10.725Z,1750271290.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:10.727Z,1750271290.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 146.430649 m,
bearing: 314.604637 deg,
approach rate: -0.651909 m/s,
LOS rate: 0.007015 deg/s,
cmd heading: 313.110925 deg,
new cmd heading: 313.118371 deg.
2025-06-18T18:28:10.745Z,1750271290.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250342
2025-06-18T18:28:10.746Z,1750271290.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464947 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:10.997Z,1750271290.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502424
2025-06-18T18:28:11.136Z,1750271291.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:11.138Z,1750271291.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 146.162857 m,
bearing: 314.607479 deg,
approach rate: -0.651956 m/s,
LOS rate: 0.006932 deg/s,
cmd heading: 313.118384 deg,
new cmd heading: 313.126926 deg.
2025-06-18T18:28:11.139Z,1750271291.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465096 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:11.252Z,1750271291.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757222
2025-06-18T18:28:11.501Z,1750271291.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006302
2025-06-18T18:28:11.566Z,1750271291.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:11.569Z,1750271291.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 145.878906 m,
bearing: 314.608854 deg,
approach rate: -0.659837 m/s,
LOS rate: 0.003201 deg/s,
cmd heading: 313.126935 deg,
new cmd heading: 313.131067 deg.
2025-06-18T18:28:11.570Z,1750271291.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465168 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:11.754Z,1750271291.754 [DAT](INFO): DAT read: Rx Time:18:28:12.1480
2025-06-18T18:28:11.754Z,1750271291.754 [DAT](INFO): Rx dataTimestamp_ set to:1750271291.754008
2025-06-18T18:28:11.755Z,1750271291.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260449
2025-06-18T18:28:11.954Z,1750271291.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:11.956Z,1750271291.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:11.959Z,1750271291.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 145.621475 m,
bearing: 314.610037 deg,
approach rate: -0.659199 m/s,
LOS rate: 0.003036 deg/s,
cmd heading: 313.131061 deg,
new cmd heading: 313.134617 deg.
2025-06-18T18:28:11.961Z,1750271291.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465230 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:12.006Z,1750271292.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511760
2025-06-18T18:28:12.265Z,1750271292.265 [DAT](INFO): DAT read: 18:28:12.1480 LVL= 23760, 28529, 19826, 28099, AGC= 69, IDX= 288, 0.12, 0.107,-1.480,-0.069,-0.573, PHS= 0.767,-0.860, 0.500, RAW= 141.2, -5.4, CAL= 146.9, -14.8, ROT= 3.1, 14.8
2025-06-18T18:28:12.266Z,1750271292.266 [DAT](INFO): got valid direction response:
18:28:12.1480 LVL= 23760, 28529, 19826, 28099, AGC= 69, IDX= 288, 0.12, 0.107,-1.480,-0.069,-0.573, PHS= 0.767,-0.860, 0.500, RAW= 141.2, -5.4, CAL= 146.9, -14.8, ROT= 3.1, 14.8
2025-06-18T18:28:12.267Z,1750271292.267 [DAT](INFO): DAT read: Bearing 3.1, 14.8 (Local)
2025-06-18T18:28:12.267Z,1750271292.267 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.1, 14.8 (Local)
2025-06-18T18:28:12.269Z,1750271292.269 [DAT](INFO): DAT read: Range 10 to 50 : 153.8 m (Round-trip 205.1 ms) speed 0.0 m/s
2025-06-18T18:28:12.270Z,1750271292.270 [DAT](INFO): DAT read: user:1227>
2025-06-18T18:28:12.270Z,1750271292.270 [DAT](INFO): DAT read: Tx time:18:28:13.2387
2025-06-18T18:28:12.271Z,1750271292.271 [DAT](INFO): Ping request sent.
2025-06-18T18:28:12.271Z,1750271292.271 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:12.271Z,1750271292.271 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:28:12.278Z,1750271292.278 [DAT](INFO): direction in FSK: [0.965409,0.052285,-0.255446]
2025-06-18T18:28:12.278Z,1750271292.278 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:12.278Z,1750271292.278 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:12.282Z,1750271292.282 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:12.283Z,1750271292.283 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:12.457Z,1750271292.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 153.800003 m,
deltaT: 3.779380 s,
deltaX: -48.899994 m,
approachRate: -12.938628 m/s,
rangeRepo size: 4
2025-06-18T18:28:12.460Z,1750271292.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:12.463Z,1750271292.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 145.310257 m,
bearing: 314.607238 deg,
approach rate: -0.622485 m/s,
LOS rate: -0.005610 deg/s,
cmd heading: 313.134612 deg,
new cmd heading: 313.126198 deg.
2025-06-18T18:28:12.464Z,1750271292.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465083 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:12.510Z,1750271292.510 [DAT](INFO): DAT read: TxSync time:18:28:13.2379
2025-06-18T18:28:12.746Z,1750271292.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:12.749Z,1750271292.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 145.100586 m,
bearing: 314.605387 deg,
approach rate: -0.725141 m/s,
LOS rate: -0.006411 deg/s,
cmd heading: 313.126198 deg,
new cmd heading: 313.120637 deg.
2025-06-18T18:28:12.750Z,1750271292.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464986 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:13.145Z,1750271293.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:13.148Z,1750271293.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 144.837021 m,
bearing: 314.603131 deg,
approach rate: -0.659671 m/s,
LOS rate: -0.005658 deg/s,
cmd heading: 313.120624 deg,
new cmd heading: 313.113843 deg.
2025-06-18T18:28:13.149Z,1750271293.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464868 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:13.582Z,1750271293.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:13.585Z,1750271293.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 144.549484 m,
bearing: 314.602367 deg,
approach rate: -0.658259 m/s,
LOS rate: -0.001752 deg/s,
cmd heading: 313.113849 deg,
new cmd heading: 313.111553 deg.
2025-06-18T18:28:13.586Z,1750271293.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464828 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:13.980Z,1750271293.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:13.982Z,1750271293.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:13.989Z,1750271293.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 144.291504 m,
bearing: 314.601647 deg,
approach rate: -0.644509 m/s,
LOS rate: -0.001802 deg/s,
cmd heading: 313.111554 deg,
new cmd heading: 313.109389 deg.
2025-06-18T18:28:13.990Z,1750271293.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464790 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:14.021Z,1750271294.021 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:14.021Z,1750271294.021 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:14.021Z,1750271294.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:14.276Z,1750271294.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004463
2025-06-18T18:28:14.393Z,1750271294.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:14.396Z,1750271294.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 144.020935 m,
bearing: 314.601170 deg,
approach rate: -0.658387 m/s,
LOS rate: -0.001163 deg/s,
cmd heading: 313.109395 deg,
new cmd heading: 313.107962 deg.
2025-06-18T18:28:14.397Z,1750271294.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464765 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:14.525Z,1750271294.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253978
2025-06-18T18:28:14.762Z,1750271294.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:14.765Z,1750271294.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 143.783035 m,
bearing: 314.600594 deg,
approach rate: -0.645229 m/s,
LOS rate: -0.001565 deg/s,
cmd heading: 313.107975 deg,
new cmd heading: 313.106243 deg.
2025-06-18T18:28:14.766Z,1750271294.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464735 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:14.777Z,1750271294.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506066
2025-06-18T18:28:15.029Z,1750271295.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758045
2025-06-18T18:28:15.164Z,1750271295.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:15.167Z,1750271295.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 143.523483 m,
bearing: 314.599733 deg,
approach rate: -0.645300 m/s,
LOS rate: -0.002144 deg/s,
cmd heading: 313.106253 deg,
new cmd heading: 313.103666 deg.
2025-06-18T18:28:15.168Z,1750271295.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464690 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:15.284Z,1750271295.284 [DAT](INFO): DAT read: Rx Time:18:28:15.8450
2025-06-18T18:28:15.286Z,1750271295.286 [DAT](INFO): Rx dataTimestamp_ set to:1750271295.284953
2025-06-18T18:28:15.288Z,1750271295.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016414
2025-06-18T18:28:15.533Z,1750271295.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261933
2025-06-18T18:28:15.607Z,1750271295.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:15.610Z,1750271295.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 143.241821 m,
bearing: 314.600049 deg,
approach rate: -0.635312 m/s,
LOS rate: 0.000714 deg/s,
cmd heading: 313.103658 deg,
new cmd heading: 313.104608 deg.
2025-06-18T18:28:15.611Z,1750271295.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464706 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:15.799Z,1750271295.799 [DAT](INFO): DAT read: 18:28:15.8450 LVL= 25408, 32753, 25250, 30627, AGC= 67, IDX= 417, 0.14,-2.502, 2.401,-2.624, 3.119, PHS= 0.750,-0.671, 0.537, RAW= 142.0, -9.3, CAL= 148.8, -18.8, ROT= 1.2, 18.8
2025-06-18T18:28:15.804Z,1750271295.804 [DAT](INFO): got valid direction response:
18:28:15.8450 LVL= 25408, 32753, 25250, 30627, AGC= 67, IDX= 417, 0.14,-2.502, 2.401,-2.624, 3.119, PHS= 0.750,-0.671, 0.537, RAW= 142.0, -9.3, CAL= 148.8, -18.8, ROT= 1.2, 18.8
2025-06-18T18:28:15.808Z,1750271295.808 [DAT](INFO): DAT read: Bearing 1.2, 18.8 (Local)
2025-06-18T18:28:15.808Z,1750271295.808 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.2, 18.8 (Local)
2025-06-18T18:28:15.810Z,1750271295.810 [DAT](INFO): DAT read: Range 10 to 50 : 151.5 m (Round-trip 202.0 ms) speed 0.5 m/s
2025-06-18T18:28:15.811Z,1750271295.811 [DAT](INFO): DAT read: user:1228>
2025-06-18T18:28:15.811Z,1750271295.811 [DAT](INFO): DAT read: Tx time:18:28:16.9388
2025-06-18T18:28:15.831Z,1750271295.831 [DAT](INFO): Ping request sent.
2025-06-18T18:28:15.831Z,1750271295.831 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:15.837Z,1750271295.837 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:28:15.838Z,1750271295.838 [DAT](INFO): direction in FSK: [0.946442,0.019825,-0.322266]
2025-06-18T18:28:15.838Z,1750271295.838 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:15.838Z,1750271295.838 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:15.875Z,1750271295.875 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:15.880Z,1750271295.880 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:16.037Z,1750271296.037 [DAT](INFO): DAT read: TxSync time:18:28:16.9380
2025-06-18T18:28:16.062Z,1750271296.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 151.500000 m,
deltaT: 7.307794 s,
deltaX: -51.199997 m,
approachRate: -7.006218 m/s,
rangeRepo size: 4
2025-06-18T18:28:16.063Z,1750271296.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:16.070Z,1750271296.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 142.972168 m,
bearing: 314.600162 deg,
approach rate: -0.593760 m/s,
LOS rate: 0.000249 deg/s,
cmd heading: 313.104614 deg,
new cmd heading: 313.104953 deg.
2025-06-18T18:28:16.071Z,1750271296.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464712 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:16.401Z,1750271296.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:16.403Z,1750271296.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:16.407Z,1750271296.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 142.741470 m,
bearing: 314.602297 deg,
approach rate: -0.674578 m/s,
LOS rate: 0.006252 deg/s,
cmd heading: 313.104942 deg,
new cmd heading: 313.111357 deg.
2025-06-18T18:28:16.424Z,1750271296.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464824 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:16.541Z,1750271296.541 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:16.541Z,1750271296.541 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:16.541Z,1750271296.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:16.793Z,1750271296.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.961909
2025-06-18T18:28:16.803Z,1750271296.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:16.810Z,1750271296.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 142.501740 m,
bearing: 314.604824 deg,
approach rate: -0.600653 m/s,
LOS rate: 0.006343 deg/s,
cmd heading: 313.111362 deg,
new cmd heading: 313.118957 deg.
2025-06-18T18:28:16.811Z,1750271296.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464957 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:17.045Z,1750271297.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214365
2025-06-18T18:28:17.194Z,1750271297.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:17.197Z,1750271297.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 142.242767 m,
bearing: 314.607599 deg,
approach rate: -0.662426 m/s,
LOS rate: 0.007112 deg/s,
cmd heading: 313.118958 deg,
new cmd heading: 313.127298 deg.
2025-06-18T18:28:17.198Z,1750271297.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465102 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:17.301Z,1750271297.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470066
2025-06-18T18:28:17.549Z,1750271297.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717985
2025-06-18T18:28:17.613Z,1750271297.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:17.616Z,1750271297.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 141.982605 m,
bearing: 314.612484 deg,
approach rate: -0.620161 m/s,
LOS rate: 0.011665 deg/s,
cmd heading: 313.127290 deg,
new cmd heading: 313.141971 deg.
2025-06-18T18:28:17.617Z,1750271297.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465358 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:17.801Z,1750271297.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970095
2025-06-18T18:28:18.011Z,1750271298.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:18.018Z,1750271298.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 141.739624 m,
bearing: 314.616925 deg,
approach rate: -0.610037 m/s,
LOS rate: 0.011169 deg/s,
cmd heading: 313.141962 deg,
new cmd heading: 313.155308 deg.
2025-06-18T18:28:18.019Z,1750271298.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465591 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:18.053Z,1750271298.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222241
2025-06-18T18:28:18.307Z,1750271298.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475788
2025-06-18T18:28:18.339Z,1750271298.339 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:28:18.437Z,1750271298.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:18.439Z,1750271298.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:18.443Z,1750271298.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 141.490479 m,
bearing: 314.624620 deg,
approach rate: -0.582794 m/s,
LOS rate: 0.018033 deg/s,
cmd heading: 313.155322 deg,
new cmd heading: 313.178449 deg.
2025-06-18T18:28:18.452Z,1750271298.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465995 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:18.557Z,1750271298.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726348
2025-06-18T18:28:18.802Z,1750271298.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:18.805Z,1750271298.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 141.255157 m,
bearing: 314.631681 deg,
approach rate: -0.647358 m/s,
LOS rate: 0.019456 deg/s,
cmd heading: 313.178462 deg,
new cmd heading: 313.199680 deg.
2025-06-18T18:28:18.806Z,1750271298.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466366 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:18.809Z,1750271298.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978210
2025-06-18T18:28:19.061Z,1750271299.061 [DAT](INFO): DAT read: Rx Time:18:28:19.6054
2025-06-18T18:28:19.061Z,1750271299.061 [DAT](INFO): Rx dataTimestamp_ set to:1750271299.061089
2025-06-18T18:28:19.062Z,1750271299.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231166
2025-06-18T18:28:19.264Z,1750271299.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.85 m.
2025-06-18T18:28:19.267Z,1750271299.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.850174 m,
nav range: 140.975067 m,
bearing: 314.639866 deg,
approach rate: -0.606368 m/s,
LOS rate: 0.017754 deg/s,
cmd heading: 313.199690 deg,
new cmd heading: 313.224293 deg.
2025-06-18T18:28:19.268Z,1750271299.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466795 target range: 200.850174 and range: 202.70 m.
2025-06-18T18:28:19.316Z,1750271299.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484336
2025-06-18T18:28:19.347Z,1750271299.347 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:28:19.571Z,1750271299.571 [DAT](INFO): DAT read: 18:28:19.6054 LVL= 15696, 19441, 13682, 14899, AGC= 66, IDX= 43, 0.12, 2.130, 1.146, 2.193, 1.086, PHS= 1.132, 0.107, 1.104, RAW= 148.6, -39.3, CAL= 151.6, -42.2, ROT= 358.4, 42.2
2025-06-18T18:28:19.572Z,1750271299.572 [DAT](INFO): got valid direction response:
18:28:19.6054 LVL= 15696, 19441, 13682, 14899, AGC= 66, IDX= 43, 0.12, 2.130, 1.146, 2.193, 1.086, PHS= 1.132, 0.107, 1.104, RAW= 148.6, -39.3, CAL= 151.6, -42.2, ROT= 358.4, 42.2
2025-06-18T18:28:19.573Z,1750271299.573 [DAT](INFO): DAT read: Bearing 358.4, 42.2 (Local)
2025-06-18T18:28:19.574Z,1750271299.574 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.4, 42.2 (Local)
2025-06-18T18:28:19.575Z,1750271299.575 [DAT](INFO): DAT read: Range 10 to 50 : 196.8 m (Round-trip 262.5 ms) speed 0.4 m/s
2025-06-18T18:28:19.576Z,1750271299.576 [DAT](INFO): DAT read: user:1229>
2025-06-18T18:28:19.577Z,1750271299.577 [DAT](INFO): DAT read: Tx time:18:28:20.6888
2025-06-18T18:28:19.577Z,1750271299.577 [DAT](INFO): Ping request sent.
2025-06-18T18:28:19.577Z,1750271299.577 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:19.577Z,1750271299.577 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:28:19.578Z,1750271299.578 [DAT](INFO): direction in FSK: [0.740516,-0.020685,-0.671721]
2025-06-18T18:28:19.579Z,1750271299.579 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:19.579Z,1750271299.579 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:19.582Z,1750271299.582 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:19.583Z,1750271299.583 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:19.817Z,1750271299.817 [DAT](INFO): DAT read: TxSync time:18:28:20.6880
2025-06-18T18:28:19.887Z,1750271299.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 196.800003 m,
deltaT: 11.086360 s,
deltaX: -5.899994 m,
approachRate: -0.532185 m/s,
rangeRepo size: 4
2025-06-18T18:28:19.894Z,1750271299.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 195.003906 m,
bearing: 316.061574 deg,
lat: 36.905852 deg,
lon: -122.115703 deg,
deltaT: 11.086360 s,
deltaX: -5.846268 m,
approachRate: -0.527339 m/s,
posRepo size: 4
2025-06-18T18:28:19.895Z,1750271299.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:19.902Z,1750271299.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 140.615753 m,
bearing: 316.095194 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017754 deg/s,
cmd heading: 313.224306 deg,
new cmd heading: 313.257402 deg.
2025-06-18T18:28:19.903Z,1750271299.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467373 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:20.257Z,1750271300.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:20.259Z,1750271300.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 140.381821 m,
bearing: 316.106794 deg,
approach rate: -0.630211 m/s,
LOS rate: 0.031304 deg/s,
cmd heading: 313.257392 deg,
new cmd heading: 313.292251 deg.
2025-06-18T18:28:20.265Z,1750271300.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467981 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:20.665Z,1750271300.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:20.668Z,1750271300.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:20.670Z,1750271300.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 140.133118 m,
bearing: 316.120804 deg,
approach rate: -0.605526 m/s,
LOS rate: 0.034169 deg/s,
cmd heading: 313.292253 deg,
new cmd heading: 313.334355 deg.
2025-06-18T18:28:20.671Z,1750271300.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468716 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:20.825Z,1750271300.825 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:20.825Z,1750271300.825 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:20.825Z,1750271300.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:21.040Z,1750271301.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:21.043Z,1750271301.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 139.911591 m,
bearing: 316.133520 deg,
approach rate: -0.595436 m/s,
LOS rate: 0.034234 deg/s,
cmd heading: 313.334354 deg,
new cmd heading: 313.372564 deg.
2025-06-18T18:28:21.045Z,1750271301.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469383 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:21.077Z,1750271301.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499898
2025-06-18T18:28:21.329Z,1750271301.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751634
2025-06-18T18:28:21.462Z,1750271301.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:21.465Z,1750271301.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 139.657928 m,
bearing: 316.147620 deg,
approach rate: -0.600492 m/s,
LOS rate: 0.033438 deg/s,
cmd heading: 313.372576 deg,
new cmd heading: 313.414951 deg.
2025-06-18T18:28:21.466Z,1750271301.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470123 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:21.583Z,1750271301.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005278
2025-06-18T18:28:21.833Z,1750271301.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255728
2025-06-18T18:28:21.849Z,1750271301.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:21.851Z,1750271301.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 139.437241 m,
bearing: 316.159808 deg,
approach rate: -0.571019 m/s,
LOS rate: 0.031588 deg/s,
cmd heading: 313.414951 deg,
new cmd heading: 313.451575 deg.
2025-06-18T18:28:21.852Z,1750271301.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470762 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:22.085Z,1750271302.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507617
2025-06-18T18:28:22.236Z,1750271302.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:22.239Z,1750271302.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 139.191910 m,
bearing: 316.173352 deg,
approach rate: -0.633439 m/s,
LOS rate: 0.035031 deg/s,
cmd heading: 313.451588 deg,
new cmd heading: 313.492291 deg.
2025-06-18T18:28:22.240Z,1750271302.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471473 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:22.338Z,1750271302.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760050
2025-06-18T18:28:22.589Z,1750271302.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011615
2025-06-18T18:28:22.663Z,1750271302.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:22.666Z,1750271302.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 138.930618 m,
bearing: 316.188758 deg,
approach rate: -0.611847 m/s,
LOS rate: 0.036143 deg/s,
cmd heading: 313.492296 deg,
new cmd heading: 313.538601 deg.
2025-06-18T18:28:22.667Z,1750271302.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472281 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:22.841Z,1750271302.841 [DAT](INFO): DAT read: Rx Time:18:28:23.3535
2025-06-18T18:28:22.841Z,1750271302.841 [DAT](INFO): Rx dataTimestamp_ set to:1750271302.841013
2025-06-18T18:28:22.842Z,1750271302.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264654
2025-06-18T18:28:23.041Z,1750271303.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:23.043Z,1750271303.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:23.046Z,1750271303.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 138.697906 m,
bearing: 316.202522 deg,
approach rate: -0.612198 m/s,
LOS rate: 0.036268 deg/s,
cmd heading: 313.538604 deg,
new cmd heading: 313.579964 deg.
2025-06-18T18:28:23.047Z,1750271303.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473003 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:23.094Z,1750271303.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516434
2025-06-18T18:28:23.355Z,1750271303.355 [DAT](INFO): DAT read: 18:28:23.3535 LVL= 31328, 32753, 25362, 32755, AGC= 68, IDX= 97,-0.18, 1.335,-0.114, 1.213, 0.737, PHS= 0.687,-0.803, 0.473, RAW= 142.4, -5.2, CAL= 148.0, -14.4, ROT= 2.0, 14.4
2025-06-18T18:28:23.358Z,1750271303.358 [DAT](INFO): got valid direction response:
18:28:23.3535 LVL= 31328, 32753, 25362, 32755, AGC= 68, IDX= 97,-0.18, 1.335,-0.114, 1.213, 0.737, PHS= 0.687,-0.803, 0.473, RAW= 142.4, -5.2, CAL= 148.0, -14.4, ROT= 2.0, 14.4
2025-06-18T18:28:23.359Z,1750271303.359 [DAT](INFO): DAT read: $Error in header
2025-06-18T18:28:23.359Z,1750271303.359 [DAT](INFO): Received a bad header
2025-06-18T18:28:23.373Z,1750271303.373 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:28:23.375Z,1750271303.375 [DAT](INFO): direction in FSK: [0.967993,0.033803,-0.248690]
2025-06-18T18:28:23.386Z,1750271303.386 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:23.386Z,1750271303.386 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:23.386Z,1750271303.386 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:23.560Z,1750271303.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:23.563Z,1750271303.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 138.380234 m,
bearing: 316.218919 deg,
approach rate: -0.613894 m/s,
LOS rate: 0.031760 deg/s,
cmd heading: 313.579968 deg,
new cmd heading: 313.629273 deg.
2025-06-18T18:28:23.565Z,1750271303.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473864 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:23.601Z,1750271303.601 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:23.601Z,1750271303.601 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:23.601Z,1750271303.601 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:23.854Z,1750271303.854 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:23.854Z,1750271303.854 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:23.854Z,1750271303.854 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:23.879Z,1750271303.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:23.900Z,1750271303.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 138.169571 m,
bearing: 316.229846 deg,
approach rate: -0.662164 m/s,
LOS rate: 0.034398 deg/s,
cmd heading: 313.629282 deg,
new cmd heading: 313.662113 deg.
2025-06-18T18:28:23.901Z,1750271303.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474437 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:24.107Z,1750271304.107 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:24.107Z,1750271304.107 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:24.108Z,1750271304.108 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:24.268Z,1750271304.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:24.271Z,1750271304.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 137.929306 m,
bearing: 316.242398 deg,
approach rate: -0.643550 m/s,
LOS rate: 0.033681 deg/s,
cmd heading: 313.662122 deg,
new cmd heading: 313.699845 deg.
2025-06-18T18:28:24.276Z,1750271304.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475095 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:24.357Z,1750271304.357 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:24.358Z,1750271304.358 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:24.358Z,1750271304.358 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:24.609Z,1750271304.609 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:24.609Z,1750271304.609 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:24.609Z,1750271304.609 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:24.695Z,1750271304.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:24.714Z,1750271304.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 137.646103 m,
bearing: 316.253925 deg,
approach rate: -0.639282 m/s,
LOS rate: 0.026072 deg/s,
cmd heading: 313.699852 deg,
new cmd heading: 313.734501 deg.
2025-06-18T18:28:24.715Z,1750271304.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475700 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:24.861Z,1750271304.861 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:24.861Z,1750271304.861 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:24.861Z,1750271304.861 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:25.078Z,1750271305.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:25.085Z,1750271305.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:25.087Z,1750271305.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 137.404953 m,
bearing: 316.263823 deg,
approach rate: -0.618801 m/s,
LOS rate: 0.025443 deg/s,
cmd heading: 313.734494 deg,
new cmd heading: 313.764241 deg.
2025-06-18T18:28:25.097Z,1750271305.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476219 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:25.113Z,1750271305.113 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:25.113Z,1750271305.113 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:25.113Z,1750271305.113 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:25.365Z,1750271305.365 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:25.365Z,1750271305.365 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:25.365Z,1750271305.365 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:25.502Z,1750271305.502 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 82.44, 74.30, 78.71
2025-06-18T18:28:25.518Z,1750271305.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:25.522Z,1750271305.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 137.120300 m,
bearing: 316.275548 deg,
approach rate: -0.656773 m/s,
LOS rate: 0.027111 deg/s,
cmd heading: 313.764247 deg,
new cmd heading: 313.799497 deg.
2025-06-18T18:28:25.527Z,1750271305.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476834 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:25.618Z,1750271305.618 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:25.618Z,1750271305.618 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:25.618Z,1750271305.618 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:25.869Z,1750271305.869 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:25.869Z,1750271305.869 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:25.869Z,1750271305.869 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:25.878Z,1750271305.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:25.883Z,1750271305.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 136.894669 m,
bearing: 316.284866 deg,
approach rate: -0.627792 m/s,
LOS rate: 0.025969 deg/s,
cmd heading: 313.799490 deg,
new cmd heading: 313.827490 deg.
2025-06-18T18:28:25.884Z,1750271305.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477323 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:26.123Z,1750271306.123 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:26.123Z,1750271306.123 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:26.123Z,1750271306.123 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:26.280Z,1750271306.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:26.283Z,1750271306.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 136.632950 m,
bearing: 316.295678 deg,
approach rate: -0.650501 m/s,
LOS rate: 0.026924 deg/s,
cmd heading: 313.827494 deg,
new cmd heading: 313.859991 deg.
2025-06-18T18:28:26.284Z,1750271306.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477890 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:26.373Z,1750271306.373 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:26.373Z,1750271306.373 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:26.373Z,1750271306.373 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:26.624Z,1750271306.624 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:26.625Z,1750271306.625 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:26.625Z,1750271306.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:26.731Z,1750271306.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:26.735Z,1750271306.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 136.345261 m,
bearing: 316.296117 deg,
approach rate: -0.636979 m/s,
LOS rate: 0.000974 deg/s,
cmd heading: 313.859978 deg,
new cmd heading: 313.861299 deg.
2025-06-18T18:28:26.744Z,1750271306.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477913 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:26.878Z,1750271306.878 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:26.878Z,1750271306.878 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:26.878Z,1750271306.878 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:27.086Z,1750271307.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:27.089Z,1750271307.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:27.092Z,1750271307.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 136.109009 m,
bearing: 316.296400 deg,
approach rate: -0.661503 m/s,
LOS rate: 0.000792 deg/s,
cmd heading: 313.861290 deg,
new cmd heading: 313.862138 deg.
2025-06-18T18:28:27.093Z,1750271307.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477928 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:27.129Z,1750271307.129 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:27.129Z,1750271307.129 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:27.129Z,1750271307.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:27.381Z,1750271307.381 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:27.381Z,1750271307.381 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:27.381Z,1750271307.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:27.578Z,1750271307.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:27.582Z,1750271307.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 135.789215 m,
bearing: 316.294537 deg,
approach rate: -0.652844 m/s,
LOS rate: -0.003811 deg/s,
cmd heading: 313.862137 deg,
new cmd heading: 313.856537 deg.
2025-06-18T18:28:27.583Z,1750271307.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477830 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:27.633Z,1750271307.633 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:27.633Z,1750271307.633 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:27.633Z,1750271307.633 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:27.885Z,1750271307.885 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:27.885Z,1750271307.885 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:27.885Z,1750271307.885 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:27.913Z,1750271307.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:27.917Z,1750271307.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 135.571091 m,
bearing: 316.293262 deg,
approach rate: -0.651505 m/s,
LOS rate: -0.003815 deg/s,
cmd heading: 313.856536 deg,
new cmd heading: 313.852704 deg.
2025-06-18T18:28:27.918Z,1750271307.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477763 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:28.137Z,1750271308.137 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:28.137Z,1750271308.137 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:28.137Z,1750271308.137 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:28.300Z,1750271308.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:28.303Z,1750271308.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 135.319504 m,
bearing: 316.291525 deg,
approach rate: -0.650578 m/s,
LOS rate: -0.004500 deg/s,
cmd heading: 313.852711 deg,
new cmd heading: 313.847490 deg.
2025-06-18T18:28:28.304Z,1750271308.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477672 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:28.390Z,1750271308.390 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:28.390Z,1750271308.390 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:28.390Z,1750271308.390 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:28.641Z,1750271308.641 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:28.641Z,1750271308.641 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:28.641Z,1750271308.641 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:28.757Z,1750271308.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:28.759Z,1750271308.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 135.023743 m,
bearing: 316.288566 deg,
approach rate: -0.647837 m/s,
LOS rate: -0.006495 deg/s,
cmd heading: 313.847493 deg,
new cmd heading: 313.838597 deg.
2025-06-18T18:28:28.761Z,1750271308.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477517 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:28.893Z,1750271308.893 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:28.893Z,1750271308.893 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:28.893Z,1750271308.893 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:29.103Z,1750271309.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:29.105Z,1750271309.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:29.108Z,1750271309.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 134.797165 m,
bearing: 316.285922 deg,
approach rate: -0.649715 m/s,
LOS rate: -0.007596 deg/s,
cmd heading: 313.838586 deg,
new cmd heading: 313.830640 deg.
2025-06-18T18:28:29.109Z,1750271309.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477378 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:29.145Z,1750271309.145 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:29.145Z,1750271309.145 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:29.145Z,1750271309.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:29.397Z,1750271309.397 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:29.397Z,1750271309.397 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:29.397Z,1750271309.397 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:28:29.641Z,1750271309.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:29.643Z,1750271309.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 134.450821 m,
bearing: 316.282715 deg,
approach rate: -0.646731 m/s,
LOS rate: -0.006004 deg/s,
cmd heading: 313.830636 deg,
new cmd heading: 313.820991 deg.
2025-06-18T18:28:29.645Z,1750271309.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477210 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:29.649Z,1750271309.649 [DAT](INFO): Reached modem response timeout
2025-06-18T18:28:29.649Z,1750271309.649 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:28:29.649Z,1750271309.649 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:29.901Z,1750271309.901 [DAT](INFO): Reached modem response timeout
2025-06-18T18:28:29.901Z,1750271309.901 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:28:29.901Z,1750271309.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:29.930Z,1750271309.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:29.957Z,1750271309.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 134.263687 m,
bearing: 316.280729 deg,
approach rate: -0.646403 m/s,
LOS rate: -0.006870 deg/s,
cmd heading: 313.820992 deg,
new cmd heading: 313.815025 deg.
2025-06-18T18:28:29.958Z,1750271309.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477106 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:30.153Z,1750271310.153 [DAT](INFO): Reached modem response timeout
2025-06-18T18:28:30.153Z,1750271310.153 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:28:30.153Z,1750271310.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:30.332Z,1750271310.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:30.335Z,1750271310.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 134.004089 m,
bearing: 316.277835 deg,
approach rate: -0.646261 m/s,
LOS rate: -0.007217 deg/s,
cmd heading: 313.815036 deg,
new cmd heading: 313.806339 deg.
2025-06-18T18:28:30.336Z,1750271310.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476954 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:30.405Z,1750271310.405 [DAT](INFO): Reached modem response timeout
2025-06-18T18:28:30.405Z,1750271310.405 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:28:30.405Z,1750271310.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:30.659Z,1750271310.659 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:28:30.659Z,1750271310.659 [DAT](INFO): response not received
2025-06-18T18:28:30.660Z,1750271310.660 [DAT](INFO): DAT read: user:1231>
2025-06-18T18:28:30.661Z,1750271310.661 [DAT](INFO): DAT read: Tx time:18:28:31.6389
2025-06-18T18:28:30.661Z,1750271310.661 [DAT](INFO): Ping request sent.
2025-06-18T18:28:30.661Z,1750271310.661 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:30.661Z,1750271310.661 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:30.662Z,1750271310.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-06-18T18:28:30.786Z,1750271310.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:30.793Z,1750271310.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 133.713821 m,
bearing: 316.274649 deg,
approach rate: -0.639334 m/s,
LOS rate: -0.007034 deg/s,
cmd heading: 313.806348 deg,
new cmd heading: 313.796768 deg.
2025-06-18T18:28:30.794Z,1750271310.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476787 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:30.910Z,1750271310.910 [DAT](INFO): DAT read: TxSync time:18:28:31.6381
2025-06-18T18:28:30.910Z,1750271310.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249298
2025-06-18T18:28:31.137Z,1750271311.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:31.140Z,1750271311.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:31.142Z,1750271311.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 133.479111 m,
bearing: 316.272334 deg,
approach rate: -0.663780 m/s,
LOS rate: -0.006559 deg/s,
cmd heading: 313.796758 deg,
new cmd heading: 313.789801 deg.
2025-06-18T18:28:31.143Z,1750271311.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476665 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:31.162Z,1750271311.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501099
2025-06-18T18:28:31.413Z,1750271311.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751695
2025-06-18T18:28:31.653Z,1750271311.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:31.656Z,1750271311.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 133.153366 m,
bearing: 316.275635 deg,
approach rate: -0.634198 m/s,
LOS rate: 0.006442 deg/s,
cmd heading: 313.789791 deg,
new cmd heading: 313.799719 deg.
2025-06-18T18:28:31.657Z,1750271311.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476838 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:31.665Z,1750271311.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003838
2025-06-18T18:28:31.917Z,1750271311.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255533
2025-06-18T18:28:32.018Z,1750271312.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:32.041Z,1750271312.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 132.922134 m,
bearing: 316.278099 deg,
approach rate: -0.634659 m/s,
LOS rate: 0.006775 deg/s,
cmd heading: 313.799709 deg,
new cmd heading: 313.807114 deg.
2025-06-18T18:28:32.042Z,1750271312.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476967 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:32.169Z,1750271312.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507660
2025-06-18T18:28:32.379Z,1750271312.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:32.387Z,1750271312.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 132.697678 m,
bearing: 316.280350 deg,
approach rate: -0.620559 m/s,
LOS rate: 0.006235 deg/s,
cmd heading: 313.807113 deg,
new cmd heading: 313.813878 deg.
2025-06-18T18:28:32.393Z,1750271312.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477086 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:32.423Z,1750271312.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762118
2025-06-18T18:28:32.673Z,1750271312.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011650
2025-06-18T18:28:32.806Z,1750271312.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:32.810Z,1750271312.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 132.425766 m,
bearing: 316.285853 deg,
approach rate: -0.636637 m/s,
LOS rate: 0.012910 deg/s,
cmd heading: 313.813888 deg,
new cmd heading: 313.830430 deg.
2025-06-18T18:28:32.811Z,1750271312.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477374 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:32.925Z,1750271312.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263849
2025-06-18T18:28:33.177Z,1750271313.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515801
2025-06-18T18:28:33.187Z,1750271313.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:33.189Z,1750271313.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:33.192Z,1750271313.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 132.186493 m,
bearing: 316.290713 deg,
approach rate: -0.625104 m/s,
LOS rate: 0.012722 deg/s,
cmd heading: 313.830417 deg,
new cmd heading: 313.845027 deg.
2025-06-18T18:28:33.193Z,1750271313.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477629 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:33.429Z,1750271313.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767646
2025-06-18T18:28:33.629Z,1750271313.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:33.632Z,1750271313.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 131.913147 m,
bearing: 316.302076 deg,
approach rate: -0.621382 m/s,
LOS rate: 0.025883 deg/s,
cmd heading: 313.845034 deg,
new cmd heading: 313.879191 deg.
2025-06-18T18:28:33.633Z,1750271313.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478225 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:33.681Z,1750271313.681 [DAT](INFO): DAT read: Rx Time:18:28:34.2973
2025-06-18T18:28:33.682Z,1750271313.682 [DAT](INFO): Rx dataTimestamp_ set to:1750271313.681614
2025-06-18T18:28:33.683Z,1750271313.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021680
2025-06-18T18:28:33.933Z,1750271313.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271778
2025-06-18T18:28:33.968Z,1750271313.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:33.971Z,1750271313.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 131.702850 m,
bearing: 316.310807 deg,
approach rate: -0.620302 m/s,
LOS rate: 0.025796 deg/s,
cmd heading: 313.879185 deg,
new cmd heading: 313.905421 deg.
2025-06-18T18:28:33.972Z,1750271313.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478683 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:34.188Z,1750271314.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526070
2025-06-18T18:28:34.366Z,1750271314.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.00 m.
2025-06-18T18:28:34.369Z,1750271314.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.003906 m,
nav range: 131.455200 m,
bearing: 316.321097 deg,
approach rate: -0.621868 m/s,
LOS rate: 0.025887 deg/s,
cmd heading: 313.905413 deg,
new cmd heading: 313.936341 deg.
2025-06-18T18:28:34.370Z,1750271314.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479223 target range: 195.003906 and range: 196.80 m.
2025-06-18T18:28:34.444Z,1750271314.444 [DAT](INFO): DAT read: 18:28:34.2974 LVL= 28768, 32753, 22002, 32499, AGC= 63, IDX= 371, 0.19,-0.692,-1.780,-0.678,-1.807, PHS= 1.204, 0.074, 1.126, RAW= 146.5, -37.9, CAL= 149.5, -41.2, ROT= 0.5, 41.2
2025-06-18T18:28:34.445Z,1750271314.445 [DAT](INFO): got valid direction response:
18:28:34.2974 LVL= 28768, 32753, 22002, 32499, AGC= 63, IDX= 371, 0.19,-0.692,-1.780,-0.678,-1.807, PHS= 1.204, 0.074, 1.126, RAW= 146.5, -37.9, CAL= 149.5, -41.2, ROT= 0.5, 41.2
2025-06-18T18:28:34.446Z,1750271314.446 [DAT](INFO): DAT read: Bearing 0.5, 41.2 (Local)
2025-06-18T18:28:34.446Z,1750271314.446 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.5, 41.2 (Local)
2025-06-18T18:28:34.448Z,1750271314.448 [DAT](INFO): DAT read: Range 10 to 50 : 190.6 m (Round-trip 254.2 ms) speed 0.7 m/s
2025-06-18T18:28:34.449Z,1750271314.449 [DAT](INFO): DAT read: user:1232>
2025-06-18T18:28:34.450Z,1750271314.450 [DAT](INFO): DAT read: Tx time:18:28:35.3890
2025-06-18T18:28:34.450Z,1750271314.450 [DAT](INFO): Ping request sent.
2025-06-18T18:28:34.450Z,1750271314.450 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:34.451Z,1750271314.451 [DAT](INFO): DAT read: TxSync time:18:28:35.3882
2025-06-18T18:28:34.451Z,1750271314.451 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:28:34.453Z,1750271314.453 [DAT](INFO): direction in FSK: [0.752386,0.006566,-0.658689]
2025-06-18T18:28:34.453Z,1750271314.453 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:34.453Z,1750271314.453 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:34.456Z,1750271314.456 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:34.457Z,1750271314.457 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:34.794Z,1750271314.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 190.600006 m,
deltaT: 14.872465 s,
deltaX: -6.199997 m,
approachRate: -0.416878 m/s,
rangeRepo size: 4
2025-06-18T18:28:34.797Z,1750271314.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 188.860458 m,
bearing: 318.296642 deg,
lat: 36.905890 deg,
lon: -122.115703 deg,
deltaT: 14.872465 s,
deltaX: -6.143448 m,
approachRate: -0.413075 m/s,
posRepo size: 4
2025-06-18T18:28:34.798Z,1750271314.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:34.801Z,1750271314.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 134.230377 m,
bearing: 317.557566 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.025887 deg/s,
cmd heading: 313.936340 deg,
new cmd heading: 313.969514 deg.
2025-06-18T18:28:34.802Z,1750271314.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479802 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:35.190Z,1750271315.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:35.193Z,1750271315.193 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:35.193Z,1750271315.193 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:35.193Z,1750271315.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:35.196Z,1750271315.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:35.199Z,1750271315.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 133.991211 m,
bearing: 317.569780 deg,
approach rate: -0.600486 m/s,
LOS rate: 0.030721 deg/s,
cmd heading: 313.969507 deg,
new cmd heading: 314.006215 deg.
2025-06-18T18:28:35.204Z,1750271315.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480443 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:35.446Z,1750271315.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996070
2025-06-18T18:28:35.657Z,1750271315.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:35.660Z,1750271315.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 133.699265 m,
bearing: 317.590878 deg,
approach rate: -0.627921 m/s,
LOS rate: 0.045477 deg/s,
cmd heading: 314.006226 deg,
new cmd heading: 314.069659 deg.
2025-06-18T18:28:35.661Z,1750271315.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481550 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:35.697Z,1750271315.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246673
2025-06-18T18:28:35.949Z,1750271315.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498544
2025-06-18T18:28:35.993Z,1750271315.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:36.000Z,1750271316.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 133.501572 m,
bearing: 317.605348 deg,
approach rate: -0.587121 m/s,
LOS rate: 0.043039 deg/s,
cmd heading: 314.069665 deg,
new cmd heading: 314.113141 deg.
2025-06-18T18:28:36.001Z,1750271316.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482308 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:36.201Z,1750271316.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750727
2025-06-18T18:28:36.396Z,1750271316.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:36.399Z,1750271316.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 133.249725 m,
bearing: 317.623799 deg,
approach rate: -0.625659 m/s,
LOS rate: 0.045923 deg/s,
cmd heading: 314.113133 deg,
new cmd heading: 314.168589 deg.
2025-06-18T18:28:36.400Z,1750271316.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483276 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:36.454Z,1750271316.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003345
2025-06-18T18:28:36.705Z,1750271316.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254883
2025-06-18T18:28:36.831Z,1750271316.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:36.834Z,1750271316.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 132.989975 m,
bearing: 317.645007 deg,
approach rate: -0.596373 m/s,
LOS rate: 0.048789 deg/s,
cmd heading: 314.168594 deg,
new cmd heading: 314.232343 deg.
2025-06-18T18:28:36.835Z,1750271316.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484389 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:36.957Z,1750271316.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506633
2025-06-18T18:28:37.197Z,1750271317.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:37.199Z,1750271317.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:37.202Z,1750271317.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 132.770660 m,
bearing: 317.662930 deg,
approach rate: -0.596007 m/s,
LOS rate: 0.048789 deg/s,
cmd heading: 314.232333 deg,
new cmd heading: 314.286192 deg.
2025-06-18T18:28:37.203Z,1750271317.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485329 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:37.209Z,1750271317.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758695
2025-06-18T18:28:37.461Z,1750271317.461 [DAT](INFO): DAT read: Rx Time:18:28:37.9763
2025-06-18T18:28:37.462Z,1750271317.462 [DAT](INFO): Rx dataTimestamp_ set to:1750271317.461231
2025-06-18T18:28:37.462Z,1750271317.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011891
2025-06-18T18:28:37.669Z,1750271317.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:37.676Z,1750271317.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 132.494904 m,
bearing: 317.685382 deg,
approach rate: -0.586910 m/s,
LOS rate: 0.047885 deg/s,
cmd heading: 314.286182 deg,
new cmd heading: 314.353677 deg.
2025-06-18T18:28:37.677Z,1750271317.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486506 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:37.713Z,1750271317.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262712
2025-06-18T18:28:37.977Z,1750271317.977 [DAT](INFO): DAT read: 18:28:37.9763 LVL= 24944, 32753, 21714, 32755, AGC= 68, IDX= 223, 0.46, 0.333,-1.073, 0.226,-0.266, PHS= 0.688,-0.760, 0.489, RAW= 142.7, -6.2, CAL= 148.6, -15.4, ROT= 1.4, 15.4
2025-06-18T18:28:37.978Z,1750271317.978 [DAT](INFO): got valid direction response:
18:28:37.9763 LVL= 24944, 32753, 21714, 32755, AGC= 68, IDX= 223, 0.46, 0.333,-1.073, 0.226,-0.266, PHS= 0.688,-0.760, 0.489, RAW= 142.7, -6.2, CAL= 148.6, -15.4, ROT= 1.4, 15.4
2025-06-18T18:28:37.979Z,1750271317.979 [DAT](INFO): DAT read: Bearing 1.4, 15.4 (Local)
2025-06-18T18:28:37.979Z,1750271317.979 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.4, 15.4 (Local)
2025-06-18T18:28:37.989Z,1750271317.989 [DAT](INFO): DAT read: Range 10 to 50 : 137.4 m (Round-trip 183.2 ms) speed 0.3 m/s
2025-06-18T18:28:37.990Z,1750271317.990 [DAT](INFO): DAT read: user:1233>
2025-06-18T18:28:37.990Z,1750271317.990 [DAT](INFO): DAT read: Tx time:18:28:39.0890
2025-06-18T18:28:37.991Z,1750271317.991 [DAT](INFO): Ping request sent.
2025-06-18T18:28:37.991Z,1750271317.991 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:37.991Z,1750271317.991 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:28:37.992Z,1750271317.992 [DAT](INFO): direction in FSK: [0.963808,0.023555,-0.265556]
2025-06-18T18:28:37.992Z,1750271317.992 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:37.993Z,1750271317.993 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:38.033Z,1750271318.033 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:38.033Z,1750271318.033 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:38.144Z,1750271318.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 137.399994 m,
deltaT: 3.527395 s,
deltaX: -53.200012 m,
approachRate: -15.081955 m/s,
rangeRepo size: 4
2025-06-18T18:28:38.148Z,1750271318.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:38.151Z,1750271318.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 132.217392 m,
bearing: 317.705906 deg,
approach rate: -0.586068 m/s,
LOS rate: 0.043435 deg/s,
cmd heading: 314.353665 deg,
new cmd heading: 314.415366 deg.
2025-06-18T18:28:38.158Z,1750271318.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487583 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:38.218Z,1750271318.218 [DAT](INFO): DAT read: TxSync time:18:28:39.0882
2025-06-18T18:28:38.442Z,1750271318.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:38.445Z,1750271318.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 132.020248 m,
bearing: 317.720456 deg,
approach rate: -0.658315 m/s,
LOS rate: 0.048660 deg/s,
cmd heading: 314.415355 deg,
new cmd heading: 314.459071 deg.
2025-06-18T18:28:38.446Z,1750271318.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488346 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:38.867Z,1750271318.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:38.871Z,1750271318.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 131.766754 m,
bearing: 317.736872 deg,
approach rate: -0.597019 m/s,
LOS rate: 0.038735 deg/s,
cmd heading: 314.459068 deg,
new cmd heading: 314.508409 deg.
2025-06-18T18:28:38.873Z,1750271318.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489207 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:39.262Z,1750271319.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:39.264Z,1750271319.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:39.267Z,1750271319.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 131.526688 m,
bearing: 317.752476 deg,
approach rate: -0.604052 m/s,
LOS rate: 0.039336 deg/s,
cmd heading: 314.508409 deg,
new cmd heading: 314.555309 deg.
2025-06-18T18:28:39.268Z,1750271319.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.490026 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:39.477Z,1750271319.477 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:39.477Z,1750271319.477 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:39.477Z,1750271319.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:39.727Z,1750271319.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:39.729Z,1750271319.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738065
2025-06-18T18:28:39.735Z,1750271319.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 131.242172 m,
bearing: 317.768224 deg,
approach rate: -0.615428 m/s,
LOS rate: 0.034137 deg/s,
cmd heading: 314.555319 deg,
new cmd heading: 314.602665 deg.
2025-06-18T18:28:39.738Z,1750271319.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.490852 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:39.982Z,1750271319.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990426
2025-06-18T18:28:40.076Z,1750271320.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:40.078Z,1750271320.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 131.027298 m,
bearing: 317.779766 deg,
approach rate: -0.615709 m/s,
LOS rate: 0.033127 deg/s,
cmd heading: 314.602666 deg,
new cmd heading: 314.637349 deg.
2025-06-18T18:28:40.079Z,1750271320.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.491457 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:40.233Z,1750271320.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241901
2025-06-18T18:28:40.458Z,1750271320.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:40.461Z,1750271320.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 130.792145 m,
bearing: 317.792193 deg,
approach rate: -0.615262 m/s,
LOS rate: 0.032574 deg/s,
cmd heading: 314.637336 deg,
new cmd heading: 314.674685 deg.
2025-06-18T18:28:40.462Z,1750271320.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492109 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:40.485Z,1750271320.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493908
2025-06-18T18:28:40.737Z,1750271320.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745979
2025-06-18T18:28:40.930Z,1750271320.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:40.933Z,1750271320.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 130.508347 m,
bearing: 317.802875 deg,
approach rate: -0.600517 m/s,
LOS rate: 0.022652 deg/s,
cmd heading: 314.674683 deg,
new cmd heading: 314.706799 deg.
2025-06-18T18:28:40.934Z,1750271320.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492670 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:40.990Z,1750271320.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998899
2025-06-18T18:28:41.241Z,1750271321.241 [DAT](INFO): DAT read: Rx Time:18:28:41.6733
2025-06-18T18:28:41.241Z,1750271321.241 [DAT](INFO): Rx dataTimestamp_ set to:1750271321.240945
2025-06-18T18:28:41.242Z,1750271321.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250917
2025-06-18T18:28:41.266Z,1750271321.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:41.268Z,1750271321.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:41.271Z,1750271321.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 130.297516 m,
bearing: 317.810392 deg,
approach rate: -0.624869 m/s,
LOS rate: 0.022315 deg/s,
cmd heading: 314.706813 deg,
new cmd heading: 314.729400 deg.
2025-06-18T18:28:41.292Z,1750271321.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493064 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:41.493Z,1750271321.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501998
2025-06-18T18:28:41.755Z,1750271321.755 [DAT](INFO): DAT read: 18:28:41.6733 LVL= 26384, 32753, 22610, 32755, AGC= 69, IDX= 417, 0.09,-0.798,-2.358,-0.882,-1.395, PHS= 0.685,-0.916, 0.510, RAW= 144.3, -3.7, CAL= 149.3, -12.8, ROT= 0.7, 12.8
2025-06-18T18:28:41.756Z,1750271321.756 [DAT](INFO): got valid direction response:
18:28:41.6733 LVL= 26384, 32753, 22610, 32755, AGC= 69, IDX= 417, 0.09,-0.798,-2.358,-0.882,-1.395, PHS= 0.685,-0.916, 0.510, RAW= 144.3, -3.7, CAL= 149.3, -12.8, ROT= 0.7, 12.8
2025-06-18T18:28:41.757Z,1750271321.757 [DAT](INFO): DAT read: Bearing 0.7, 12.8 (Local)
2025-06-18T18:28:41.757Z,1750271321.757 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.7, 12.8 (Local)
2025-06-18T18:28:41.759Z,1750271321.759 [DAT](INFO): DAT read: Range 10 to 50 : 135.0 m (Round-trip 180.1 ms) speed 0.7 m/s
2025-06-18T18:28:41.764Z,1750271321.764 [DAT](INFO): DAT read: user:1234>
2025-06-18T18:28:41.765Z,1750271321.765 [DAT](INFO): DAT read: Tx time:18:28:42.7890
2025-06-18T18:28:41.765Z,1750271321.765 [DAT](INFO): Ping request sent.
2025-06-18T18:28:41.765Z,1750271321.765 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:41.765Z,1750271321.765 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:28:41.766Z,1750271321.766 [DAT](INFO): direction in FSK: [0.975077,0.011913,-0.221548]
2025-06-18T18:28:41.767Z,1750271321.767 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:41.767Z,1750271321.767 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:41.782Z,1750271321.782 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:41.782Z,1750271321.782 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:41.791Z,1750271321.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 135.000000 m,
deltaT: 7.307523 s,
deltaX: -55.600006 m,
approachRate: -7.608598 m/s,
rangeRepo size: 4
2025-06-18T18:28:41.800Z,1750271321.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:41.803Z,1750271321.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 129.997833 m,
bearing: 317.815048 deg,
approach rate: -0.573548 m/s,
LOS rate: 0.008932 deg/s,
cmd heading: 314.729407 deg,
new cmd heading: 314.743407 deg.
2025-06-18T18:28:41.808Z,1750271321.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493309 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:41.997Z,1750271321.997 [DAT](INFO): DAT read: TxSync time:18:28:42.7882
2025-06-18T18:28:42.153Z,1750271322.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:42.155Z,1750271322.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 129.758133 m,
bearing: 317.818788 deg,
approach rate: -0.661273 m/s,
LOS rate: 0.010336 deg/s,
cmd heading: 314.743395 deg,
new cmd heading: 314.754635 deg.
2025-06-18T18:28:42.161Z,1750271322.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493505 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:42.503Z,1750271322.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:42.506Z,1750271322.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 129.529877 m,
bearing: 317.822192 deg,
approach rate: -0.651360 m/s,
LOS rate: 0.009729 deg/s,
cmd heading: 314.754624 deg,
new cmd heading: 314.764852 deg.
2025-06-18T18:28:42.507Z,1750271322.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493683 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:42.936Z,1750271322.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:42.938Z,1750271322.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 129.250137 m,
bearing: 317.823222 deg,
approach rate: -0.647104 m/s,
LOS rate: 0.002388 deg/s,
cmd heading: 314.764842 deg,
new cmd heading: 314.767939 deg.
2025-06-18T18:28:42.939Z,1750271322.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493737 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:43.318Z,1750271323.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:43.321Z,1750271323.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:43.323Z,1750271323.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 129.004944 m,
bearing: 317.823898 deg,
approach rate: -0.636716 m/s,
LOS rate: 0.001761 deg/s,
cmd heading: 314.767929 deg,
new cmd heading: 314.769964 deg.
2025-06-18T18:28:43.325Z,1750271323.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493772 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:43.509Z,1750271323.509 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:43.509Z,1750271323.509 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:43.509Z,1750271323.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:43.761Z,1750271323.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995710
2025-06-18T18:28:43.797Z,1750271323.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:43.804Z,1750271323.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 128.715240 m,
bearing: 317.824270 deg,
approach rate: -0.607697 m/s,
LOS rate: 0.000781 deg/s,
cmd heading: 314.769951 deg,
new cmd heading: 314.771068 deg.
2025-06-18T18:28:43.805Z,1750271323.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493792 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:44.013Z,1750271324.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247933
2025-06-18T18:28:44.261Z,1750271324.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:44.263Z,1750271324.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 128.417984 m,
bearing: 317.824611 deg,
approach rate: -0.641571 m/s,
LOS rate: 0.000737 deg/s,
cmd heading: 314.771071 deg,
new cmd heading: 314.772095 deg.
2025-06-18T18:28:44.265Z,1750271324.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499702
2025-06-18T18:28:44.266Z,1750271324.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493809 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:44.517Z,1750271324.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751712
2025-06-18T18:28:44.598Z,1750271324.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:44.605Z,1750271324.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 128.201385 m,
bearing: 317.824867 deg,
approach rate: -0.642417 m/s,
LOS rate: 0.000763 deg/s,
cmd heading: 314.772082 deg,
new cmd heading: 314.772854 deg.
2025-06-18T18:28:44.606Z,1750271324.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493823 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:44.769Z,1750271324.769 [DAT](INFO): DAT read: Rx Time:18:28:45.3704
2025-06-18T18:28:44.770Z,1750271324.770 [DAT](INFO): Rx dataTimestamp_ set to:1750271324.769251
2025-06-18T18:28:44.770Z,1750271324.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004887
2025-06-18T18:28:44.991Z,1750271324.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:45.010Z,1750271325.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 127.938408 m,
bearing: 317.823639 deg,
approach rate: -0.668087 m/s,
LOS rate: -0.003127 deg/s,
cmd heading: 314.772847 deg,
new cmd heading: 314.769155 deg.
2025-06-18T18:28:45.012Z,1750271325.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493758 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:45.021Z,1750271325.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255670
2025-06-18T18:28:45.277Z,1750271325.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510407
2025-06-18T18:28:45.398Z,1750271325.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:45.400Z,1750271325.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:45.403Z,1750271325.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 127.672203 m,
bearing: 317.822391 deg,
approach rate: -0.651758 m/s,
LOS rate: -0.003063 deg/s,
cmd heading: 314.769159 deg,
new cmd heading: 314.765406 deg.
2025-06-18T18:28:45.404Z,1750271325.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493693 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:45.534Z,1750271325.534 [DAT](INFO): DAT read: 18:28:45.3705 LVL= 30880, 32753, 26402, 32755, AGC= 69, IDX= 418, 0.26,-1.890, 2.945,-1.917,-2.431, PHS= 0.629,-0.861, 0.511, RAW= 145.9, -3.9, CAL= 150.8, -12.9, ROT= 359.2, 12.9
2025-06-18T18:28:45.535Z,1750271325.535 [DAT](INFO): got valid direction response:
18:28:45.3705 LVL= 30880, 32753, 26402, 32755, AGC= 69, IDX= 418, 0.26,-1.890, 2.945,-1.917,-2.431, PHS= 0.629,-0.861, 0.511, RAW= 145.9, -3.9, CAL= 150.8, -12.9, ROT= 359.2, 12.9
2025-06-18T18:28:45.536Z,1750271325.536 [DAT](INFO): DAT read: Bearing 359.2, 12.9 (Local)
2025-06-18T18:28:45.536Z,1750271325.536 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.2, 12.9 (Local)
2025-06-18T18:28:45.538Z,1750271325.538 [DAT](INFO): DAT read: Range 10 to 50 : 132.9 m (Round-trip 177.2 ms) speed 0.8 m/s
2025-06-18T18:28:45.539Z,1750271325.539 [DAT](INFO): DAT read: user:1235>
2025-06-18T18:28:45.539Z,1750271325.539 [DAT](INFO): DAT read: Tx time:18:28:46.4891
2025-06-18T18:28:45.540Z,1750271325.540 [DAT](INFO): Ping request sent.
2025-06-18T18:28:45.540Z,1750271325.540 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:45.541Z,1750271325.541 [DAT](INFO): DAT read: TxSync time:18:28:46.4883
2025-06-18T18:28:45.541Z,1750271325.541 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:28:45.542Z,1750271325.542 [DAT](INFO): direction in FSK: [0.974666,-0.013610,-0.223250]
2025-06-18T18:28:45.542Z,1750271325.542 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:45.543Z,1750271325.543 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:45.546Z,1750271325.546 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:45.546Z,1750271325.546 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:45.846Z,1750271325.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 132.899994 m,
deltaT: 11.087711 s,
deltaX: -57.700012 m,
approachRate: -5.203961 m/s,
rangeRepo size: 4
2025-06-18T18:28:45.846Z,1750271325.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:45.849Z,1750271325.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 127.384636 m,
bearing: 317.823935 deg,
approach rate: -0.645943 m/s,
LOS rate: 0.003476 deg/s,
cmd heading: 314.765416 deg,
new cmd heading: 314.770058 deg.
2025-06-18T18:28:45.850Z,1750271325.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493774 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:46.182Z,1750271326.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:46.185Z,1750271326.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 127.164146 m,
bearing: 317.825123 deg,
approach rate: -0.654079 m/s,
LOS rate: 0.003532 deg/s,
cmd heading: 314.770060 deg,
new cmd heading: 314.773632 deg.
2025-06-18T18:28:46.186Z,1750271326.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493836 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:46.579Z,1750271326.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:46.586Z,1750271326.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 126.915619 m,
bearing: 317.826865 deg,
approach rate: -0.626644 m/s,
LOS rate: 0.004401 deg/s,
cmd heading: 314.773639 deg,
new cmd heading: 314.778875 deg.
2025-06-18T18:28:46.587Z,1750271326.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493928 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:47.010Z,1750271327.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:47.017Z,1750271327.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 126.639137 m,
bearing: 317.828718 deg,
approach rate: -0.640585 m/s,
LOS rate: 0.004302 deg/s,
cmd heading: 314.778885 deg,
new cmd heading: 314.784455 deg.
2025-06-18T18:28:47.018Z,1750271327.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494025 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:47.370Z,1750271327.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:47.373Z,1750271327.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 126.383514 m,
bearing: 317.830274 deg,
approach rate: -0.710168 m/s,
LOS rate: 0.004332 deg/s,
cmd heading: 314.784458 deg,
new cmd heading: 314.789136 deg.
2025-06-18T18:28:47.374Z,1750271327.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494107 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:47.835Z,1750271327.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:47.858Z,1750271327.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:47.865Z,1750271327.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 126.080826 m,
bearing: 317.835729 deg,
approach rate: -0.621304 m/s,
LOS rate: 0.011225 deg/s,
cmd heading: 314.789130 deg,
new cmd heading: 314.805536 deg.
2025-06-18T18:28:47.866Z,1750271327.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494393 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:48.044Z,1750271328.044 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:48.045Z,1750271328.045 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:48.045Z,1750271328.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:48.188Z,1750271328.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:48.191Z,1750271328.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 125.853416 m,
bearing: 317.839768 deg,
approach rate: -0.688929 m/s,
LOS rate: 0.012256 deg/s,
cmd heading: 314.805523 deg,
new cmd heading: 314.817659 deg.
2025-06-18T18:28:48.192Z,1750271328.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494605 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:48.297Z,1750271328.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757154
2025-06-18T18:28:48.549Z,1750271328.549 [DAT](INFO): DAT read: Rx Time:18:28:49.1027
2025-06-18T18:28:48.549Z,1750271328.549 [DAT](INFO): Rx dataTimestamp_ set to:1750271328.548875
2025-06-18T18:28:48.550Z,1750271328.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009842
2025-06-18T18:28:48.599Z,1750271328.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.86 m.
2025-06-18T18:28:48.606Z,1750271328.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.860458 m,
nav range: 125.596817 m,
bearing: 317.844361 deg,
approach rate: -0.623094 m/s,
LOS rate: 0.011177 deg/s,
cmd heading: 314.817653 deg,
new cmd heading: 314.831461 deg.
2025-06-18T18:28:48.607Z,1750271328.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494845 target range: 188.860458 and range: 190.60 m.
2025-06-18T18:28:48.802Z,1750271328.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262261
2025-06-18T18:28:49.059Z,1750271329.059 [DAT](INFO): DAT read: 18:28:49.1027 LVL= 23520, 31809, 19362, 32403, AGC= 64, IDX= 252, 0.30, 1.912, 0.543, 1.763, 1.344, PHS= 0.656,-0.754, 0.416, RAW= 140.8, -4.9, CAL= 146.4, -14.3, ROT= 3.6, 14.3
2025-06-18T18:28:49.061Z,1750271329.061 [DAT](INFO): got valid direction response:
18:28:49.1027 LVL= 23520, 31809, 19362, 32403, AGC= 64, IDX= 252, 0.30, 1.912, 0.543, 1.763, 1.344, PHS= 0.656,-0.754, 0.416, RAW= 140.8, -4.9, CAL= 146.4, -14.3, ROT= 3.6, 14.3
2025-06-18T18:28:49.062Z,1750271329.062 [DAT](INFO): DAT read: Bearing 3.6, 14.3 (Local)
2025-06-18T18:28:49.062Z,1750271329.062 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.6, 14.3 (Local)
2025-06-18T18:28:49.063Z,1750271329.063 [DAT](INFO): DAT read: Range 10 to 50 : 157.0 m (Round-trip 209.4 ms) speed 0.4 m/s
2025-06-18T18:28:49.069Z,1750271329.069 [DAT](INFO): DAT read: user:1236>
2025-06-18T18:28:49.070Z,1750271329.070 [DAT](INFO): DAT read: Tx time:18:28:50.1891
2025-06-18T18:28:49.070Z,1750271329.070 [DAT](INFO): Ping request sent.
2025-06-18T18:28:49.070Z,1750271329.070 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:49.071Z,1750271329.071 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:28:49.072Z,1750271329.072 [DAT](INFO): direction in FSK: [0.967104,0.060845,-0.246999]
2025-06-18T18:28:49.072Z,1750271329.072 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:49.072Z,1750271329.072 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:49.075Z,1750271329.075 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:49.076Z,1750271329.076 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:49.126Z,1750271329.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 157.000000 m,
deltaT: 14.616025 s,
deltaX: -33.600006 m,
approachRate: -2.298847 m/s,
rangeRepo size: 4
2025-06-18T18:28:49.137Z,1750271329.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 155.566269 m,
bearing: 319.491905 deg,
lat: 36.905874 deg,
lon: -122.115740 deg,
deltaT: 14.616025 s,
deltaX: -33.294189 m,
approachRate: -2.277924 m/s,
posRepo size: 4
2025-06-18T18:28:49.137Z,1750271329.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:49.149Z,1750271329.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 126.288971 m,
bearing: 316.197801 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.011177 deg/s,
cmd heading: 314.831450 deg,
new cmd heading: 314.849092 deg.
2025-06-18T18:28:49.150Z,1750271329.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495153 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:49.305Z,1750271329.305 [DAT](INFO): DAT read: TxSync time:18:28:50.1883
2025-06-18T18:28:49.452Z,1750271329.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:49.455Z,1750271329.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 126.068542 m,
bearing: 316.200777 deg,
approach rate: -0.675722 m/s,
LOS rate: 0.009138 deg/s,
cmd heading: 314.849099 deg,
new cmd heading: 314.858042 deg.
2025-06-18T18:28:49.456Z,1750271329.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495309 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:49.464Z,1750271329.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:28:49.891Z,1750271329.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:49.895Z,1750271329.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:49.914Z,1750271329.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 125.784050 m,
bearing: 316.207631 deg,
approach rate: -0.642361 m/s,
LOS rate: 0.015512 deg/s,
cmd heading: 314.858033 deg,
new cmd heading: 314.878643 deg.
2025-06-18T18:28:49.915Z,1750271329.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495669 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:50.060Z,1750271330.060 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:50.061Z,1750271330.061 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:50.061Z,1750271330.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:50.246Z,1750271330.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:50.249Z,1750271330.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 125.560638 m,
bearing: 316.213076 deg,
approach rate: -0.636022 m/s,
LOS rate: 0.015529 deg/s,
cmd heading: 314.878633 deg,
new cmd heading: 314.894997 deg.
2025-06-18T18:28:50.250Z,1750271330.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495955 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:50.313Z,1750271330.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242715
2025-06-18T18:28:50.468Z,1750271330.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:28:50.565Z,1750271330.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494528
2025-06-18T18:28:50.662Z,1750271330.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:50.664Z,1750271330.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 125.300110 m,
bearing: 316.219684 deg,
approach rate: -0.626754 m/s,
LOS rate: 0.015930 deg/s,
cmd heading: 314.894998 deg,
new cmd heading: 314.914863 deg.
2025-06-18T18:28:50.666Z,1750271330.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496301 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:50.819Z,1750271330.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748627
2025-06-18T18:28:51.069Z,1750271331.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998578
2025-06-18T18:28:51.102Z,1750271331.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:51.109Z,1750271331.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 125.044487 m,
bearing: 316.227601 deg,
approach rate: -0.580764 m/s,
LOS rate: 0.018023 deg/s,
cmd heading: 314.914860 deg,
new cmd heading: 314.938659 deg.
2025-06-18T18:28:51.113Z,1750271331.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496716 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:51.321Z,1750271331.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250584
2025-06-18T18:28:51.447Z,1750271331.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:51.450Z,1750271331.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 124.813255 m,
bearing: 316.234416 deg,
approach rate: -0.669771 m/s,
LOS rate: 0.019777 deg/s,
cmd heading: 314.938657 deg,
new cmd heading: 314.959140 deg.
2025-06-18T18:28:51.451Z,1750271331.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497074 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:51.577Z,1750271331.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506134
2025-06-18T18:28:51.828Z,1750271331.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756834
2025-06-18T18:28:51.922Z,1750271331.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:51.924Z,1750271331.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:51.927Z,1750271331.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 124.525772 m,
bearing: 316.246301 deg,
approach rate: -0.603114 m/s,
LOS rate: 0.024990 deg/s,
cmd heading: 314.959147 deg,
new cmd heading: 314.994883 deg.
2025-06-18T18:28:51.928Z,1750271331.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497698 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:52.077Z,1750271332.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006523
2025-06-18T18:28:52.274Z,1750271332.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:52.277Z,1750271332.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 124.313858 m,
bearing: 316.254896 deg,
approach rate: -0.605056 m/s,
LOS rate: 0.024584 deg/s,
cmd heading: 314.994883 deg,
new cmd heading: 315.020713 deg.
2025-06-18T18:28:52.278Z,1750271332.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498148 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:52.330Z,1750271332.330 [DAT](INFO): DAT read: Rx Time:18:28:52.7640
2025-06-18T18:28:52.330Z,1750271332.330 [DAT](INFO): Rx dataTimestamp_ set to:1750271332.330031
2025-06-18T18:28:52.331Z,1750271332.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260750
2025-06-18T18:28:52.581Z,1750271332.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510743
2025-06-18T18:28:52.749Z,1750271332.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:52.758Z,1750271332.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 124.081688 m,
bearing: 316.264186 deg,
approach rate: -0.488406 m/s,
LOS rate: 0.019580 deg/s,
cmd heading: 315.020701 deg,
new cmd heading: 315.048623 deg.
2025-06-18T18:28:52.765Z,1750271332.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498636 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:52.856Z,1750271332.856 [DAT](INFO): DAT read: 18:28:52.7640 LVL= 32752, 32753, 30034, 32755, AGC= 69, IDX= 49, 0.19, 1.157,-0.121, 1.097, 0.639, PHS= 0.606,-0.713, 0.455, RAW= 144.0, -5.6, CAL= 149.6, -14.7, ROT= 0.4, 14.7
2025-06-18T18:28:52.860Z,1750271332.860 [DAT](INFO): got valid direction response:
18:28:52.7640 LVL= 32752, 32753, 30034, 32755, AGC= 69, IDX= 49, 0.19, 1.157,-0.121, 1.097, 0.639, PHS= 0.606,-0.713, 0.455, RAW= 144.0, -5.6, CAL= 149.6, -14.7, ROT= 0.4, 14.7
2025-06-18T18:28:52.861Z,1750271332.861 [DAT](INFO): DAT read: Bearing 0.4, 14.7 (Local)
2025-06-18T18:28:52.861Z,1750271332.861 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.4, 14.7 (Local)
2025-06-18T18:28:52.863Z,1750271332.863 [DAT](INFO): DAT read: Range 10 to 50 : 128.1 m (Round-trip 170.8 ms) speed 0.9 m/s
2025-06-18T18:28:52.865Z,1750271332.865 [DAT](INFO): DAT read: user:1237>
2025-06-18T18:28:52.866Z,1750271332.866 [DAT](INFO): DAT read: Tx time:18:28:53.8891
2025-06-18T18:28:52.866Z,1750271332.866 [DAT](INFO): Ping request sent.
2025-06-18T18:28:52.866Z,1750271332.866 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:52.867Z,1750271332.867 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:28:52.889Z,1750271332.889 [DAT](INFO): direction in FSK: [0.967244,0.006753,-0.253758]
2025-06-18T18:28:52.889Z,1750271332.889 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:52.889Z,1750271332.889 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:52.908Z,1750271332.908 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:52.908Z,1750271332.908 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:53.085Z,1750271333.085 [DAT](INFO): DAT read: TxSync time:18:28:53.8883
2025-06-18T18:28:53.202Z,1750271333.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 128.100006 m,
deltaT: 3.781742 s,
deltaX: -28.899994 m,
approachRate: -7.641979 m/s,
rangeRepo size: 4
2025-06-18T18:28:53.203Z,1750271333.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:53.217Z,1750271333.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 123.786720 m,
bearing: 316.274649 deg,
approach rate: -0.652360 m/s,
LOS rate: 0.023195 deg/s,
cmd heading: 315.048623 deg,
new cmd heading: 315.080085 deg.
2025-06-18T18:28:53.218Z,1750271333.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499185 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:53.515Z,1750271333.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:53.518Z,1750271333.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 123.572784 m,
bearing: 316.282263 deg,
approach rate: -0.682831 m/s,
LOS rate: 0.024343 deg/s,
cmd heading: 315.080096 deg,
new cmd heading: 315.102977 deg.
2025-06-18T18:28:53.519Z,1750271333.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499584 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:53.952Z,1750271333.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:53.954Z,1750271333.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:53.957Z,1750271333.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 123.314980 m,
bearing: 316.292537 deg,
approach rate: -0.587049 m/s,
LOS rate: 0.023444 deg/s,
cmd heading: 315.102964 deg,
new cmd heading: 315.133851 deg.
2025-06-18T18:28:53.958Z,1750271333.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.500124 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:54.093Z,1750271334.093 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:54.093Z,1750271334.093 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:54.093Z,1750271334.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:54.343Z,1750271334.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:54.345Z,1750271334.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479239
2025-06-18T18:28:54.364Z,1750271334.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 123.082924 m,
bearing: 316.301947 deg,
approach rate: -0.596490 m/s,
LOS rate: 0.024235 deg/s,
cmd heading: 315.133863 deg,
new cmd heading: 315.162148 deg.
2025-06-18T18:28:54.365Z,1750271334.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.500617 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:54.597Z,1750271334.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730558
2025-06-18T18:28:54.771Z,1750271334.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:54.782Z,1750271334.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 122.846367 m,
bearing: 316.311462 deg,
approach rate: -0.552931 m/s,
LOS rate: 0.022282 deg/s,
cmd heading: 315.162140 deg,
new cmd heading: 315.190739 deg.
2025-06-18T18:28:54.783Z,1750271334.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501116 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:54.854Z,1750271334.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987725
2025-06-18T18:28:55.106Z,1750271335.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239096
2025-06-18T18:28:55.189Z,1750271335.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:55.192Z,1750271335.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 122.573662 m,
bearing: 316.320455 deg,
approach rate: -0.651332 m/s,
LOS rate: 0.021527 deg/s,
cmd heading: 315.190745 deg,
new cmd heading: 315.217785 deg.
2025-06-18T18:28:55.193Z,1750271335.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501588 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:55.358Z,1750271335.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491721
2025-06-18T18:28:55.562Z,1750271335.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:55.565Z,1750271335.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 122.349609 m,
bearing: 316.327836 deg,
approach rate: -0.601585 m/s,
LOS rate: 0.019854 deg/s,
cmd heading: 315.217793 deg,
new cmd heading: 315.239976 deg.
2025-06-18T18:28:55.566Z,1750271335.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501976 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:55.609Z,1750271335.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743099
2025-06-18T18:28:55.863Z,1750271335.863 [DAT](INFO): DAT read: Rx Time:18:28:56.4609
2025-06-18T18:28:55.865Z,1750271335.865 [DAT](INFO): Rx dataTimestamp_ set to:1750271335.864179
2025-06-18T18:28:55.867Z,1750271335.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000090
2025-06-18T18:28:56.053Z,1750271336.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:56.055Z,1750271336.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:56.066Z,1750271336.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 122.062462 m,
bearing: 316.338590 deg,
approach rate: -0.582700 m/s,
LOS rate: 0.021874 deg/s,
cmd heading: 315.239977 deg,
new cmd heading: 315.272315 deg.
2025-06-18T18:28:56.067Z,1750271336.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502540 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:56.113Z,1750271336.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246655
2025-06-18T18:28:56.369Z,1750271336.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501902
2025-06-18T18:28:56.502Z,1750271336.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.57 m.
2025-06-18T18:28:56.505Z,1750271336.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.566269 m,
nav range: 121.777817 m,
bearing: 316.349247 deg,
approach rate: -0.635706 m/s,
LOS rate: 0.023856 deg/s,
cmd heading: 315.272325 deg,
new cmd heading: 315.304370 deg.
2025-06-18T18:28:56.506Z,1750271336.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503099 target range: 155.566269 and range: 157.00 m.
2025-06-18T18:28:56.623Z,1750271336.623 [DAT](INFO): DAT read: 18:28:56.4609 LVL= 22960, 32753, 19586, 32755, AGC= 63, IDX= 417,-0.01, 0.674,-0.739, 0.621, 0.088, PHS= 0.674,-0.780, 0.530, RAW= 144.9, -6.2, CAL= 150.5, -15.1, ROT= 359.5, 15.1
2025-06-18T18:28:56.625Z,1750271336.625 [DAT](INFO): got valid direction response:
18:28:56.4609 LVL= 22960, 32753, 19586, 32755, AGC= 63, IDX= 417,-0.01, 0.674,-0.739, 0.621, 0.088, PHS= 0.674,-0.780, 0.530, RAW= 144.9, -6.2, CAL= 150.5, -15.1, ROT= 359.5, 15.1
2025-06-18T18:28:56.626Z,1750271336.626 [DAT](INFO): DAT read: Bearing 359.5, 15.1 (Local)
2025-06-18T18:28:56.626Z,1750271336.626 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.5, 15.1 (Local)
2025-06-18T18:28:56.628Z,1750271336.628 [DAT](INFO): DAT read: Range 10 to 50 : 125.7 m (Round-trip 167.6 ms) speed 0.4 m/s
2025-06-18T18:28:56.629Z,1750271336.629 [DAT](INFO): DAT read: user:1238>
2025-06-18T18:28:56.629Z,1750271336.629 [DAT](INFO): DAT read: Tx time:18:28:57.5391
2025-06-18T18:28:56.630Z,1750271336.630 [DAT](INFO): Ping request sent.
2025-06-18T18:28:56.630Z,1750271336.630 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:28:56.630Z,1750271336.630 [DAT](INFO): DAT read: TxSync time:18:28:57.5383
2025-06-18T18:28:56.631Z,1750271336.631 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:28:56.636Z,1750271336.636 [DAT](INFO): direction in FSK: [0.965436,-0.008425,-0.260505]
2025-06-18T18:28:56.637Z,1750271336.637 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:56.637Z,1750271336.637 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:56.644Z,1750271336.644 [DAT](INFO): publishing transmit ping time
2025-06-18T18:28:56.644Z,1750271336.644 [DAT](INFO): publishing direction and range info
2025-06-18T18:28:56.846Z,1750271336.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 125.699997 m,
deltaT: 7.563560 s,
deltaX: -31.300003 m,
approachRate: -4.138263 m/s,
rangeRepo size: 4
2025-06-18T18:28:56.854Z,1750271336.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 124.552155 m,
bearing: 315.786726 deg,
lat: 36.905876 deg,
lon: -122.115743 deg,
deltaT: 7.563560 s,
deltaX: -31.014114 m,
approachRate: -4.100465 m/s,
posRepo size: 4
2025-06-18T18:28:56.860Z,1750271336.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.55 m.
2025-06-18T18:28:56.896Z,1750271336.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.552155 m,
nav range: 121.872589 m,
bearing: 316.330621 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.023856 deg/s,
cmd heading: 315.304372 deg,
new cmd heading: 315.328913 deg.
2025-06-18T18:28:56.910Z,1750271336.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503528 target range: 124.552155 and range: 125.70 m.
2025-06-18T18:28:57.243Z,1750271337.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.55 m.
2025-06-18T18:28:57.246Z,1750271337.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.552155 m,
nav range: 121.613792 m,
bearing: 316.338935 deg,
approach rate: -0.650518 m/s,
LOS rate: 0.020944 deg/s,
cmd heading: 315.328906 deg,
new cmd heading: 315.353903 deg.
2025-06-18T18:28:57.247Z,1750271337.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503964 target range: 124.552155 and range: 125.70 m.
2025-06-18T18:28:57.620Z,1750271337.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.55 m.
2025-06-18T18:28:57.623Z,1750271337.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.552155 m,
nav range: 121.381241 m,
bearing: 316.346377 deg,
approach rate: -0.617444 m/s,
LOS rate: 0.019797 deg/s,
cmd heading: 315.353905 deg,
new cmd heading: 315.376273 deg.
2025-06-18T18:28:57.625Z,1750271337.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504354 target range: 124.552155 and range: 125.70 m.
2025-06-18T18:28:58.023Z,1750271338.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.55 m.
2025-06-18T18:28:58.042Z,1750271338.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.552155 m,
nav range: 121.128830 m,
bearing: 316.351441 deg,
approach rate: -0.626210 m/s,
LOS rate: 0.012588 deg/s,
cmd heading: 315.376280 deg,
new cmd heading: 315.391502 deg.
2025-06-18T18:28:58.043Z,1750271338.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504620 target range: 124.552155 and range: 125.70 m.
2025-06-18T18:28:58.409Z,1750271338.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:28:58.411Z,1750271338.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.55 m.
2025-06-18T18:28:58.415Z,1750271338.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.552155 m,
nav range: 120.885498 m,
bearing: 316.356056 deg,
approach rate: -0.626118 m/s,
LOS rate: 0.011899 deg/s,
cmd heading: 315.391498 deg,
new cmd heading: 315.405371 deg.
2025-06-18T18:28:58.416Z,1750271338.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504862 target range: 124.552155 and range: 125.70 m.
2025-06-18T18:28:58.633Z,1750271338.633 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:28:58.634Z,1750271338.634 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:28:58.634Z,1750271338.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:28:58.847Z,1750271338.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.55 m.
2025-06-18T18:28:58.854Z,1750271338.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.552155 m,
nav range: 120.625061 m,
bearing: 316.360800 deg,
approach rate: -0.597711 m/s,
LOS rate: 0.010911 deg/s,
cmd heading: 315.405377 deg,
new cmd heading: 315.419639 deg.
2025-06-18T18:28:58.855Z,1750271338.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505111 target range: 124.552155 and range: 125.70 m.
2025-06-18T18:28:58.889Z,1750271338.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257807
2025-06-18T18:28:59.137Z,1750271339.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507753
2025-06-18T18:28:59.247Z,1750271339.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.55 m.
2025-06-18T18:28:59.250Z,1750271339.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.552155 m,
nav range: 120.357246 m,
bearing: 316.365186 deg,
approach rate: -0.670568 m/s,
LOS rate: 0.011007 deg/s,
cmd heading: 315.419639 deg,
new cmd heading: 315.432826 deg.
2025-06-18T18:28:59.251Z,1750271339.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505342 target range: 124.552155 and range: 125.70 m.
2025-06-18T18:28:59.389Z,1750271339.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758965
2025-06-18T18:28:59.632Z,1750271339.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.55 m.
2025-06-18T18:28:59.635Z,1750271339.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.552155 m,
nav range: 120.106873 m,
bearing: 316.369245 deg,
approach rate: -0.650300 m/s,
LOS rate: 0.010564 deg/s,
cmd heading: 315.432834 deg,
new cmd heading: 315.445036 deg.
2025-06-18T18:28:59.636Z,1750271339.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505555 target range: 124.552155 and range: 125.70 m.
2025-06-18T18:28:59.641Z,1750271339.641 [DAT](INFO): DAT read: Rx Time:18:29:00.1079
2025-06-18T18:28:59.642Z,1750271339.642 [DAT](INFO): Rx dataTimestamp_ set to:1750271339.641338
2025-06-18T18:28:59.642Z,1750271339.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012428
2025-06-18T18:28:59.896Z,1750271339.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265205
2025-06-18T18:29:00.113Z,1750271340.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.55 m.
2025-06-18T18:29:00.120Z,1750271340.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.552155 m,
nav range: 119.807396 m,
bearing: 316.372136 deg,
approach rate: -0.621554 m/s,
LOS rate: 0.006015 deg/s,
cmd heading: 315.445047 deg,
new cmd heading: 315.453741 deg.
2025-06-18T18:29:00.121Z,1750271340.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505706 target range: 124.552155 and range: 125.70 m.
2025-06-18T18:29:00.151Z,1750271340.151 [DAT](INFO): DAT read: 18:29:00.1079 LVL= 32432, 32753, 28130, 32755, AGC= 67, IDX= 417, 0.02, 0.514,-0.887, 0.509,-0.031, PHS= 0.633,-0.809, 0.537, RAW= 146.6, -5.2, CAL= 151.8, -14.0, ROT= 358.2, 14.0
2025-06-18T18:29:00.153Z,1750271340.153 [DAT](INFO): got valid direction response:
18:29:00.1079 LVL= 32432, 32753, 28130, 32755, AGC= 67, IDX= 417, 0.02, 0.514,-0.887, 0.509,-0.031, PHS= 0.633,-0.809, 0.537, RAW= 146.6, -5.2, CAL= 151.8, -14.0, ROT= 358.2, 14.0
2025-06-18T18:29:00.154Z,1750271340.154 [DAT](INFO): DAT read: Bearing 358.2, 14.0 (Local)
2025-06-18T18:29:00.154Z,1750271340.154 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.2, 14.0 (Local)
2025-06-18T18:29:00.155Z,1750271340.155 [DAT](INFO): DAT read: Range 10 to 50 : 123.3 m (Round-trip 164.5 ms) speed 0.8 m/s
2025-06-18T18:29:00.156Z,1750271340.156 [DAT](INFO): DAT read: user:1239>
2025-06-18T18:29:00.157Z,1750271340.157 [DAT](INFO): DAT read: Tx time:18:29:01.1892
2025-06-18T18:29:00.157Z,1750271340.157 [DAT](INFO): Ping request sent.
2025-06-18T18:29:00.157Z,1750271340.157 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:29:00.158Z,1750271340.158 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:29:00.159Z,1750271340.159 [DAT](INFO): direction in FSK: [0.969817,-0.030478,-0.241922]
2025-06-18T18:29:00.159Z,1750271340.159 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:00.159Z,1750271340.159 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:00.175Z,1750271340.175 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:00.175Z,1750271340.175 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:00.397Z,1750271340.397 [DAT](INFO): DAT read: TxSync time:18:29:01.1884
2025-06-18T18:29:00.483Z,1750271340.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 123.300003 m,
deltaT: 3.528002 s,
deltaX: -2.399994 m,
approachRate: -0.680270 m/s,
rangeRepo size: 4
2025-06-18T18:29:00.490Z,1750271340.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 122.174538 m,
bearing: 314.916235 deg,
lat: 36.905861 deg,
lon: -122.115762 deg,
deltaT: 3.528002 s,
deltaX: -2.377617 m,
approachRate: -0.673927 m/s,
posRepo size: 4
2025-06-18T18:29:00.490Z,1750271340.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.17 m.
2025-06-18T18:29:00.497Z,1750271340.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.174538 m,
nav range: 119.581406 m,
bearing: 315.231111 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.006015 deg/s,
cmd heading: 315.453735 deg,
new cmd heading: 315.460397 deg.
2025-06-18T18:29:00.498Z,1750271340.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505823 target range: 122.174538 and range: 123.30 m.
2025-06-18T18:29:00.837Z,1750271340.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:00.839Z,1750271340.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.17 m.
2025-06-18T18:29:00.842Z,1750271340.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.174538 m,
nav range: 119.331291 m,
bearing: 315.231379 deg,
approach rate: -0.700709 m/s,
LOS rate: 0.000753 deg/s,
cmd heading: 315.460401 deg,
new cmd heading: 315.461208 deg.
2025-06-18T18:29:00.843Z,1750271340.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505837 target range: 122.174538 and range: 123.30 m.
2025-06-18T18:29:00.902Z,1750271340.902 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:29:00.902Z,1750271340.902 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:29:00.903Z,1750271340.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:01.153Z,1750271341.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995468
2025-06-18T18:29:01.271Z,1750271341.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.17 m.
2025-06-18T18:29:01.278Z,1750271341.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.174538 m,
nav range: 119.066574 m,
bearing: 315.228483 deg,
approach rate: -0.613512 m/s,
LOS rate: -0.006728 deg/s,
cmd heading: 315.461221 deg,
new cmd heading: 315.452512 deg.
2025-06-18T18:29:01.279Z,1750271341.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505685 target range: 122.174538 and range: 123.30 m.
2025-06-18T18:29:01.405Z,1750271341.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247813
2025-06-18T18:29:01.642Z,1750271341.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.17 m.
2025-06-18T18:29:01.645Z,1750271341.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.174538 m,
nav range: 118.819199 m,
bearing: 315.225894 deg,
approach rate: -0.667099 m/s,
LOS rate: -0.006996 deg/s,
cmd heading: 315.452505 deg,
new cmd heading: 315.444723 deg.
2025-06-18T18:29:01.646Z,1750271341.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505549 target range: 122.174538 and range: 123.30 m.
2025-06-18T18:29:01.657Z,1750271341.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499482
2025-06-18T18:29:01.909Z,1750271341.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751445
2025-06-18T18:29:02.082Z,1750271342.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.17 m.
2025-06-18T18:29:02.089Z,1750271342.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.174538 m,
nav range: 118.543541 m,
bearing: 315.220245 deg,
approach rate: -0.625964 m/s,
LOS rate: -0.012858 deg/s,
cmd heading: 315.444719 deg,
new cmd heading: 315.427732 deg.
2025-06-18T18:29:02.090Z,1750271342.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505252 target range: 122.174538 and range: 123.30 m.
2025-06-18T18:29:02.162Z,1750271342.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003842
2025-06-18T18:29:02.413Z,1750271342.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255350
2025-06-18T18:29:02.454Z,1750271342.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.17 m.
2025-06-18T18:29:02.457Z,1750271342.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.174538 m,
nav range: 118.300888 m,
bearing: 315.215090 deg,
approach rate: -0.651876 m/s,
LOS rate: -0.013877 deg/s,
cmd heading: 315.427725 deg,
new cmd heading: 315.412228 deg.
2025-06-18T18:29:02.458Z,1750271342.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504982 target range: 122.174538 and range: 123.30 m.
2025-06-18T18:29:02.665Z,1750271342.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507641
2025-06-18T18:29:02.851Z,1750271342.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:02.853Z,1750271342.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.17 m.
2025-06-18T18:29:02.856Z,1750271342.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.174538 m,
nav range: 118.046715 m,
bearing: 315.209548 deg,
approach rate: -0.637013 m/s,
LOS rate: -0.013919 deg/s,
cmd heading: 315.412235 deg,
new cmd heading: 315.395573 deg.
2025-06-18T18:29:02.857Z,1750271342.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504691 target range: 122.174538 and range: 123.30 m.
2025-06-18T18:29:02.917Z,1750271342.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759658
2025-06-18T18:29:03.169Z,1750271343.169 [DAT](INFO): DAT read: Rx Time:18:29:03.7548
2025-06-18T18:29:03.169Z,1750271343.169 [DAT](INFO): Rx dataTimestamp_ set to:1750271343.168984
2025-06-18T18:29:03.170Z,1750271343.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012444
2025-06-18T18:29:03.300Z,1750271343.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.17 m.
2025-06-18T18:29:03.303Z,1750271343.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.174538 m,
nav range: 117.760780 m,
bearing: 315.205942 deg,
approach rate: -0.640472 m/s,
LOS rate: -0.008095 deg/s,
cmd heading: 315.395569 deg,
new cmd heading: 315.384727 deg.
2025-06-18T18:29:03.304Z,1750271343.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504502 target range: 122.174538 and range: 123.30 m.
2025-06-18T18:29:03.421Z,1750271343.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263582
2025-06-18T18:29:03.676Z,1750271343.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518032
2025-06-18T18:29:03.759Z,1750271343.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.17 m.
2025-06-18T18:29:03.766Z,1750271343.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.174538 m,
nav range: 117.472389 m,
bearing: 315.202246 deg,
approach rate: -0.628754 m/s,
LOS rate: -0.008077 deg/s,
cmd heading: 315.384723 deg,
new cmd heading: 315.373608 deg.
2025-06-18T18:29:03.767Z,1750271343.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504308 target range: 122.174538 and range: 123.30 m.
2025-06-18T18:29:03.931Z,1750271343.931 [DAT](INFO): DAT read: 18:29:03.7548 LVL= 32752, 32753, 31730, 32755, AGC= 62, IDX= 418, 0.30,-1.486,-2.799,-1.547,-1.946, PHS= 0.549,-0.806, 0.396, RAW= 144.1, -2.2, CAL= 148.6, -11.3, ROT= 1.4, 11.3
2025-06-18T18:29:03.935Z,1750271343.935 [DAT](INFO): got valid direction response:
18:29:03.7548 LVL= 32752, 32753, 31730, 32755, AGC= 62, IDX= 418, 0.30,-1.486,-2.799,-1.547,-1.946, PHS= 0.549,-0.806, 0.396, RAW= 144.1, -2.2, CAL= 148.6, -11.3, ROT= 1.4, 11.3
2025-06-18T18:29:03.951Z,1750271343.951 [DAT](INFO): DAT read: Bearing 1.4, 11.3 (Local)
2025-06-18T18:29:03.964Z,1750271343.964 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.4, 11.3 (Local)
2025-06-18T18:29:03.967Z,1750271343.967 [DAT](INFO): DAT read: Range 10 to 50 : 121.1 m (Round-trip 161.5 ms) speed 0.8 m/s
2025-06-18T18:29:03.975Z,1750271343.975 [DAT](INFO): DAT read: user:1240>
2025-06-18T18:29:03.986Z,1750271343.986 [DAT](INFO): DAT read: Tx time:18:29:04.8392
2025-06-18T18:29:04.020Z,1750271344.020 [DAT](INFO): Ping request sent.
2025-06-18T18:29:04.020Z,1750271344.020 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:29:04.022Z,1750271344.022 [DAT](INFO): DAT read: TxSync time:18:29:04.8384
2025-06-18T18:29:04.033Z,1750271344.033 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:29:04.035Z,1750271344.035 [DAT](INFO): direction in FSK: [0.980322,0.023959,-0.195946]
2025-06-18T18:29:04.040Z,1750271344.040 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:04.040Z,1750271344.040 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:04.043Z,1750271344.043 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:04.043Z,1750271344.043 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:04.209Z,1750271344.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 121.099998 m,
deltaT: 3.779848 s,
deltaX: -2.200005 m,
approachRate: -0.582035 m/s,
rangeRepo size: 4
2025-06-18T18:29:04.211Z,1750271344.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 119.994743 m,
bearing: 317.785108 deg,
lat: 36.905877 deg,
lon: -122.115743 deg,
deltaT: 3.779848 s,
deltaX: -2.179794 m,
approachRate: -0.576688 m/s,
posRepo size: 4
2025-06-18T18:29:04.216Z,1750271344.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:04.219Z,1750271344.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 117.293869 m,
bearing: 316.414113 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008077 deg/s,
cmd heading: 315.373603 deg,
new cmd heading: 315.362701 deg.
2025-06-18T18:29:04.224Z,1750271344.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504117 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:04.542Z,1750271344.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:04.545Z,1750271344.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 117.078270 m,
bearing: 316.412760 deg,
approach rate: -0.646038 m/s,
LOS rate: -0.004059 deg/s,
cmd heading: 315.362702 deg,
new cmd heading: 315.358638 deg.
2025-06-18T18:29:04.546Z,1750271344.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504046 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:04.924Z,1750271344.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:04.926Z,1750271344.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:04.929Z,1750271344.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 116.821777 m,
bearing: 316.411292 deg,
approach rate: -0.668524 m/s,
LOS rate: -0.003835 deg/s,
cmd heading: 315.358631 deg,
new cmd heading: 315.354217 deg.
2025-06-18T18:29:04.930Z,1750271344.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503969 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:04.933Z,1750271344.933 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:29:04.933Z,1750271344.933 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:29:04.933Z,1750271344.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:05.185Z,1750271345.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.197229
2025-06-18T18:29:05.324Z,1750271345.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:05.327Z,1750271345.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 116.567398 m,
bearing: 316.409846 deg,
approach rate: -0.638345 m/s,
LOS rate: -0.003636 deg/s,
cmd heading: 315.354205 deg,
new cmd heading: 315.349858 deg.
2025-06-18T18:29:05.329Z,1750271345.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503893 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:05.438Z,1750271345.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449911
2025-06-18T18:29:05.689Z,1750271345.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701218
2025-06-18T18:29:05.715Z,1750271345.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:05.718Z,1750271345.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 116.318237 m,
bearing: 316.408228 deg,
approach rate: -0.638581 m/s,
LOS rate: -0.004157 deg/s,
cmd heading: 315.349861 deg,
new cmd heading: 315.344996 deg.
2025-06-18T18:29:05.719Z,1750271345.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503808 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:05.941Z,1750271345.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953598
2025-06-18T18:29:06.152Z,1750271346.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:06.155Z,1750271346.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 116.037811 m,
bearing: 316.409779 deg,
approach rate: -0.640922 m/s,
LOS rate: 0.003554 deg/s,
cmd heading: 315.344998 deg,
new cmd heading: 315.349663 deg.
2025-06-18T18:29:06.156Z,1750271346.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503890 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:06.194Z,1750271346.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206006
2025-06-18T18:29:06.445Z,1750271346.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457065
2025-06-18T18:29:06.522Z,1750271346.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:06.525Z,1750271346.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 115.800438 m,
bearing: 316.411017 deg,
approach rate: -0.641284 m/s,
LOS rate: 0.003350 deg/s,
cmd heading: 315.349670 deg,
new cmd heading: 315.353390 deg.
2025-06-18T18:29:06.526Z,1750271346.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503955 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:06.698Z,1750271346.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710550
2025-06-18T18:29:06.925Z,1750271346.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:06.927Z,1750271346.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:06.930Z,1750271346.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 115.541122 m,
bearing: 316.412365 deg,
approach rate: -0.640399 m/s,
LOS rate: 0.003336 deg/s,
cmd heading: 315.353386 deg,
new cmd heading: 315.357439 deg.
2025-06-18T18:29:06.931Z,1750271346.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504025 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:06.949Z,1750271346.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961398
2025-06-18T18:29:07.201Z,1750271347.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213229
2025-06-18T18:29:07.355Z,1750271347.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:07.358Z,1750271347.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 115.269478 m,
bearing: 316.416300 deg,
approach rate: -0.635160 m/s,
LOS rate: 0.009223 deg/s,
cmd heading: 315.357429 deg,
new cmd heading: 315.369262 deg.
2025-06-18T18:29:07.359Z,1750271347.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504232 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:07.453Z,1750271347.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465208
2025-06-18T18:29:07.705Z,1750271347.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.717091
2025-06-18T18:29:07.741Z,1750271347.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:07.743Z,1750271347.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 115.024551 m,
bearing: 316.419997 deg,
approach rate: -0.635035 m/s,
LOS rate: 0.009606 deg/s,
cmd heading: 315.369259 deg,
new cmd heading: 315.380374 deg.
2025-06-18T18:29:07.744Z,1750271347.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504426 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:07.957Z,1750271347.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.969122
2025-06-18T18:29:08.177Z,1750271348.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:08.180Z,1750271348.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 114.753403 m,
bearing: 316.427320 deg,
approach rate: -0.621487 m/s,
LOS rate: 0.016826 deg/s,
cmd heading: 315.380379 deg,
new cmd heading: 315.402401 deg.
2025-06-18T18:29:08.181Z,1750271348.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504810 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:08.209Z,1750271348.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.221147
2025-06-18T18:29:08.461Z,1750271348.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.473070
2025-06-18T18:29:08.603Z,1750271348.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:08.606Z,1750271348.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 114.488518 m,
bearing: 316.434568 deg,
approach rate: -0.621642 m/s,
LOS rate: 0.017047 deg/s,
cmd heading: 315.402399 deg,
new cmd heading: 315.424191 deg.
2025-06-18T18:29:08.607Z,1750271348.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505191 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:08.713Z,1750271348.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.725195
2025-06-18T18:29:08.966Z,1750271348.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.977814
2025-06-18T18:29:08.991Z,1750271348.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:08.997Z,1750271348.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:09.005Z,1750271349.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 114.253548 m,
bearing: 316.441110 deg,
approach rate: -0.595539 m/s,
LOS rate: 0.016616 deg/s,
cmd heading: 315.424201 deg,
new cmd heading: 315.443869 deg.
2025-06-18T18:29:09.009Z,1750271349.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505534 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:09.217Z,1750271349.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.229083
2025-06-18T18:29:09.399Z,1750271349.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:09.402Z,1750271349.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 113.991516 m,
bearing: 316.447490 deg,
approach rate: -0.653170 m/s,
LOS rate: 0.015940 deg/s,
cmd heading: 315.443872 deg,
new cmd heading: 315.463055 deg.
2025-06-18T18:29:09.403Z,1750271349.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505869 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:09.470Z,1750271349.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.482078
2025-06-18T18:29:09.721Z,1750271349.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.733014
2025-06-18T18:29:09.778Z,1750271349.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:09.785Z,1750271349.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 113.765884 m,
bearing: 316.453053 deg,
approach rate: -0.594541 m/s,
LOS rate: 0.014687 deg/s,
cmd heading: 315.463051 deg,
new cmd heading: 315.479773 deg.
2025-06-18T18:29:09.786Z,1750271349.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506161 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:09.973Z,1750271349.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.985014
2025-06-18T18:29:10.167Z,1750271350.167 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -94.29, +6539.5-35.65, 7.57, 0.00
2025-06-18T18:29:10.183Z,1750271350.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:10.185Z,1750271350.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 113.499557 m,
bearing: 316.459611 deg,
approach rate: -0.658498 m/s,
LOS rate: 0.016254 deg/s,
cmd heading: 315.479771 deg,
new cmd heading: 315.499493 deg.
2025-06-18T18:29:10.186Z,1750271350.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506505 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:10.228Z,1750271350.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.239908
2025-06-18T18:29:10.477Z,1750271350.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.489073
2025-06-18T18:29:10.575Z,1750271350.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:10.579Z,1750271350.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 113.252968 m,
bearing: 316.465661 deg,
approach rate: -0.627602 m/s,
LOS rate: 0.015430 deg/s,
cmd heading: 315.499497 deg,
new cmd heading: 315.517685 deg.
2025-06-18T18:29:10.580Z,1750271350.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506823 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:10.729Z,1750271350.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.741335
2025-06-18T18:29:10.965Z,1750271350.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:10.967Z,1750271350.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 113.008850 m,
bearing: 316.471636 deg,
approach rate: -0.627444 m/s,
LOS rate: 0.015390 deg/s,
cmd heading: 315.517693 deg,
new cmd heading: 315.535656 deg.
2025-06-18T18:29:10.968Z,1750271350.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507136 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:10.981Z,1750271350.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.993213
2025-06-18T18:29:11.234Z,1750271351.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.245692
2025-06-18T18:29:11.409Z,1750271351.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:11.411Z,1750271351.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:11.414Z,1750271351.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 112.740364 m,
bearing: 316.478951 deg,
approach rate: -0.600836 m/s,
LOS rate: 0.016409 deg/s,
cmd heading: 315.535670 deg,
new cmd heading: 315.557667 deg.
2025-06-18T18:29:11.415Z,1750271351.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507520 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:11.486Z,1750271351.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.498007
2025-06-18T18:29:11.737Z,1750271351.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.749149
2025-06-18T18:29:11.785Z,1750271351.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:11.788Z,1750271351.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 112.515404 m,
bearing: 316.485029 deg,
approach rate: -0.601619 m/s,
LOS rate: 0.016287 deg/s,
cmd heading: 315.557663 deg,
new cmd heading: 315.575933 deg.
2025-06-18T18:29:11.789Z,1750271351.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507839 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:11.989Z,1750271351.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.001031
2025-06-18T18:29:12.229Z,1750271352.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:12.231Z,1750271352.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 112.248001 m,
bearing: 316.492296 deg,
approach rate: -0.603207 m/s,
LOS rate: 0.016434 deg/s,
cmd heading: 315.575941 deg,
new cmd heading: 315.597796 deg.
2025-06-18T18:29:12.233Z,1750271352.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508221 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:12.241Z,1750271352.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.253157
2025-06-18T18:29:12.496Z,1750271352.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.508716
2025-06-18T18:29:12.599Z,1750271352.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:12.602Z,1750271352.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 112.024521 m,
bearing: 316.498397 deg,
approach rate: -0.602863 m/s,
LOS rate: 0.016490 deg/s,
cmd heading: 315.597797 deg,
new cmd heading: 315.616135 deg.
2025-06-18T18:29:12.603Z,1750271352.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508541 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:12.746Z,1750271352.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.758025
2025-06-18T18:29:12.997Z,1750271352.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.009180
2025-06-18T18:29:13.021Z,1750271353.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:13.028Z,1750271353.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 111.781059 m,
bearing: 316.505070 deg,
approach rate: -0.577262 m/s,
LOS rate: 0.015858 deg/s,
cmd heading: 315.616129 deg,
new cmd heading: 315.636194 deg.
2025-06-18T18:29:13.029Z,1750271353.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508891 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:13.249Z,1750271353.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.261557
2025-06-18T18:29:13.418Z,1750271353.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:13.421Z,1750271353.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:13.423Z,1750271353.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 111.531662 m,
bearing: 316.511645 deg,
approach rate: -0.623980 m/s,
LOS rate: 0.016486 deg/s,
cmd heading: 315.636183 deg,
new cmd heading: 315.655951 deg.
2025-06-18T18:29:13.425Z,1750271353.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509236 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:13.502Z,1750271353.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.513850
2025-06-18T18:29:13.753Z,1750271353.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.765079
2025-06-18T18:29:13.831Z,1750271353.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:13.833Z,1750271353.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 111.294975 m,
bearing: 316.517912 deg,
approach rate: -0.577483 m/s,
LOS rate: 0.015323 deg/s,
cmd heading: 315.655963 deg,
new cmd heading: 315.674804 deg.
2025-06-18T18:29:13.835Z,1750271353.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509565 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:14.004Z,1750271354.004 [DAT](INFO): Reached modem response timeout
2025-06-18T18:29:14.005Z,1750271354.005 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:29:14.005Z,1750271354.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:14.257Z,1750271354.257 [DAT](INFO): Reached modem response timeout
2025-06-18T18:29:14.257Z,1750271354.257 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:29:14.257Z,1750271354.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:14.266Z,1750271354.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:14.269Z,1750271354.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 111.022797 m,
bearing: 316.527439 deg,
approach rate: -0.625825 m/s,
LOS rate: 0.021960 deg/s,
cmd heading: 315.674814 deg,
new cmd heading: 315.703467 deg.
2025-06-18T18:29:14.270Z,1750271354.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510065 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:14.508Z,1750271354.508 [DAT](INFO): Reached modem response timeout
2025-06-18T18:29:14.509Z,1750271354.509 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:29:14.509Z,1750271354.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:14.654Z,1750271354.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:14.660Z,1750271354.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 110.784103 m,
bearing: 316.535802 deg,
approach rate: -0.614997 m/s,
LOS rate: 0.021593 deg/s,
cmd heading: 315.703474 deg,
new cmd heading: 315.728616 deg.
2025-06-18T18:29:14.663Z,1750271354.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510504 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:14.761Z,1750271354.761 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:29:14.761Z,1750271354.761 [DAT](INFO): response not received
2025-06-18T18:29:14.762Z,1750271354.762 [DAT](INFO): DAT read: user:1241>
2025-06-18T18:29:14.763Z,1750271354.763 [DAT](INFO): DAT read: Tx time:18:29:15.7893
2025-06-18T18:29:14.763Z,1750271354.763 [DAT](INFO): Ping request sent.
2025-06-18T18:29:14.763Z,1750271354.763 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:29:14.763Z,1750271354.763 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:14.764Z,1750271354.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-06-18T18:29:15.013Z,1750271355.013 [DAT](INFO): DAT read: TxSync time:18:29:15.7885
2025-06-18T18:29:15.014Z,1750271355.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250747
2025-06-18T18:29:15.016Z,1750271355.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:15.018Z,1750271355.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 110.570656 m,
bearing: 316.543266 deg,
approach rate: -0.609963 m/s,
LOS rate: 0.021371 deg/s,
cmd heading: 315.728609 deg,
new cmd heading: 315.751045 deg.
2025-06-18T18:29:15.019Z,1750271355.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510895 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:15.266Z,1750271355.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503157
2025-06-18T18:29:15.431Z,1750271355.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:15.433Z,1750271355.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:15.436Z,1750271355.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 110.304375 m,
bearing: 316.552201 deg,
approach rate: -0.619506 m/s,
LOS rate: 0.020836 deg/s,
cmd heading: 315.751039 deg,
new cmd heading: 315.777907 deg.
2025-06-18T18:29:15.437Z,1750271355.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511364 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:15.517Z,1750271355.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754085
2025-06-18T18:29:15.769Z,1750271355.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005836
2025-06-18T18:29:15.815Z,1750271355.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:15.817Z,1750271355.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 110.067497 m,
bearing: 316.560111 deg,
approach rate: -0.621331 m/s,
LOS rate: 0.020793 deg/s,
cmd heading: 315.777896 deg,
new cmd heading: 315.801677 deg.
2025-06-18T18:29:15.819Z,1750271355.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511779 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:16.021Z,1750271356.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257845
2025-06-18T18:29:16.273Z,1750271356.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509931
2025-06-18T18:29:16.339Z,1750271356.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:16.342Z,1750271356.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 109.745560 m,
bearing: 316.570033 deg,
approach rate: -0.613778 m/s,
LOS rate: 0.018971 deg/s,
cmd heading: 315.801665 deg,
new cmd heading: 315.831517 deg.
2025-06-18T18:29:16.343Z,1750271356.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512300 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:16.525Z,1750271356.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761907
2025-06-18T18:29:16.649Z,1750271356.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:16.656Z,1750271356.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 109.564552 m,
bearing: 316.575461 deg,
approach rate: -0.584328 m/s,
LOS rate: 0.017551 deg/s,
cmd heading: 315.831526 deg,
new cmd heading: 315.847837 deg.
2025-06-18T18:29:16.657Z,1750271356.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512585 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:16.777Z,1750271356.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014115
2025-06-18T18:29:17.029Z,1750271357.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265908
2025-06-18T18:29:17.071Z,1750271357.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:17.074Z,1750271357.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 109.302483 m,
bearing: 316.583351 deg,
approach rate: -0.621201 m/s,
LOS rate: 0.018749 deg/s,
cmd heading: 315.847837 deg,
new cmd heading: 315.871566 deg.
2025-06-18T18:29:17.075Z,1750271357.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512999 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:17.282Z,1750271357.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518928
2025-06-18T18:29:17.476Z,1750271357.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:17.479Z,1750271357.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:17.481Z,1750271357.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 109.037193 m,
bearing: 316.588370 deg,
approach rate: -0.650736 m/s,
LOS rate: 0.012341 deg/s,
cmd heading: 315.871578 deg,
new cmd heading: 315.886672 deg.
2025-06-18T18:29:17.482Z,1750271357.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513262 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:17.534Z,1750271357.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770861
2025-06-18T18:29:17.785Z,1750271357.785 [DAT](INFO): DAT read: Rx Time:18:29:18.3426
2025-06-18T18:29:17.785Z,1750271357.785 [DAT](INFO): Rx dataTimestamp_ set to:1750271357.785083
2025-06-18T18:29:17.786Z,1750271357.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022995
2025-06-18T18:29:17.842Z,1750271357.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.99 m.
2025-06-18T18:29:17.845Z,1750271357.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.994743 m,
nav range: 108.806793 m,
bearing: 316.592581 deg,
approach rate: -0.633418 m/s,
LOS rate: 0.011599 deg/s,
cmd heading: 315.886660 deg,
new cmd heading: 315.899317 deg.
2025-06-18T18:29:17.846Z,1750271357.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513483 target range: 119.994743 and range: 121.10 m.
2025-06-18T18:29:18.037Z,1750271358.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274207
2025-06-18T18:29:18.296Z,1750271358.296 [DAT](INFO): DAT read: 18:29:18.3426 LVL= 32752, 32753, 25650, 32755, AGC= 68, IDX= 276,-0.11, 2.973, 1.669, 2.888, 2.441, PHS= 0.620,-0.724, 0.445, RAW= 143.1, -5.4, CAL= 148.7, -14.6, ROT= 1.3, 14.6
2025-06-18T18:29:18.297Z,1750271358.297 [DAT](INFO): got valid direction response:
18:29:18.3426 LVL= 32752, 32753, 25650, 32755, AGC= 68, IDX= 276,-0.11, 2.973, 1.669, 2.888, 2.441, PHS= 0.620,-0.724, 0.445, RAW= 143.1, -5.4, CAL= 148.7, -14.6, ROT= 1.3, 14.6
2025-06-18T18:29:18.298Z,1750271358.298 [DAT](INFO): DAT read: Bearing 1.3, 14.6 (Local)
2025-06-18T18:29:18.299Z,1750271358.299 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.3, 14.6 (Local)
2025-06-18T18:29:18.321Z,1750271358.321 [DAT](INFO): DAT read: Range 10 to 50 : 111.9 m (Round-trip 149.2 ms) speed 0.7 m/s
2025-06-18T18:29:18.322Z,1750271358.322 [DAT](INFO): DAT read: user:1242>
2025-06-18T18:29:18.322Z,1750271358.322 [DAT](INFO): DAT read: Tx time:18:29:19.4393
2025-06-18T18:29:18.323Z,1750271358.323 [DAT](INFO): Ping request sent.
2025-06-18T18:29:18.323Z,1750271358.323 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:29:18.323Z,1750271358.323 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:29:18.324Z,1750271358.324 [DAT](INFO): direction in FSK: [0.967460,0.021955,-0.252069]
2025-06-18T18:29:18.324Z,1750271358.324 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:18.325Z,1750271358.325 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:18.357Z,1750271358.357 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:18.357Z,1750271358.357 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:18.448Z,1750271358.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 111.900002 m,
deltaT: 14.365371 s,
deltaX: -9.199997 m,
approachRate: -0.640429 m/s,
rangeRepo size: 4
2025-06-18T18:29:18.450Z,1750271358.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 110.878525 m,
bearing: 318.271553 deg,
lat: 36.905877 deg,
lon: -122.115730 deg,
deltaT: 14.365371 s,
deltaX: -9.116219 m,
approachRate: -0.634597 m/s,
posRepo size: 4
2025-06-18T18:29:18.451Z,1750271358.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.88 m.
2025-06-18T18:29:18.458Z,1750271358.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.878525 m,
nav range: 107.649559 m,
bearing: 317.053360 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.011599 deg/s,
cmd heading: 315.899309 deg,
new cmd heading: 315.920220 deg.
2025-06-18T18:29:18.459Z,1750271358.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513848 target range: 110.878525 and range: 111.90 m.
2025-06-18T18:29:18.541Z,1750271358.541 [DAT](INFO): DAT read: TxSync time:18:29:19.4385
2025-06-18T18:29:18.750Z,1750271358.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.88 m.
2025-06-18T18:29:18.753Z,1750271358.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.878525 m,
nav range: 107.429840 m,
bearing: 317.056817 deg,
approach rate: -0.715492 m/s,
LOS rate: 0.011281 deg/s,
cmd heading: 315.920209 deg,
new cmd heading: 315.930602 deg.
2025-06-18T18:29:18.754Z,1750271358.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514029 target range: 110.878525 and range: 111.90 m.
2025-06-18T18:29:19.154Z,1750271359.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.88 m.
2025-06-18T18:29:19.177Z,1750271359.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.878525 m,
nav range: 107.177422 m,
bearing: 317.061124 deg,
approach rate: -0.625013 m/s,
LOS rate: 0.010689 deg/s,
cmd heading: 315.930591 deg,
new cmd heading: 315.943542 deg.
2025-06-18T18:29:19.178Z,1750271359.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514255 target range: 110.878525 and range: 111.90 m.
2025-06-18T18:29:19.588Z,1750271359.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:19.590Z,1750271359.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.88 m.
2025-06-18T18:29:19.593Z,1750271359.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.878525 m,
nav range: 106.903030 m,
bearing: 317.062412 deg,
approach rate: -0.629677 m/s,
LOS rate: 0.002963 deg/s,
cmd heading: 315.943541 deg,
new cmd heading: 315.947415 deg.
2025-06-18T18:29:19.594Z,1750271359.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514323 target range: 110.878525 and range: 111.90 m.
2025-06-18T18:29:19.801Z,1750271359.801 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:29:19.801Z,1750271359.801 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:29:19.801Z,1750271359.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:19.956Z,1750271359.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.88 m.
2025-06-18T18:29:19.959Z,1750271359.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.878525 m,
nav range: 106.671448 m,
bearing: 317.063652 deg,
approach rate: -0.632992 m/s,
LOS rate: 0.003395 deg/s,
cmd heading: 315.947421 deg,
new cmd heading: 315.951148 deg.
2025-06-18T18:29:19.960Z,1750271359.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514388 target range: 110.878525 and range: 111.90 m.
2025-06-18T18:29:20.053Z,1750271360.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730297
2025-06-18T18:29:20.305Z,1750271360.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981985
2025-06-18T18:29:20.401Z,1750271360.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.88 m.
2025-06-18T18:29:20.403Z,1750271360.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.878525 m,
nav range: 106.389397 m,
bearing: 317.064685 deg,
approach rate: -0.633807 m/s,
LOS rate: 0.002327 deg/s,
cmd heading: 315.951137 deg,
new cmd heading: 315.954244 deg.
2025-06-18T18:29:20.405Z,1750271360.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514442 target range: 110.878525 and range: 111.90 m.
2025-06-18T18:29:20.557Z,1750271360.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234209
2025-06-18T18:29:20.592Z,1750271360.592 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:29:20.766Z,1750271360.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.88 m.
2025-06-18T18:29:20.769Z,1750271360.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.878525 m,
nav range: 106.158432 m,
bearing: 317.065311 deg,
approach rate: -0.632938 m/s,
LOS rate: 0.001721 deg/s,
cmd heading: 315.954251 deg,
new cmd heading: 315.956135 deg.
2025-06-18T18:29:20.770Z,1750271360.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514475 target range: 110.878525 and range: 111.90 m.
2025-06-18T18:29:20.810Z,1750271360.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486371
2025-06-18T18:29:21.061Z,1750271361.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737971
2025-06-18T18:29:21.167Z,1750271361.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.88 m.
2025-06-18T18:29:21.170Z,1750271361.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.878525 m,
nav range: 105.903236 m,
bearing: 317.065828 deg,
approach rate: -0.635117 m/s,
LOS rate: 0.001288 deg/s,
cmd heading: 315.956136 deg,
new cmd heading: 315.957689 deg.
2025-06-18T18:29:21.171Z,1750271361.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514502 target range: 110.878525 and range: 111.90 m.
2025-06-18T18:29:21.313Z,1750271361.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990088
2025-06-18T18:29:21.565Z,1750271361.565 [DAT](INFO): DAT read: Rx Time:18:29:21.9897
2025-06-18T18:29:21.566Z,1750271361.566 [DAT](INFO): Rx dataTimestamp_ set to:1750271361.565441
2025-06-18T18:29:21.567Z,1750271361.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243887
2025-06-18T18:29:21.597Z,1750271361.597 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:29:21.671Z,1750271361.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:21.674Z,1750271361.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.88 m.
2025-06-18T18:29:21.677Z,1750271361.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.878525 m,
nav range: 105.580055 m,
bearing: 317.064335 deg,
approach rate: -0.638432 m/s,
LOS rate: -0.002958 deg/s,
cmd heading: 315.957693 deg,
new cmd heading: 315.953202 deg.
2025-06-18T18:29:21.678Z,1750271361.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514424 target range: 110.878525 and range: 111.90 m.
2025-06-18T18:29:21.817Z,1750271361.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494106
2025-06-18T18:29:22.040Z,1750271362.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.88 m.
2025-06-18T18:29:22.042Z,1750271362.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.878525 m,
nav range: 105.345856 m,
bearing: 317.063247 deg,
approach rate: -0.640162 m/s,
LOS rate: -0.002979 deg/s,
cmd heading: 315.953213 deg,
new cmd heading: 315.949943 deg.
2025-06-18T18:29:22.043Z,1750271362.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514367 target range: 110.878525 and range: 111.90 m.
2025-06-18T18:29:22.075Z,1750271362.075 [DAT](INFO): DAT read: 18:29:21.9897 LVL= 28176, 32753, 26274, 32755, AGC= 67, IDX= 405,-0.06, 1.714, 0.392, 1.667, 1.231, PHS= 0.571,-0.792, 0.433, RAW= 144.7, -3.3, CAL= 149.6, -12.3, ROT= 0.4, 12.3
2025-06-18T18:29:22.076Z,1750271362.076 [DAT](INFO): got valid direction response:
18:29:21.9897 LVL= 28176, 32753, 26274, 32755, AGC= 67, IDX= 405,-0.06, 1.714, 0.392, 1.667, 1.231, PHS= 0.571,-0.792, 0.433, RAW= 144.7, -3.3, CAL= 149.6, -12.3, ROT= 0.4, 12.3
2025-06-18T18:29:22.077Z,1750271362.077 [DAT](INFO): DAT read: Bearing 0.4, 12.3 (Local)
2025-06-18T18:29:22.077Z,1750271362.077 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.4, 12.3 (Local)
2025-06-18T18:29:22.079Z,1750271362.079 [DAT](INFO): DAT read: Range 10 to 50 : 109.5 m (Round-trip 146.1 ms) speed 0.1 m/s
2025-06-18T18:29:22.080Z,1750271362.080 [DAT](INFO): DAT read: user:1243>
2025-06-18T18:29:22.081Z,1750271362.081 [DAT](INFO): DAT read: Tx time:18:29:23.0894
2025-06-18T18:29:22.081Z,1750271362.081 [DAT](INFO): Ping request sent.
2025-06-18T18:29:22.081Z,1750271362.081 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:29:22.081Z,1750271362.081 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:29:22.082Z,1750271362.082 [DAT](INFO): direction in FSK: [0.977022,0.006821,-0.213030]
2025-06-18T18:29:22.082Z,1750271362.082 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:22.083Z,1750271362.083 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:22.090Z,1750271362.090 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:22.090Z,1750271362.090 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:22.321Z,1750271362.321 [DAT](INFO): DAT read: TxSync time:18:29:23.0886
2025-06-18T18:29:22.531Z,1750271362.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 109.500000 m,
deltaT: 3.778755 s,
deltaX: -2.400002 m,
approachRate: -0.635130 m/s,
rangeRepo size: 4
2025-06-18T18:29:22.534Z,1750271362.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 108.500526 m,
bearing: 317.291111 deg,
lat: 36.905888 deg,
lon: -122.115736 deg,
deltaT: 3.778755 s,
deltaX: -2.377998 m,
approachRate: -0.629307 m/s,
posRepo size: 4
2025-06-18T18:29:22.535Z,1750271362.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-18T18:29:22.538Z,1750271362.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.500526 m,
nav range: 106.293831 m,
bearing: 317.291485 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002979 deg/s,
cmd heading: 315.949934 deg,
new cmd heading: 315.945544 deg.
2025-06-18T18:29:22.539Z,1750271362.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514290 target range: 108.500526 and range: 109.50 m.
2025-06-18T18:29:22.867Z,1750271362.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-18T18:29:22.871Z,1750271362.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.500526 m,
nav range: 106.075157 m,
bearing: 317.289537 deg,
approach rate: -0.651016 m/s,
LOS rate: -0.005812 deg/s,
cmd heading: 315.945536 deg,
new cmd heading: 315.939680 deg.
2025-06-18T18:29:22.889Z,1750271362.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514188 target range: 108.500526 and range: 109.50 m.
2025-06-18T18:29:23.362Z,1750271363.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-18T18:29:23.369Z,1750271363.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.500526 m,
nav range: 105.765060 m,
bearing: 317.288676 deg,
approach rate: -0.625455 m/s,
LOS rate: -0.001743 deg/s,
cmd heading: 315.939689 deg,
new cmd heading: 315.937097 deg.
2025-06-18T18:29:23.370Z,1750271363.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514143 target range: 108.500526 and range: 109.50 m.
2025-06-18T18:29:23.673Z,1750271363.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:23.675Z,1750271363.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-18T18:29:23.698Z,1750271363.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.500526 m,
nav range: 105.549568 m,
bearing: 317.287978 deg,
approach rate: -0.690065 m/s,
LOS rate: -0.002240 deg/s,
cmd heading: 315.937094 deg,
new cmd heading: 315.934995 deg.
2025-06-18T18:29:23.701Z,1750271363.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514106 target range: 108.500526 and range: 109.50 m.
2025-06-18T18:29:23.833Z,1750271363.833 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:29:23.833Z,1750271363.833 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:29:23.833Z,1750271363.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:24.072Z,1750271364.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-18T18:29:24.075Z,1750271364.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.500526 m,
nav range: 105.291229 m,
bearing: 317.286949 deg,
approach rate: -0.650233 m/s,
LOS rate: -0.002597 deg/s,
cmd heading: 315.934990 deg,
new cmd heading: 315.931895 deg.
2025-06-18T18:29:24.076Z,1750271364.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514052 target range: 108.500526 and range: 109.50 m.
2025-06-18T18:29:24.085Z,1750271364.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003913
2025-06-18T18:29:24.339Z,1750271364.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258062
2025-06-18T18:29:24.536Z,1750271364.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-18T18:29:24.539Z,1750271364.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.500526 m,
nav range: 105.008568 m,
bearing: 317.286207 deg,
approach rate: -0.609191 m/s,
LOS rate: -0.001603 deg/s,
cmd heading: 315.931903 deg,
new cmd heading: 315.929671 deg.
2025-06-18T18:29:24.540Z,1750271364.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514013 target range: 108.500526 and range: 109.50 m.
2025-06-18T18:29:24.590Z,1750271364.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508404
2025-06-18T18:29:24.841Z,1750271364.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759914
2025-06-18T18:29:24.912Z,1750271364.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-18T18:29:24.914Z,1750271364.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.500526 m,
nav range: 104.769554 m,
bearing: 317.285312 deg,
approach rate: -0.672789 m/s,
LOS rate: -0.002524 deg/s,
cmd heading: 315.929662 deg,
new cmd heading: 315.926973 deg.
2025-06-18T18:29:24.915Z,1750271364.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513966 target range: 108.500526 and range: 109.50 m.
2025-06-18T18:29:25.093Z,1750271365.093 [DAT](INFO): DAT read: Rx Time:18:29:25.6367
2025-06-18T18:29:25.093Z,1750271365.093 [DAT](INFO): Rx dataTimestamp_ set to:1750271365.093057
2025-06-18T18:29:25.094Z,1750271365.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012965
2025-06-18T18:29:25.346Z,1750271365.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264620
2025-06-18T18:29:25.362Z,1750271365.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-18T18:29:25.369Z,1750271365.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.500526 m,
nav range: 104.483757 m,
bearing: 317.284097 deg,
approach rate: -0.607639 m/s,
LOS rate: -0.002589 deg/s,
cmd heading: 315.926985 deg,
new cmd heading: 315.923331 deg.
2025-06-18T18:29:25.370Z,1750271365.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513902 target range: 108.500526 and range: 109.50 m.
2025-06-18T18:29:25.603Z,1750271365.603 [DAT](INFO): DAT read: 18:29:25.6367 LVL= 32752, 32753, 30354, 32755, AGC= 71, IDX= 405, 0.34,-1.571,-2.932,-1.586,-2.063, PHS= 0.580,-0.823, 0.474, RAW= 146.1, -3.5, CAL= 150.8, -12.4, ROT= 359.2, 12.4
2025-06-18T18:29:25.605Z,1750271365.605 [DAT](INFO): got valid direction response:
18:29:25.6367 LVL= 32752, 32753, 30354, 32755, AGC= 71, IDX= 405, 0.34,-1.571,-2.932,-1.586,-2.063, PHS= 0.580,-0.823, 0.474, RAW= 146.1, -3.5, CAL= 150.8, -12.4, ROT= 359.2, 12.4
2025-06-18T18:29:25.606Z,1750271365.606 [DAT](INFO): DAT read: Bearing 359.2, 12.4 (Local)
2025-06-18T18:29:25.607Z,1750271365.607 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.2, 12.4 (Local)
2025-06-18T18:29:25.609Z,1750271365.609 [DAT](INFO): DAT read: Range 10 to 50 : 107.3 m (Round-trip 143.1 ms) speed 0.5 m/s
2025-06-18T18:29:25.610Z,1750271365.610 [DAT](INFO): DAT read: user:1244>
2025-06-18T18:29:25.611Z,1750271365.611 [DAT](INFO): DAT read: Tx time:18:29:26.7394
2025-06-18T18:29:25.614Z,1750271365.614 [DAT](INFO): Ping request sent.
2025-06-18T18:29:25.615Z,1750271365.615 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:29:25.617Z,1750271365.617 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:29:25.619Z,1750271365.619 [DAT](INFO): direction in FSK: [0.976577,-0.013636,-0.214735]
2025-06-18T18:29:25.619Z,1750271365.619 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:25.619Z,1750271365.619 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:25.623Z,1750271365.623 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:25.623Z,1750271365.623 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:25.802Z,1750271365.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 107.300003 m,
deltaT: 3.528465 s,
deltaX: -2.199997 m,
approachRate: -0.623500 m/s,
rangeRepo size: 4
2025-06-18T18:29:25.813Z,1750271365.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 106.320587 m,
bearing: 316.393484 deg,
lat: 36.905888 deg,
lon: -122.115736 deg,
deltaT: 3.528465 s,
deltaX: -2.179939 m,
approachRate: -0.617815 m/s,
posRepo size: 4
2025-06-18T18:29:25.814Z,1750271365.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:25.817Z,1750271365.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 104.198151 m,
bearing: 317.287959 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002589 deg/s,
cmd heading: 315.923324 deg,
new cmd heading: 315.919908 deg.
2025-06-18T18:29:25.818Z,1750271365.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513843 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:25.849Z,1750271365.849 [DAT](INFO): DAT read: TxSync time:18:29:26.7386
2025-06-18T18:29:26.107Z,1750271366.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:26.109Z,1750271366.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:26.112Z,1750271366.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 103.994576 m,
bearing: 317.290682 deg,
approach rate: -0.661431 m/s,
LOS rate: 0.008864 deg/s,
cmd heading: 315.919909 deg,
new cmd heading: 315.928093 deg.
2025-06-18T18:29:26.113Z,1750271366.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513986 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:26.359Z,1750271366.359 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:29:26.359Z,1750271366.359 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:29:26.360Z,1750271366.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:26.543Z,1750271366.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:26.546Z,1750271366.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 103.717079 m,
bearing: 317.295408 deg,
approach rate: -0.639123 m/s,
LOS rate: 0.010915 deg/s,
cmd heading: 315.928105 deg,
new cmd heading: 315.942322 deg.
2025-06-18T18:29:26.547Z,1750271366.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514234 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:26.610Z,1750271366.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998447
2025-06-18T18:29:26.861Z,1750271366.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249163
2025-06-18T18:29:26.926Z,1750271366.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:26.928Z,1750271366.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 103.473625 m,
bearing: 317.299855 deg,
approach rate: -0.636832 m/s,
LOS rate: 0.011661 deg/s,
cmd heading: 315.942312 deg,
new cmd heading: 315.955685 deg.
2025-06-18T18:29:26.929Z,1750271366.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514467 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:27.116Z,1750271367.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503876
2025-06-18T18:29:27.368Z,1750271367.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755424
2025-06-18T18:29:27.388Z,1750271367.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:27.391Z,1750271367.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 103.189766 m,
bearing: 317.305013 deg,
approach rate: -0.619084 m/s,
LOS rate: 0.011281 deg/s,
cmd heading: 315.955672 deg,
new cmd heading: 315.971189 deg.
2025-06-18T18:29:27.396Z,1750271367.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514738 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:27.618Z,1750271367.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005699
2025-06-18T18:29:27.746Z,1750271367.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:27.749Z,1750271367.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 102.953735 m,
bearing: 317.311566 deg,
approach rate: -0.652285 m/s,
LOS rate: 0.018150 deg/s,
cmd heading: 315.971190 deg,
new cmd heading: 315.990892 deg.
2025-06-18T18:29:27.750Z,1750271367.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515081 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:27.870Z,1750271367.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257477
2025-06-18T18:29:28.121Z,1750271368.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509173
2025-06-18T18:29:28.125Z,1750271368.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:28.130Z,1750271368.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:28.135Z,1750271368.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 102.714104 m,
bearing: 317.317779 deg,
approach rate: -0.624923 m/s,
LOS rate: 0.016241 deg/s,
cmd heading: 315.990888 deg,
new cmd heading: 316.009572 deg.
2025-06-18T18:29:28.138Z,1750271368.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515408 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:28.375Z,1750271368.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763200
2025-06-18T18:29:28.557Z,1750271368.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:28.577Z,1750271368.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 102.453087 m,
bearing: 317.326434 deg,
approach rate: -0.610136 m/s,
LOS rate: 0.020283 deg/s,
cmd heading: 316.009576 deg,
new cmd heading: 316.035606 deg.
2025-06-18T18:29:28.578Z,1750271368.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515862 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:28.626Z,1750271368.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014168
2025-06-18T18:29:28.877Z,1750271368.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265561
2025-06-18T18:29:28.938Z,1750271368.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:28.942Z,1750271368.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 102.223053 m,
bearing: 317.334042 deg,
approach rate: -0.603814 m/s,
LOS rate: 0.020016 deg/s,
cmd heading: 316.035612 deg,
new cmd heading: 316.058488 deg.
2025-06-18T18:29:28.943Z,1750271368.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516261 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:29.129Z,1750271369.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517150
2025-06-18T18:29:29.384Z,1750271369.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771710
2025-06-18T18:29:29.408Z,1750271369.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:29.411Z,1750271369.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 101.964050 m,
bearing: 317.342690 deg,
approach rate: -0.556007 m/s,
LOS rate: 0.018611 deg/s,
cmd heading: 316.058480 deg,
new cmd heading: 316.084489 deg.
2025-06-18T18:29:29.416Z,1750271369.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516715 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:29.633Z,1750271369.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021439
2025-06-18T18:29:29.834Z,1750271369.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:29.839Z,1750271369.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 101.687523 m,
bearing: 317.354505 deg,
approach rate: -0.642961 m/s,
LOS rate: 0.027545 deg/s,
cmd heading: 316.084489 deg,
new cmd heading: 316.120030 deg.
2025-06-18T18:29:29.840Z,1750271369.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517335 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:29.885Z,1750271369.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273624
2025-06-18T18:29:30.137Z,1750271370.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525274
2025-06-18T18:29:30.171Z,1750271370.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:30.173Z,1750271370.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:30.176Z,1750271370.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 101.485985 m,
bearing: 317.363156 deg,
approach rate: -0.594176 m/s,
LOS rate: 0.025556 deg/s,
cmd heading: 316.120033 deg,
new cmd heading: 316.146038 deg.
2025-06-18T18:29:30.177Z,1750271370.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517789 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:30.394Z,1750271370.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781189
2025-06-18T18:29:30.601Z,1750271370.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:30.604Z,1750271370.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 101.224510 m,
bearing: 317.374804 deg,
approach rate: -0.610668 m/s,
LOS rate: 0.027275 deg/s,
cmd heading: 316.146043 deg,
new cmd heading: 316.181079 deg.
2025-06-18T18:29:30.605Z,1750271370.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518401 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:30.641Z,1750271370.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029280
2025-06-18T18:29:30.894Z,1750271370.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281689
2025-06-18T18:29:30.988Z,1750271370.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:30.991Z,1750271370.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 100.996216 m,
bearing: 317.385241 deg,
approach rate: -0.590861 m/s,
LOS rate: 0.027072 deg/s,
cmd heading: 316.181068 deg,
new cmd heading: 316.212448 deg.
2025-06-18T18:29:30.992Z,1750271370.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518949 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:31.145Z,1750271371.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533026
2025-06-18T18:29:31.399Z,1750271371.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787267
2025-06-18T18:29:31.433Z,1750271371.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:31.435Z,1750271371.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 100.757759 m,
bearing: 317.396385 deg,
approach rate: -0.536228 m/s,
LOS rate: 0.025119 deg/s,
cmd heading: 316.212460 deg,
new cmd heading: 316.245971 deg.
2025-06-18T18:29:31.442Z,1750271371.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519534 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:31.649Z,1750271371.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037062
2025-06-18T18:29:31.798Z,1750271371.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:31.805Z,1750271371.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 100.512199 m,
bearing: 317.409012 deg,
approach rate: -0.671044 m/s,
LOS rate: 0.034592 deg/s,
cmd heading: 316.245982 deg,
new cmd heading: 316.283958 deg.
2025-06-18T18:29:31.806Z,1750271371.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520196 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:31.901Z,1750271371.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289333
2025-06-18T18:29:32.153Z,1750271372.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541074
2025-06-18T18:29:32.165Z,1750271372.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:32.168Z,1750271372.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 100.280846 m,
bearing: 317.421094 deg,
approach rate: -0.630612 m/s,
LOS rate: 0.033008 deg/s,
cmd heading: 316.283958 deg,
new cmd heading: 316.320287 deg.
2025-06-18T18:29:32.169Z,1750271372.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520831 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:32.410Z,1750271372.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795806
2025-06-18T18:29:32.591Z,1750271372.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:32.594Z,1750271372.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:32.597Z,1750271372.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 100.019455 m,
bearing: 317.433984 deg,
approach rate: -0.610159 m/s,
LOS rate: 0.030166 deg/s,
cmd heading: 316.320295 deg,
new cmd heading: 316.359063 deg.
2025-06-18T18:29:32.598Z,1750271372.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521507 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:32.659Z,1750271372.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046841
2025-06-18T18:29:32.909Z,1750271372.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297103
2025-06-18T18:29:32.996Z,1750271372.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:32.998Z,1750271372.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 99.783401 m,
bearing: 317.445748 deg,
approach rate: -0.611715 m/s,
LOS rate: 0.030559 deg/s,
cmd heading: 316.359063 deg,
new cmd heading: 316.394440 deg.
2025-06-18T18:29:32.999Z,1750271372.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522125 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:33.161Z,1750271373.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549011
2025-06-18T18:29:33.417Z,1750271373.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.804818
2025-06-18T18:29:33.462Z,1750271373.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:33.469Z,1750271373.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 99.520355 m,
bearing: 317.458924 deg,
approach rate: -0.544865 m/s,
LOS rate: 0.027365 deg/s,
cmd heading: 316.394443 deg,
new cmd heading: 316.434076 deg.
2025-06-18T18:29:33.470Z,1750271373.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522817 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:33.665Z,1750271373.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.053125
2025-06-18T18:29:33.832Z,1750271373.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:33.835Z,1750271373.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 99.256111 m,
bearing: 317.469589 deg,
approach rate: -0.715566 m/s,
LOS rate: 0.028956 deg/s,
cmd heading: 316.434086 deg,
new cmd heading: 316.466164 deg.
2025-06-18T18:29:33.836Z,1750271373.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523376 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:33.918Z,1750271373.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.306122
2025-06-18T18:29:34.169Z,1750271374.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557131
2025-06-18T18:29:34.197Z,1750271374.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:34.206Z,1750271374.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 99.027008 m,
bearing: 317.478975 deg,
approach rate: -0.627166 m/s,
LOS rate: 0.025753 deg/s,
cmd heading: 316.466160 deg,
new cmd heading: 316.494383 deg.
2025-06-18T18:29:34.207Z,1750271374.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523869 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:34.424Z,1750271374.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.811894
2025-06-18T18:29:34.611Z,1750271374.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:34.646Z,1750271374.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:34.654Z,1750271374.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 98.765343 m,
bearing: 317.486142 deg,
approach rate: -0.588218 m/s,
LOS rate: 0.016156 deg/s,
cmd heading: 316.494382 deg,
new cmd heading: 316.515942 deg.
2025-06-18T18:29:34.655Z,1750271374.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524245 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:34.673Z,1750271374.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.061170
2025-06-18T18:29:34.926Z,1750271374.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314516
2025-06-18T18:29:34.997Z,1750271374.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:35.000Z,1750271375.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 98.526657 m,
bearing: 317.492575 deg,
approach rate: -0.671631 m/s,
LOS rate: 0.018146 deg/s,
cmd heading: 316.515939 deg,
new cmd heading: 316.535285 deg.
2025-06-18T18:29:35.001Z,1750271375.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524583 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:35.177Z,1750271375.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.565071
2025-06-18T18:29:35.418Z,1750271375.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:35.427Z,1750271375.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 98.258339 m,
bearing: 317.499845 deg,
approach rate: -0.637217 m/s,
LOS rate: 0.017310 deg/s,
cmd heading: 316.535282 deg,
new cmd heading: 316.557149 deg.
2025-06-18T18:29:35.431Z,1750271375.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.818945
2025-06-18T18:29:35.435Z,1750271375.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524964 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:35.683Z,1750271375.683 [DAT](INFO): Reached modem response timeout
2025-06-18T18:29:35.684Z,1750271375.684 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:29:35.684Z,1750271375.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:35.845Z,1750271375.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:35.847Z,1750271375.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 97.981819 m,
bearing: 317.505048 deg,
approach rate: -0.648391 m/s,
LOS rate: 0.012236 deg/s,
cmd heading: 316.557138 deg,
new cmd heading: 316.572793 deg.
2025-06-18T18:29:35.853Z,1750271375.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525238 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:35.933Z,1750271375.933 [DAT](INFO): Reached modem response timeout
2025-06-18T18:29:35.933Z,1750271375.933 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:29:35.934Z,1750271375.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:36.184Z,1750271376.184 [DAT](INFO): Reached modem response timeout
2025-06-18T18:29:36.185Z,1750271376.185 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:29:36.185Z,1750271376.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:36.214Z,1750271376.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:36.217Z,1750271376.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 97.737068 m,
bearing: 317.509571 deg,
approach rate: -0.662124 m/s,
LOS rate: 0.012265 deg/s,
cmd heading: 316.572793 deg,
new cmd heading: 316.586394 deg.
2025-06-18T18:29:36.218Z,1750271376.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525475 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:36.437Z,1750271376.437 [DAT](INFO): Reached modem response timeout
2025-06-18T18:29:36.438Z,1750271376.438 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:29:36.438Z,1750271376.438 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:36.634Z,1750271376.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:36.636Z,1750271376.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:36.639Z,1750271376.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 97.458733 m,
bearing: 317.508036 deg,
approach rate: -0.660433 m/s,
LOS rate: -0.003651 deg/s,
cmd heading: 316.586399 deg,
new cmd heading: 316.581782 deg.
2025-06-18T18:29:36.640Z,1750271376.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525394 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:36.689Z,1750271376.689 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:29:36.690Z,1750271376.690 [DAT](INFO): response not received
2025-06-18T18:29:36.690Z,1750271376.690 [DAT](INFO): DAT read: user:1245>
2025-06-18T18:29:36.691Z,1750271376.691 [DAT](INFO): DAT read: Tx time:18:29:37.6895
2025-06-18T18:29:36.691Z,1750271376.691 [DAT](INFO): Ping request sent.
2025-06-18T18:29:36.691Z,1750271376.691 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:29:36.691Z,1750271376.691 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:36.692Z,1750271376.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000881
2025-06-18T18:29:36.941Z,1750271376.941 [DAT](INFO): DAT read: TxSync time:18:29:37.6887
2025-06-18T18:29:36.942Z,1750271376.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250594
2025-06-18T18:29:37.021Z,1750271377.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:37.023Z,1750271377.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 97.203934 m,
bearing: 317.506767 deg,
approach rate: -0.662166 m/s,
LOS rate: -0.003307 deg/s,
cmd heading: 316.581782 deg,
new cmd heading: 316.577964 deg.
2025-06-18T18:29:37.025Z,1750271377.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525328 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:37.196Z,1750271377.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504767
2025-06-18T18:29:37.416Z,1750271377.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:37.419Z,1750271377.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 96.942680 m,
bearing: 317.505759 deg,
approach rate: -0.661289 m/s,
LOS rate: -0.002557 deg/s,
cmd heading: 316.577957 deg,
new cmd heading: 316.574926 deg.
2025-06-18T18:29:37.420Z,1750271377.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525275 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:37.445Z,1750271377.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753805
2025-06-18T18:29:37.697Z,1750271377.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005648
2025-06-18T18:29:37.844Z,1750271377.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:37.847Z,1750271377.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 96.652634 m,
bearing: 317.504024 deg,
approach rate: -0.677216 m/s,
LOS rate: -0.004065 deg/s,
cmd heading: 316.574924 deg,
new cmd heading: 316.569701 deg.
2025-06-18T18:29:37.848Z,1750271377.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525184 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:37.949Z,1750271377.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257790
2025-06-18T18:29:38.201Z,1750271378.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509806
2025-06-18T18:29:38.246Z,1750271378.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:38.249Z,1750271378.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 96.380356 m,
bearing: 317.502385 deg,
approach rate: -0.677510 m/s,
LOS rate: -0.004089 deg/s,
cmd heading: 316.569706 deg,
new cmd heading: 316.564775 deg.
2025-06-18T18:29:38.250Z,1750271378.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525098 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:38.454Z,1750271378.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762782
2025-06-18T18:29:38.660Z,1750271378.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:38.662Z,1750271378.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:38.681Z,1750271378.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 96.102570 m,
bearing: 317.498983 deg,
approach rate: -0.666824 m/s,
LOS rate: -0.008190 deg/s,
cmd heading: 316.564788 deg,
new cmd heading: 316.554553 deg.
2025-06-18T18:29:38.682Z,1750271378.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524919 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:38.705Z,1750271378.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014058
2025-06-18T18:29:38.957Z,1750271378.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265755
2025-06-18T18:29:39.052Z,1750271379.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:39.055Z,1750271379.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 95.841736 m,
bearing: 317.495771 deg,
approach rate: -0.670038 m/s,
LOS rate: -0.008274 deg/s,
cmd heading: 316.554543 deg,
new cmd heading: 316.544880 deg.
2025-06-18T18:29:39.056Z,1750271379.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524750 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:39.209Z,1750271379.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517661
2025-06-18T18:29:39.462Z,1750271379.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770674
2025-06-18T18:29:39.469Z,1750271379.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:39.471Z,1750271379.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 95.573845 m,
bearing: 317.492475 deg,
approach rate: -0.642377 m/s,
LOS rate: -0.007925 deg/s,
cmd heading: 316.544871 deg,
new cmd heading: 316.534956 deg.
2025-06-18T18:29:39.477Z,1750271379.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524577 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:39.713Z,1750271379.713 [DAT](INFO): DAT read: Rx Time:18:29:40.2245
2025-06-18T18:29:39.713Z,1750271379.713 [DAT](INFO): Rx dataTimestamp_ set to:1750271379.713042
2025-06-18T18:29:39.714Z,1750271379.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022775
2025-06-18T18:29:39.869Z,1750271379.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:29:39.873Z,1750271379.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.320587 m,
nav range: 95.300346 m,
bearing: 317.485610 deg,
approach rate: -0.684448 m/s,
LOS rate: -0.017231 deg/s,
cmd heading: 316.534954 deg,
new cmd heading: 316.514298 deg.
2025-06-18T18:29:39.875Z,1750271379.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524217 target range: 106.320587 and range: 107.30 m.
2025-06-18T18:29:39.965Z,1750271379.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273828
2025-06-18T18:29:40.223Z,1750271380.223 [DAT](INFO): DAT read: 18:29:40.2245 LVL= 29328, 29857, 28786, 32755, AGC= 71, IDX= 279,-0.01, 1.064,-0.337, 1.032, 0.585, PHS= 0.567,-0.875, 0.443, RAW= 145.6, -2.0, CAL= 149.9, -11.0, ROT= 0.1, 11.0
2025-06-18T18:29:40.224Z,1750271380.224 [DAT](INFO): got valid direction response:
18:29:40.2245 LVL= 29328, 29857, 28786, 32755, AGC= 71, IDX= 279,-0.01, 1.064,-0.337, 1.032, 0.585, PHS= 0.567,-0.875, 0.443, RAW= 145.6, -2.0, CAL= 149.9, -11.0, ROT= 0.1, 11.0
2025-06-18T18:29:40.225Z,1750271380.225 [DAT](INFO): DAT read: Bearing 0.1, 11.0 (Local)
2025-06-18T18:29:40.225Z,1750271380.225 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.1, 11.0 (Local)
2025-06-18T18:29:40.227Z,1750271380.227 [DAT](INFO): DAT read: Range 10 to 50 : 98.0 m (Round-trip 130.7 ms) speed 0.4 m/s
2025-06-18T18:29:40.228Z,1750271380.228 [DAT](INFO): DAT read: user:1246>
2025-06-18T18:29:40.228Z,1750271380.228 [DAT](INFO): DAT read: Tx time:18:29:41.3396
2025-06-18T18:29:40.229Z,1750271380.229 [DAT](INFO): Ping request sent.
2025-06-18T18:29:40.229Z,1750271380.229 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:29:40.229Z,1750271380.229 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:29:40.230Z,1750271380.230 [DAT](INFO): direction in FSK: [0.981626,0.001713,-0.190809]
2025-06-18T18:29:40.230Z,1750271380.230 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:40.231Z,1750271380.231 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:40.247Z,1750271380.247 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:40.247Z,1750271380.247 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:40.335Z,1750271380.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 98.000000 m,
deltaT: 14.619477 s,
deltaX: -9.300003 m,
approachRate: -0.636138 m/s,
rangeRepo size: 4
2025-06-18T18:29:40.349Z,1750271380.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 97.105133 m,
bearing: 317.420472 deg,
lat: 36.905888 deg,
lon: -122.115736 deg,
deltaT: 14.619477 s,
deltaX: -9.215454 m,
approachRate: -0.630355 m/s,
posRepo size: 4
2025-06-18T18:29:40.350Z,1750271380.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:40.357Z,1750271380.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 95.007484 m,
bearing: 317.479391 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.017231 deg/s,
cmd heading: 316.514299 deg,
new cmd heading: 316.490216 deg.
2025-06-18T18:29:40.358Z,1750271380.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523796 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:40.469Z,1750271380.469 [DAT](INFO): DAT read: TxSync time:18:29:41.3388
2025-06-18T18:29:40.711Z,1750271380.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:40.714Z,1750271380.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:40.721Z,1750271380.721 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:29:40.721Z,1750271380.721 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:29:40.721Z,1750271380.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:40.728Z,1750271380.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 94.756493 m,
bearing: 317.472322 deg,
approach rate: -0.661553 m/s,
LOS rate: -0.018680 deg/s,
cmd heading: 316.490202 deg,
new cmd heading: 316.468940 deg.
2025-06-18T18:29:40.729Z,1750271380.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523425 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:40.973Z,1750271380.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743865
2025-06-18T18:29:41.075Z,1750271381.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:41.077Z,1750271381.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 94.521980 m,
bearing: 317.465978 deg,
approach rate: -0.649692 m/s,
LOS rate: -0.017619 deg/s,
cmd heading: 316.468947 deg,
new cmd heading: 316.449867 deg.
2025-06-18T18:29:41.078Z,1750271381.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523092 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:41.225Z,1750271381.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995970
2025-06-18T18:29:41.460Z,1750271381.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:41.463Z,1750271381.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 94.277206 m,
bearing: 317.459284 deg,
approach rate: -0.634409 m/s,
LOS rate: -0.017393 deg/s,
cmd heading: 316.449877 deg,
new cmd heading: 316.429744 deg.
2025-06-18T18:29:41.477Z,1750271381.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247955
2025-06-18T18:29:41.481Z,1750271381.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522741 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:41.729Z,1750271381.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500319
2025-06-18T18:29:41.919Z,1750271381.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:41.922Z,1750271381.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 93.981483 m,
bearing: 317.455280 deg,
approach rate: -0.644579 m/s,
LOS rate: -0.008755 deg/s,
cmd heading: 316.429742 deg,
new cmd heading: 316.417691 deg.
2025-06-18T18:29:41.923Z,1750271381.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522531 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:41.981Z,1750271381.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752470
2025-06-18T18:29:42.233Z,1750271382.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003858
2025-06-18T18:29:42.269Z,1750271382.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:42.292Z,1750271382.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 93.756088 m,
bearing: 317.451439 deg,
approach rate: -0.644447 m/s,
LOS rate: -0.011008 deg/s,
cmd heading: 316.417693 deg,
new cmd heading: 316.406143 deg.
2025-06-18T18:29:42.293Z,1750271382.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522329 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:42.485Z,1750271382.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256346
2025-06-18T18:29:42.706Z,1750271382.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:42.709Z,1750271382.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 93.486305 m,
bearing: 317.445391 deg,
approach rate: -0.617093 m/s,
LOS rate: -0.013876 deg/s,
cmd heading: 316.406136 deg,
new cmd heading: 316.387938 deg.
2025-06-18T18:29:42.710Z,1750271382.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522011 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:42.737Z,1750271382.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508020
2025-06-18T18:29:42.989Z,1750271382.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760025
2025-06-18T18:29:43.149Z,1750271383.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:43.151Z,1750271383.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:43.154Z,1750271383.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 93.212021 m,
bearing: 317.438770 deg,
approach rate: -0.616588 m/s,
LOS rate: -0.014928 deg/s,
cmd heading: 316.387941 deg,
new cmd heading: 316.368020 deg.
2025-06-18T18:29:43.155Z,1750271383.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521664 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:43.242Z,1750271383.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012860
2025-06-18T18:29:43.489Z,1750271383.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:43.493Z,1750271383.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264089
2025-06-18T18:29:43.493Z,1750271383.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 93.003189 m,
bearing: 317.433537 deg,
approach rate: -0.617946 m/s,
LOS rate: -0.015520 deg/s,
cmd heading: 316.368024 deg,
new cmd heading: 316.352290 deg.
2025-06-18T18:29:43.494Z,1750271383.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521389 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:43.745Z,1750271383.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515863
2025-06-18T18:29:43.954Z,1750271383.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:43.961Z,1750271383.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 92.741386 m,
bearing: 317.432242 deg,
approach rate: -0.562483 m/s,
LOS rate: -0.002791 deg/s,
cmd heading: 316.352287 deg,
new cmd heading: 316.348391 deg.
2025-06-18T18:29:43.962Z,1750271383.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521321 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:43.997Z,1750271383.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768027
2025-06-18T18:29:44.249Z,1750271384.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019955
2025-06-18T18:29:44.334Z,1750271384.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:44.341Z,1750271384.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 92.504829 m,
bearing: 317.430934 deg,
approach rate: -0.623322 m/s,
LOS rate: -0.003455 deg/s,
cmd heading: 316.348380 deg,
new cmd heading: 316.344447 deg.
2025-06-18T18:29:44.342Z,1750271384.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521252 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:44.501Z,1750271384.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271821
2025-06-18T18:29:44.698Z,1750271384.698 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -94.49,61.19, - 7.58, 0.00
2025-06-18T18:29:44.714Z,1750271384.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:44.716Z,1750271384.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 92.273491 m,
bearing: 317.429617 deg,
approach rate: -0.609380 m/s,
LOS rate: -0.003476 deg/s,
cmd heading: 316.344446 deg,
new cmd heading: 316.340487 deg.
2025-06-18T18:29:44.717Z,1750271384.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521183 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:44.753Z,1750271384.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524272
2025-06-18T18:29:45.005Z,1750271385.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776081
2025-06-18T18:29:45.120Z,1750271385.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:45.123Z,1750271385.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 92.031403 m,
bearing: 317.428233 deg,
approach rate: -0.595785 m/s,
LOS rate: -0.003416 deg/s,
cmd heading: 316.340485 deg,
new cmd heading: 316.336320 deg.
2025-06-18T18:29:45.144Z,1750271385.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521111 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:45.257Z,1750271385.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028566
2025-06-18T18:29:45.509Z,1750271385.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279976
2025-06-18T18:29:45.526Z,1750271385.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:45.539Z,1750271385.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:45.542Z,1750271385.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 91.800354 m,
bearing: 317.427253 deg,
approach rate: -0.566126 m/s,
LOS rate: -0.002406 deg/s,
cmd heading: 316.336332 deg,
new cmd heading: 316.333385 deg.
2025-06-18T18:29:45.543Z,1750271385.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521059 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:45.761Z,1750271385.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531954
2025-06-18T18:29:45.939Z,1750271385.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:45.942Z,1750271385.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 91.549500 m,
bearing: 317.436252 deg,
approach rate: -0.610084 m/s,
LOS rate: 0.021945 deg/s,
cmd heading: 316.333381 deg,
new cmd heading: 316.360451 deg.
2025-06-18T18:29:45.943Z,1750271385.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521532 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:46.013Z,1750271386.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784013
2025-06-18T18:29:46.265Z,1750271386.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035885
2025-06-18T18:29:46.314Z,1750271386.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:46.316Z,1750271386.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 91.332230 m,
bearing: 317.444342 deg,
approach rate: -0.580402 m/s,
LOS rate: 0.021663 deg/s,
cmd heading: 316.360456 deg,
new cmd heading: 316.384784 deg.
2025-06-18T18:29:46.317Z,1750271386.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521956 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:46.517Z,1750271386.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287937
2025-06-18T18:29:46.746Z,1750271386.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:46.748Z,1750271386.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 91.073921 m,
bearing: 317.455072 deg,
approach rate: -0.597868 m/s,
LOS rate: 0.024906 deg/s,
cmd heading: 316.384772 deg,
new cmd heading: 316.417054 deg.
2025-06-18T18:29:46.749Z,1750271386.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522520 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:46.769Z,1750271386.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539928
2025-06-18T18:29:47.021Z,1750271387.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792169
2025-06-18T18:29:47.128Z,1750271387.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:47.131Z,1750271387.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 90.845497 m,
bearing: 317.465155 deg,
approach rate: -0.597428 m/s,
LOS rate: 0.026437 deg/s,
cmd heading: 316.417065 deg,
new cmd heading: 316.447388 deg.
2025-06-18T18:29:47.132Z,1750271387.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523049 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:47.273Z,1750271387.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043927
2025-06-18T18:29:47.520Z,1750271387.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:47.523Z,1750271387.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 90.611603 m,
bearing: 317.475725 deg,
approach rate: -0.596604 m/s,
LOS rate: 0.027032 deg/s,
cmd heading: 316.447391 deg,
new cmd heading: 316.479184 deg.
2025-06-18T18:29:47.525Z,1750271387.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.296033
2025-06-18T18:29:47.526Z,1750271387.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523604 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:47.777Z,1750271387.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.547901
2025-06-18T18:29:47.945Z,1750271387.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:47.947Z,1750271387.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:47.950Z,1750271387.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 90.358414 m,
bearing: 317.493555 deg,
approach rate: -0.593146 m/s,
LOS rate: 0.041886 deg/s,
cmd heading: 316.479192 deg,
new cmd heading: 316.532830 deg.
2025-06-18T18:29:47.951Z,1750271387.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524540 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:48.030Z,1750271388.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800903
2025-06-18T18:29:48.281Z,1750271388.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051873
2025-06-18T18:29:48.351Z,1750271388.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:48.354Z,1750271388.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 90.118484 m,
bearing: 317.510633 deg,
approach rate: -0.593658 m/s,
LOS rate: 0.042370 deg/s,
cmd heading: 316.532823 deg,
new cmd heading: 316.584194 deg.
2025-06-18T18:29:48.355Z,1750271388.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525436 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:48.533Z,1750271388.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303856
2025-06-18T18:29:48.770Z,1750271388.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:48.773Z,1750271388.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 89.856743 m,
bearing: 317.526600 deg,
approach rate: -0.624239 m/s,
LOS rate: 0.038190 deg/s,
cmd heading: 316.584186 deg,
new cmd heading: 316.632225 deg.
2025-06-18T18:29:48.774Z,1750271388.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526275 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:48.785Z,1750271388.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556076
2025-06-18T18:29:49.037Z,1750271389.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.807877
2025-06-18T18:29:49.151Z,1750271389.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:49.154Z,1750271389.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 89.619034 m,
bearing: 317.541187 deg,
approach rate: -0.623912 m/s,
LOS rate: 0.038389 deg/s,
cmd heading: 316.632216 deg,
new cmd heading: 316.676095 deg.
2025-06-18T18:29:49.155Z,1750271389.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527040 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:49.289Z,1750271389.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.059898
2025-06-18T18:29:49.541Z,1750271389.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312064
2025-06-18T18:29:49.544Z,1750271389.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:49.547Z,1750271389.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 89.375687 m,
bearing: 317.556213 deg,
approach rate: -0.620084 m/s,
LOS rate: 0.038391 deg/s,
cmd heading: 316.676093 deg,
new cmd heading: 316.721291 deg.
2025-06-18T18:29:49.548Z,1750271389.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527829 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:49.793Z,1750271389.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564056
2025-06-18T18:29:49.973Z,1750271389.973 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-
2025-06-18T18:29:49.987Z,1750271389.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:49.994Z,1750271389.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:49.997Z,1750271389.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 89.097321 m,
bearing: 317.573468 deg,
approach rate: -0.618212 m/s,
LOS rate: 0.038442 deg/s,
cmd heading: 316.721281 deg,
new cmd heading: 316.773210 deg.
2025-06-18T18:29:49.998Z,1750271389.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528736 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:50.045Z,1750271390.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816518
2025-06-18T18:29:50.296Z,1750271390.296 [DAT](INFO): Reached modem response timeout
2025-06-18T18:29:50.297Z,1750271390.297 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:29:50.297Z,1750271390.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:50.373Z,1750271390.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:50.375Z,1750271390.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 88.865364 m,
bearing: 317.587803 deg,
approach rate: -0.620405 m/s,
LOS rate: 0.038439 deg/s,
cmd heading: 316.773218 deg,
new cmd heading: 316.816333 deg.
2025-06-18T18:29:50.381Z,1750271390.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529488 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:50.548Z,1750271390.548 [DAT](INFO): Reached modem response timeout
2025-06-18T18:29:50.549Z,1750271390.549 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:29:50.549Z,1750271390.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:50.801Z,1750271390.801 [DAT](INFO): Reached modem response timeout
2025-06-18T18:29:50.801Z,1750271390.801 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:29:50.801Z,1750271390.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:50.815Z,1750271390.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:50.822Z,1750271390.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 88.583336 m,
bearing: 317.598793 deg,
approach rate: -0.630069 m/s,
LOS rate: 0.024632 deg/s,
cmd heading: 316.816330 deg,
new cmd heading: 316.849407 deg.
2025-06-18T18:29:50.823Z,1750271390.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530066 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:51.053Z,1750271391.053 [DAT](INFO): Reached modem response timeout
2025-06-18T18:29:51.053Z,1750271391.053 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:29:51.053Z,1750271391.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:51.158Z,1750271391.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:51.161Z,1750271391.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 88.362328 m,
bearing: 317.607245 deg,
approach rate: -0.645363 m/s,
LOS rate: 0.024741 deg/s,
cmd heading: 316.849416 deg,
new cmd heading: 316.874834 deg.
2025-06-18T18:29:51.162Z,1750271391.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530509 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:51.305Z,1750271391.305 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:29:51.305Z,1750271391.305 [DAT](INFO): response not received
2025-06-18T18:29:51.306Z,1750271391.306 [DAT](INFO): DAT read: user:1247>
2025-06-18T18:29:51.306Z,1750271391.306 [DAT](INFO): DAT read: Tx time:18:29:52.2913
2025-06-18T18:29:51.307Z,1750271391.307 [DAT](INFO): Ping request sent.
2025-06-18T18:29:51.307Z,1750271391.307 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:29:51.307Z,1750271391.307 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:51.307Z,1750271391.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-06-18T18:29:51.557Z,1750271391.557 [DAT](INFO): DAT read: TxSync time:18:29:52.2905
2025-06-18T18:29:51.558Z,1750271391.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251214
2025-06-18T18:29:51.569Z,1750271391.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:51.574Z,1750271391.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 88.106590 m,
bearing: 317.616890 deg,
approach rate: -0.626328 m/s,
LOS rate: 0.023692 deg/s,
cmd heading: 316.874824 deg,
new cmd heading: 316.903845 deg.
2025-06-18T18:29:51.575Z,1750271391.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531015 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:51.723Z,1750271391.723 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:29:51.809Z,1750271391.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502077
2025-06-18T18:29:51.988Z,1750271391.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:51.990Z,1750271391.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:51.993Z,1750271391.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 87.834534 m,
bearing: 317.622641 deg,
approach rate: -0.642146 m/s,
LOS rate: 0.013615 deg/s,
cmd heading: 316.903839 deg,
new cmd heading: 316.921143 deg.
2025-06-18T18:29:51.994Z,1750271391.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531317 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:52.062Z,1750271392.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754904
2025-06-18T18:29:52.313Z,1750271392.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005975
2025-06-18T18:29:52.390Z,1750271392.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:52.393Z,1750271392.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 87.578644 m,
bearing: 317.628148 deg,
approach rate: -0.639448 m/s,
LOS rate: 0.013802 deg/s,
cmd heading: 316.921133 deg,
new cmd heading: 316.937703 deg.
2025-06-18T18:29:52.394Z,1750271392.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531606 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:52.565Z,1750271392.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258237
2025-06-18T18:29:52.725Z,1750271392.725 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:29:52.813Z,1750271392.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:52.817Z,1750271392.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510136
2025-06-18T18:29:52.817Z,1750271392.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 87.301216 m,
bearing: 317.627723 deg,
approach rate: -0.655891 m/s,
LOS rate: -0.001007 deg/s,
cmd heading: 316.937689 deg,
new cmd heading: 316.936411 deg.
2025-06-18T18:29:52.818Z,1750271392.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531584 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:53.069Z,1750271393.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762446
2025-06-18T18:29:53.184Z,1750271393.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:53.186Z,1750271393.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 87.058571 m,
bearing: 317.626899 deg,
approach rate: -0.654835 m/s,
LOS rate: -0.002230 deg/s,
cmd heading: 316.936405 deg,
new cmd heading: 316.933926 deg.
2025-06-18T18:29:53.187Z,1750271393.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531540 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:53.321Z,1750271393.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014155
2025-06-18T18:29:53.573Z,1750271393.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265881
2025-06-18T18:29:53.592Z,1750271393.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:53.595Z,1750271393.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 86.790001 m,
bearing: 317.625602 deg,
approach rate: -0.657015 m/s,
LOS rate: -0.003185 deg/s,
cmd heading: 316.933919 deg,
new cmd heading: 316.930013 deg.
2025-06-18T18:29:53.616Z,1750271393.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531472 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:53.825Z,1750271393.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518078
2025-06-18T18:29:54.006Z,1750271394.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:54.008Z,1750271394.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:54.011Z,1750271394.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 86.511024 m,
bearing: 317.619179 deg,
approach rate: -0.671716 m/s,
LOS rate: -0.015515 deg/s,
cmd heading: 316.930012 deg,
new cmd heading: 316.910681 deg.
2025-06-18T18:29:54.012Z,1750271394.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531135 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:54.080Z,1750271394.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772649
2025-06-18T18:29:54.330Z,1750271394.330 [DAT](INFO): DAT read: Rx Time:18:29:54.8138
2025-06-18T18:29:54.334Z,1750271394.334 [DAT](INFO): Rx dataTimestamp_ set to:1750271394.330870
2025-06-18T18:29:54.335Z,1750271394.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028273
2025-06-18T18:29:54.419Z,1750271394.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m.
2025-06-18T18:29:54.430Z,1750271394.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.105133 m,
nav range: 86.234100 m,
bearing: 317.612748 deg,
approach rate: -0.672910 m/s,
LOS rate: -0.015676 deg/s,
cmd heading: 316.910669 deg,
new cmd heading: 316.891315 deg.
2025-06-18T18:29:54.431Z,1750271394.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530797 target range: 97.105133 and range: 98.00 m.
2025-06-18T18:29:54.581Z,1750271394.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274284
2025-06-18T18:29:54.821Z,1750271394.821 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061810311633,35.0, +.0,1489.8, 0
2025-06-18T18:29:54.839Z,1750271394.839 [DAT](INFO): DAT read: 18:29:54.8138 LVL= 26608, 28657, 20722, 31411, AGC= 69, IDX= 281,-0.05,-2.310, 2.614,-2.271,-2.749, PHS= 0.527,-0.873, 0.475, RAW= 148.1, -1.9, CAL= 152.1, -10.8, ROT= 357.9, 10.8
2025-06-18T18:29:54.840Z,1750271394.840 [DAT](INFO): got valid direction response:
18:29:54.8138 LVL= 26608, 28657, 20722, 31411, AGC= 69, IDX= 281,-0.05,-2.310, 2.614,-2.271,-2.749, PHS= 0.527,-0.873, 0.475, RAW= 148.1, -1.9, CAL= 152.1, -10.8, ROT= 357.9, 10.8
2025-06-18T18:29:54.841Z,1750271394.841 [DAT](INFO): DAT read: Bearing 357.9, 10.8 (Local)
2025-06-18T18:29:54.841Z,1750271394.841 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.9, 10.8 (Local)
2025-06-18T18:29:54.843Z,1750271394.843 [DAT](INFO): DAT read: Range 10 to 50 : 88.8 m (Round-trip 118.4 ms) speed 0.5 m/s
2025-06-18T18:29:54.844Z,1750271394.844 [DAT](INFO): DAT read: user:1248>
2025-06-18T18:29:54.844Z,1750271394.844 [DAT](INFO): DAT read: Tx time:18:29:55.9397
2025-06-18T18:29:54.845Z,1750271394.845 [DAT](INFO): Ping request sent.
2025-06-18T18:29:54.845Z,1750271394.845 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:29:54.845Z,1750271394.845 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:29:54.846Z,1750271394.846 [DAT](INFO): direction in FSK: [0.981628,-0.035995,-0.187381]
2025-06-18T18:29:54.846Z,1750271394.846 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:54.847Z,1750271394.847 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:54.854Z,1750271394.854 [DAT](INFO): publishing transmit ping time
2025-06-18T18:29:54.854Z,1750271394.854 [DAT](INFO): publishing direction and range info
2025-06-18T18:29:54.899Z,1750271394.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 88.800003 m,
deltaT: 14.616026 s,
deltaX: -9.199997 m,
approachRate: -0.629446 m/s,
rangeRepo size: 4
2025-06-18T18:29:54.906Z,1750271394.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 87.989212 m,
bearing: 316.153166 deg,
lat: 36.905888 deg,
lon: -122.115737 deg,
deltaT: 14.616026 s,
deltaX: -9.115921 m,
approachRate: -0.623694 m/s,
posRepo size: 4
2025-06-18T18:29:54.906Z,1750271394.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:29:54.913Z,1750271394.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 86.040306 m,
bearing: 317.539953 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.015676 deg/s,
cmd heading: 316.891326 deg,
new cmd heading: 316.868798 deg.
2025-06-18T18:29:54.914Z,1750271394.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530404 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:29:55.085Z,1750271395.085 [DAT](INFO): DAT read: TxSync time:18:29:55.9389
2025-06-18T18:29:55.255Z,1750271395.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:29:55.258Z,1750271395.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 85.782623 m,
bearing: 317.533885 deg,
approach rate: -0.745183 m/s,
LOS rate: -0.017600 deg/s,
cmd heading: 316.868786 deg,
new cmd heading: 316.850528 deg.
2025-06-18T18:29:55.259Z,1750271395.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530085 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:29:55.599Z,1750271395.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:29:55.602Z,1750271395.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 85.528564 m,
bearing: 317.528301 deg,
approach rate: -0.715649 m/s,
LOS rate: -0.015776 deg/s,
cmd heading: 316.850536 deg,
new cmd heading: 316.833734 deg.
2025-06-18T18:29:55.603Z,1750271395.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529792 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:29:56.018Z,1750271396.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:56.037Z,1750271396.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:29:56.039Z,1750271396.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 85.252441 m,
bearing: 317.518762 deg,
approach rate: -0.630908 m/s,
LOS rate: -0.021867 deg/s,
cmd heading: 316.833734 deg,
new cmd heading: 316.805023 deg.
2025-06-18T18:29:56.045Z,1750271396.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529291 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:29:56.098Z,1750271396.098 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:29:56.098Z,1750271396.098 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:29:56.098Z,1750271396.098 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:29:56.350Z,1750271396.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505202
2025-06-18T18:29:56.425Z,1750271396.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:29:56.432Z,1750271396.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 84.992844 m,
bearing: 317.509831 deg,
approach rate: -0.667960 m/s,
LOS rate: -0.023048 deg/s,
cmd heading: 316.805019 deg,
new cmd heading: 316.778147 deg.
2025-06-18T18:29:56.433Z,1750271396.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528821 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:29:56.601Z,1750271396.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755890
2025-06-18T18:29:56.854Z,1750271396.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008904
2025-06-18T18:29:57.034Z,1750271397.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:29:57.044Z,1750271397.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 84.603180 m,
bearing: 317.500773 deg,
approach rate: -0.640714 m/s,
LOS rate: -0.014962 deg/s,
cmd heading: 316.778136 deg,
new cmd heading: 316.750837 deg.
2025-06-18T18:29:57.046Z,1750271397.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528345 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:29:57.106Z,1750271397.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260743
2025-06-18T18:29:57.357Z,1750271397.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511986
2025-06-18T18:29:57.373Z,1750271397.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:29:57.375Z,1750271397.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 84.371155 m,
bearing: 317.495328 deg,
approach rate: -0.684309 m/s,
LOS rate: -0.016103 deg/s,
cmd heading: 316.750842 deg,
new cmd heading: 316.734462 deg.
2025-06-18T18:29:57.380Z,1750271397.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528059 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:29:57.609Z,1750271397.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764183
2025-06-18T18:29:57.823Z,1750271397.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:29:57.830Z,1750271397.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 84.115959 m,
bearing: 317.489331 deg,
approach rate: -0.566962 m/s,
LOS rate: -0.013366 deg/s,
cmd heading: 316.734450 deg,
new cmd heading: 316.716402 deg.
2025-06-18T18:29:57.831Z,1750271397.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527744 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:29:57.861Z,1750271397.861 [DAT](INFO): DAT read: Rx Time:18:29:58.4592
2025-06-18T18:29:57.862Z,1750271397.862 [DAT](INFO): Rx dataTimestamp_ set to:1750271397.861829
2025-06-18T18:29:57.863Z,1750271397.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018084
2025-06-18T18:29:58.113Z,1750271398.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267944
2025-06-18T18:29:58.255Z,1750271398.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:29:58.257Z,1750271398.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:29:58.260Z,1750271398.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 83.820724 m,
bearing: 317.480488 deg,
approach rate: -0.679027 m/s,
LOS rate: -0.020408 deg/s,
cmd heading: 316.716391 deg,
new cmd heading: 316.689771 deg.
2025-06-18T18:29:58.261Z,1750271398.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527279 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:29:58.370Z,1750271398.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522719
2025-06-18T18:29:58.567Z,1750271398.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:29:58.570Z,1750271398.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 83.610062 m,
bearing: 317.474141 deg,
approach rate: -0.680137 m/s,
LOS rate: -0.020545 deg/s,
cmd heading: 316.689780 deg,
new cmd heading: 316.670690 deg.
2025-06-18T18:29:58.571Z,1750271398.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526946 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:29:58.625Z,1750271398.625 [DAT](INFO): DAT read: 18:29:58.4593 LVL= 32752, 32753, 25042, 32755, AGC= 68, IDX= 410,-0.16, 1.166,-0.123, 1.149, 0.819, PHS= 0.436,-0.895, 0.328, RAW= 145.8, 2.1, CAL= 149.0, -6.7, ROT= 1.0, 6.7
2025-06-18T18:29:58.627Z,1750271398.627 [DAT](INFO): got valid direction response:
18:29:58.4593 LVL= 32752, 32753, 25042, 32755, AGC= 68, IDX= 410,-0.16, 1.166,-0.123, 1.149, 0.819, PHS= 0.436,-0.895, 0.328, RAW= 145.8, 2.1, CAL= 149.0, -6.7, ROT= 1.0, 6.7
2025-06-18T18:29:58.628Z,1750271398.628 [DAT](INFO): DAT read: $Error in header
2025-06-18T18:29:58.629Z,1750271398.629 [DAT](INFO): Received a bad header
2025-06-18T18:29:58.640Z,1750271398.640 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:29:58.641Z,1750271398.641 [DAT](INFO): direction in FSK: [0.993019,0.017333,-0.116671]
2025-06-18T18:29:58.644Z,1750271398.644 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:29:58.644Z,1750271398.644 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:29:58.644Z,1750271398.644 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:29:58.869Z,1750271398.869 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:29:58.869Z,1750271398.869 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:29:58.869Z,1750271398.869 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:29:58.975Z,1750271398.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:29:58.978Z,1750271398.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 83.357033 m,
bearing: 317.471430 deg,
approach rate: -0.620654 m/s,
LOS rate: -0.006669 deg/s,
cmd heading: 316.670683 deg,
new cmd heading: 316.662527 deg.
2025-06-18T18:29:58.979Z,1750271398.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526803 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:29:59.121Z,1750271399.121 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:29:59.121Z,1750271399.121 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:29:59.121Z,1750271399.121 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:29:59.367Z,1750271399.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:29:59.369Z,1750271399.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 83.113808 m,
bearing: 317.468738 deg,
approach rate: -0.621050 m/s,
LOS rate: -0.006895 deg/s,
cmd heading: 316.662514 deg,
new cmd heading: 316.654413 deg.
2025-06-18T18:29:59.370Z,1750271399.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526662 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:29:59.373Z,1750271399.373 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:29:59.373Z,1750271399.373 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:29:59.373Z,1750271399.373 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:29:59.625Z,1750271399.625 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:29:59.625Z,1750271399.625 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:29:59.625Z,1750271399.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:29:59.825Z,1750271399.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:29:59.839Z,1750271399.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 82.865829 m,
bearing: 317.465928 deg,
approach rate: -0.543835 m/s,
LOS rate: -0.006180 deg/s,
cmd heading: 316.654400 deg,
new cmd heading: 316.645946 deg.
2025-06-18T18:29:59.847Z,1750271399.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526515 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:29:59.877Z,1750271399.877 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:29:59.877Z,1750271399.877 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:29:59.878Z,1750271399.878 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:00.129Z,1750271400.129 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:00.129Z,1750271400.129 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:00.129Z,1750271400.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:00.212Z,1750271400.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:00.215Z,1750271400.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 82.599609 m,
bearing: 317.469357 deg,
approach rate: -0.682763 m/s,
LOS rate: 0.008822 deg/s,
cmd heading: 316.645958 deg,
new cmd heading: 316.656278 deg.
2025-06-18T18:30:00.216Z,1750271400.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526695 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:00.381Z,1750271400.381 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:00.381Z,1750271400.381 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:00.381Z,1750271400.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:00.593Z,1750271400.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:00.595Z,1750271400.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:00.598Z,1750271400.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 82.377785 m,
bearing: 317.472268 deg,
approach rate: -0.579145 m/s,
LOS rate: 0.007621 deg/s,
cmd heading: 316.656285 deg,
new cmd heading: 316.665042 deg.
2025-06-18T18:30:00.599Z,1750271400.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526848 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:00.633Z,1750271400.633 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:00.633Z,1750271400.633 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:00.633Z,1750271400.633 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:00.885Z,1750271400.885 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:00.885Z,1750271400.885 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:00.885Z,1750271400.885 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:01.007Z,1750271401.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:01.026Z,1750271401.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 82.127327 m,
bearing: 317.479879 deg,
approach rate: -0.608792 m/s,
LOS rate: 0.018556 deg/s,
cmd heading: 316.665055 deg,
new cmd heading: 316.687957 deg.
2025-06-18T18:30:01.027Z,1750271401.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527247 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:01.137Z,1750271401.137 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:01.137Z,1750271401.137 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:01.138Z,1750271401.138 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:01.389Z,1750271401.389 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:01.389Z,1750271401.389 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:01.389Z,1750271401.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:01.403Z,1750271401.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:01.406Z,1750271401.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 81.892708 m,
bearing: 317.487144 deg,
approach rate: -0.592471 m/s,
LOS rate: 0.018400 deg/s,
cmd heading: 316.687950 deg,
new cmd heading: 316.709809 deg.
2025-06-18T18:30:01.407Z,1750271401.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527629 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:01.641Z,1750271401.641 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:01.641Z,1750271401.641 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:01.641Z,1750271401.641 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:01.848Z,1750271401.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:01.875Z,1750271401.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 81.659821 m,
bearing: 317.494423 deg,
approach rate: -0.530293 m/s,
LOS rate: 0.016621 deg/s,
cmd heading: 316.709807 deg,
new cmd heading: 316.731704 deg.
2025-06-18T18:30:01.881Z,1750271401.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528011 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:01.894Z,1750271401.894 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:01.894Z,1750271401.894 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:01.894Z,1750271401.894 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:02.144Z,1750271402.144 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:02.145Z,1750271402.145 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:02.145Z,1750271402.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:02.335Z,1750271402.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:02.354Z,1750271402.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 81.343246 m,
bearing: 317.511250 deg,
approach rate: -0.641755 m/s,
LOS rate: 0.034245 deg/s,
cmd heading: 316.731718 deg,
new cmd heading: 316.782397 deg.
2025-06-18T18:30:02.355Z,1750271402.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528896 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:02.397Z,1750271402.397 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:02.397Z,1750271402.397 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:02.397Z,1750271402.397 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:02.648Z,1750271402.648 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:02.649Z,1750271402.649 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:02.649Z,1750271402.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:02.722Z,1750271402.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:02.724Z,1750271402.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:02.727Z,1750271402.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 81.115181 m,
bearing: 317.523515 deg,
approach rate: -0.586186 m/s,
LOS rate: 0.031613 deg/s,
cmd heading: 316.782398 deg,
new cmd heading: 316.819296 deg.
2025-06-18T18:30:02.728Z,1750271402.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529540 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:02.904Z,1750271402.904 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:02.904Z,1750271402.904 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:02.905Z,1750271402.905 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:03.153Z,1750271403.153 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:03.153Z,1750271403.153 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:03.153Z,1750271403.153 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:03.161Z,1750271403.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:03.163Z,1750271403.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 80.851509 m,
bearing: 317.540324 deg,
approach rate: -0.604140 m/s,
LOS rate: 0.038640 deg/s,
cmd heading: 316.819308 deg,
new cmd heading: 316.869900 deg.
2025-06-18T18:30:03.165Z,1750271403.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530423 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:03.405Z,1750271403.405 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:03.405Z,1750271403.405 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:03.405Z,1750271403.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:03.522Z,1750271403.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:03.525Z,1750271403.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 80.631729 m,
bearing: 317.554539 deg,
approach rate: -0.607923 m/s,
LOS rate: 0.039424 deg/s,
cmd heading: 316.869906 deg,
new cmd heading: 316.912665 deg.
2025-06-18T18:30:03.526Z,1750271403.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531169 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:03.657Z,1750271403.657 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:03.657Z,1750271403.657 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:03.657Z,1750271403.657 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:03.909Z,1750271403.909 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:03.909Z,1750271403.909 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:03.910Z,1750271403.910 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:03.974Z,1750271403.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:03.993Z,1750271403.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 80.358566 m,
bearing: 317.574773 deg,
approach rate: -0.604393 m/s,
LOS rate: 0.044923 deg/s,
cmd heading: 316.912663 deg,
new cmd heading: 316.973574 deg.
2025-06-18T18:30:03.994Z,1750271403.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.532232 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:04.160Z,1750271404.160 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:04.161Z,1750271404.161 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:04.161Z,1750271404.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:04.338Z,1750271404.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:04.341Z,1750271404.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 80.138710 m,
bearing: 317.591158 deg,
approach rate: -0.604376 m/s,
LOS rate: 0.045163 deg/s,
cmd heading: 316.973561 deg,
new cmd heading: 317.022849 deg.
2025-06-18T18:30:04.342Z,1750271404.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.533092 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:04.413Z,1750271404.413 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:04.413Z,1750271404.413 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:04.413Z,1750271404.413 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:04.665Z,1750271404.665 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:04.665Z,1750271404.665 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:04.665Z,1750271404.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:30:04.760Z,1750271404.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:04.762Z,1750271404.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:04.765Z,1750271404.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 79.887794 m,
bearing: 317.609904 deg,
approach rate: -0.591924 m/s,
LOS rate: 0.044363 deg/s,
cmd heading: 317.022848 deg,
new cmd heading: 317.079264 deg.
2025-06-18T18:30:04.766Z,1750271404.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.534077 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:04.918Z,1750271404.918 [DAT](INFO): Reached modem response timeout
2025-06-18T18:30:04.919Z,1750271404.919 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:30:04.922Z,1750271404.922 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:05.165Z,1750271405.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:05.167Z,1750271405.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 79.633629 m,
bearing: 317.626923 deg,
approach rate: -0.631474 m/s,
LOS rate: 0.042418 deg/s,
cmd heading: 317.079265 deg,
new cmd heading: 317.130484 deg.
2025-06-18T18:30:05.169Z,1750271405.169 [DAT](INFO): Reached modem response timeout
2025-06-18T18:30:05.169Z,1750271405.169 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:30:05.169Z,1750271405.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:05.172Z,1750271405.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.534971 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:05.421Z,1750271405.421 [DAT](INFO): Reached modem response timeout
2025-06-18T18:30:05.421Z,1750271405.421 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:30:05.421Z,1750271405.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:05.579Z,1750271405.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:05.582Z,1750271405.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 79.386322 m,
bearing: 317.643587 deg,
approach rate: -0.619570 m/s,
LOS rate: 0.041878 deg/s,
cmd heading: 317.130492 deg,
new cmd heading: 317.180640 deg.
2025-06-18T18:30:05.583Z,1750271405.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.535847 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:05.675Z,1750271405.675 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:30:05.675Z,1750271405.675 [DAT](INFO): response not received
2025-06-18T18:30:05.676Z,1750271405.676 [DAT](INFO): DAT read: user:1250>
2025-06-18T18:30:05.676Z,1750271405.676 [DAT](ERROR): No response from remote modem.
2025-06-18T18:30:05.676Z,1750271405.676 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:30:05.677Z,1750271405.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:05.928Z,1750271405.928 [DAT](INFO): DAT read: Tx time:18:30:06.8898
2025-06-18T18:30:05.929Z,1750271405.929 [DAT](INFO): Ping request sent.
2025-06-18T18:30:05.929Z,1750271405.929 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:05.931Z,1750271405.931 [DAT](INFO): DAT read: TxSync time:18:30:06.8890
2025-06-18T18:30:05.932Z,1750271405.932 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:05.935Z,1750271405.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.005469
2025-06-18T18:30:06.039Z,1750271406.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:06.046Z,1750271406.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 79.091431 m,
bearing: 317.656841 deg,
approach rate: -0.620376 m/s,
LOS rate: 0.027987 deg/s,
cmd heading: 317.180653 deg,
new cmd heading: 317.220563 deg.
2025-06-18T18:30:06.047Z,1750271406.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536543 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:06.177Z,1750271406.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248221
2025-06-18T18:30:06.357Z,1750271406.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:06.359Z,1750271406.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 78.886154 m,
bearing: 317.666221 deg,
approach rate: -0.646406 m/s,
LOS rate: 0.029613 deg/s,
cmd heading: 317.220568 deg,
new cmd heading: 317.248780 deg.
2025-06-18T18:30:06.360Z,1750271406.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.537036 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:06.430Z,1750271406.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500484
2025-06-18T18:30:06.681Z,1750271406.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751893
2025-06-18T18:30:06.768Z,1750271406.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:06.770Z,1750271406.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:06.773Z,1750271406.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 78.624657 m,
bearing: 317.678240 deg,
approach rate: -0.631972 m/s,
LOS rate: 0.029144 deg/s,
cmd heading: 317.248790 deg,
new cmd heading: 317.284968 deg.
2025-06-18T18:30:06.774Z,1750271406.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.537667 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:06.935Z,1750271406.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006080
2025-06-18T18:30:07.181Z,1750271407.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:07.185Z,1750271407.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255985
2025-06-18T18:30:07.185Z,1750271407.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 78.368034 m,
bearing: 317.685256 deg,
approach rate: -0.624978 m/s,
LOS rate: 0.017142 deg/s,
cmd heading: 317.284963 deg,
new cmd heading: 317.306079 deg.
2025-06-18T18:30:07.186Z,1750271407.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538036 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:07.438Z,1750271407.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508723
2025-06-18T18:30:07.564Z,1750271407.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:07.567Z,1750271407.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 78.128555 m,
bearing: 317.691587 deg,
approach rate: -0.624737 m/s,
LOS rate: 0.016566 deg/s,
cmd heading: 317.306082 deg,
new cmd heading: 317.325133 deg.
2025-06-18T18:30:07.568Z,1750271407.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538368 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:07.689Z,1750271407.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760437
2025-06-18T18:30:07.943Z,1750271407.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013485
2025-06-18T18:30:08.023Z,1750271408.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:08.026Z,1750271408.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 77.841492 m,
bearing: 317.694524 deg,
approach rate: -0.626040 m/s,
LOS rate: 0.006430 deg/s,
cmd heading: 317.325125 deg,
new cmd heading: 317.333969 deg.
2025-06-18T18:30:08.027Z,1750271408.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538523 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:08.193Z,1750271408.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263820
2025-06-18T18:30:08.391Z,1750271408.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:08.395Z,1750271408.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 77.618057 m,
bearing: 317.696689 deg,
approach rate: -0.606327 m/s,
LOS rate: 0.005891 deg/s,
cmd heading: 317.333977 deg,
new cmd heading: 317.340490 deg.
2025-06-18T18:30:08.400Z,1750271408.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538636 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:08.446Z,1750271408.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516785
2025-06-18T18:30:08.697Z,1750271408.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768002
2025-06-18T18:30:08.805Z,1750271408.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:08.807Z,1750271408.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:08.814Z,1750271408.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 77.360741 m,
bearing: 317.699121 deg,
approach rate: -0.618820 m/s,
LOS rate: 0.005868 deg/s,
cmd heading: 317.340479 deg,
new cmd heading: 317.347799 deg.
2025-06-18T18:30:08.815Z,1750271408.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538764 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:08.952Z,1750271408.952 [DAT](INFO): DAT read: Rx Time:18:30:09.4002
2025-06-18T18:30:08.954Z,1750271408.954 [DAT](INFO): Rx dataTimestamp_ set to:1750271408.952553
2025-06-18T18:30:08.955Z,1750271408.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025867
2025-06-18T18:30:09.201Z,1750271409.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272002
2025-06-18T18:30:09.206Z,1750271409.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.99 m.
2025-06-18T18:30:09.210Z,1750271409.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.989212 m,
nav range: 77.095520 m,
bearing: 317.693534 deg,
approach rate: -0.664539 m/s,
LOS rate: -0.014046 deg/s,
cmd heading: 317.347801 deg,
new cmd heading: 317.330984 deg.
2025-06-18T18:30:09.211Z,1750271409.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538470 target range: 87.989212 and range: 88.80 m.
2025-06-18T18:30:09.460Z,1750271409.460 [DAT](INFO): DAT read: 18:30:09.4002 LVL= 25040, 31089, 19890, 30003, AGC= 68, IDX= 348, 0.07,-2.673, 2.242,-2.634,-3.110, PHS= 0.524,-0.884, 0.473, RAW= 148.1, -1.6, CAL= 152.1, -10.6, ROT= 357.9, 10.6
2025-06-18T18:30:09.462Z,1750271409.462 [DAT](INFO): got valid direction response:
18:30:09.4002 LVL= 25040, 31089, 19890, 30003, AGC= 68, IDX= 348, 0.07,-2.673, 2.242,-2.634,-3.110, PHS= 0.524,-0.884, 0.473, RAW= 148.1, -1.6, CAL= 152.1, -10.6, ROT= 357.9, 10.6
2025-06-18T18:30:09.463Z,1750271409.463 [DAT](INFO): DAT read: Bearing 357.9, 10.6 (Local)
2025-06-18T18:30:09.464Z,1750271409.464 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.9, 10.6 (Local)
2025-06-18T18:30:09.466Z,1750271409.466 [DAT](INFO): DAT read: Range 10 to 50 : 79.6 m (Round-trip 106.2 ms) speed 0.5 m/s
2025-06-18T18:30:09.467Z,1750271409.467 [DAT](INFO): DAT read: user:1251>
2025-06-18T18:30:09.478Z,1750271409.478 [DAT](INFO): DAT read: Tx time:18:30:10.4899
2025-06-18T18:30:09.479Z,1750271409.479 [DAT](INFO): Ping request sent.
2025-06-18T18:30:09.479Z,1750271409.479 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:09.479Z,1750271409.479 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:09.480Z,1750271409.480 [DAT](INFO): direction in FSK: [0.982275,-0.036018,-0.183951]
2025-06-18T18:30:09.481Z,1750271409.481 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:09.481Z,1750271409.481 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:09.504Z,1750271409.504 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:09.504Z,1750271409.504 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:09.680Z,1750271409.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 79.599998 m,
deltaT: 14.621626 s,
deltaX: -9.200005 m,
approachRate: -0.629205 m/s,
rangeRepo size: 4
2025-06-18T18:30:09.683Z,1750271409.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 78.872765 m,
bearing: 315.725517 deg,
lat: 36.905877 deg,
lon: -122.115755 deg,
deltaT: 14.621626 s,
deltaX: -9.116447 m,
approachRate: -0.623491 m/s,
posRepo size: 4
2025-06-18T18:30:09.683Z,1750271409.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.87 m.
2025-06-18T18:30:09.690Z,1750271409.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.872765 m,
nav range: 76.965904 m,
bearing: 316.181644 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.014046 deg/s,
cmd heading: 317.330971 deg,
new cmd heading: 317.311219 deg.
2025-06-18T18:30:09.691Z,1750271409.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538126 target range: 78.872765 and range: 79.60 m.
2025-06-18T18:30:09.705Z,1750271409.705 [DAT](INFO): DAT read: TxSync time:18:30:10.4891
2025-06-18T18:30:10.047Z,1750271410.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.87 m.
2025-06-18T18:30:10.050Z,1750271410.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.872765 m,
nav range: 76.698715 m,
bearing: 316.168575 deg,
approach rate: -0.717554 m/s,
LOS rate: -0.035220 deg/s,
cmd heading: 317.311218 deg,
new cmd heading: 317.271875 deg.
2025-06-18T18:30:10.051Z,1750271410.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.537439 target range: 78.872765 and range: 79.60 m.
2025-06-18T18:30:10.477Z,1750271410.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.87 m.
2025-06-18T18:30:10.479Z,1750271410.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.872765 m,
nav range: 76.420952 m,
bearing: 316.155079 deg,
approach rate: -0.646704 m/s,
LOS rate: -0.031537 deg/s,
cmd heading: 317.271877 deg,
new cmd heading: 317.231241 deg.
2025-06-18T18:30:10.481Z,1750271410.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536730 target range: 78.872765 and range: 79.60 m.
2025-06-18T18:30:10.831Z,1750271410.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:10.837Z,1750271410.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.87 m.
2025-06-18T18:30:10.844Z,1750271410.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.872765 m,
nav range: 76.204323 m,
bearing: 316.144548 deg,
approach rate: -0.601215 m/s,
LOS rate: -0.029310 deg/s,
cmd heading: 317.231251 deg,
new cmd heading: 317.199568 deg.
2025-06-18T18:30:10.845Z,1750271410.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536177 target range: 78.872765 and range: 79.60 m.
2025-06-18T18:30:10.968Z,1750271410.968 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:10.969Z,1750271410.969 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:10.969Z,1750271410.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:11.217Z,1750271411.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738199
2025-06-18T18:30:11.264Z,1750271411.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.87 m.
2025-06-18T18:30:11.267Z,1750271411.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.872765 m,
nav range: 75.918274 m,
bearing: 316.130993 deg,
approach rate: -0.696617 m/s,
LOS rate: -0.033135 deg/s,
cmd heading: 317.199558 deg,
new cmd heading: 317.158740 deg.
2025-06-18T18:30:11.268Z,1750271411.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.535464 target range: 78.872765 and range: 79.60 m.
2025-06-18T18:30:11.469Z,1750271411.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989991
2025-06-18T18:30:11.639Z,1750271411.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.87 m.
2025-06-18T18:30:11.642Z,1750271411.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.872765 m,
nav range: 75.661644 m,
bearing: 316.118426 deg,
approach rate: -0.655401 m/s,
LOS rate: -0.032203 deg/s,
cmd heading: 317.158741 deg,
new cmd heading: 317.120913 deg.
2025-06-18T18:30:11.643Z,1750271411.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.534804 target range: 78.872765 and range: 79.60 m.
2025-06-18T18:30:11.722Z,1750271411.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242449
2025-06-18T18:30:11.976Z,1750271411.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496044
2025-06-18T18:30:12.079Z,1750271412.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.87 m.
2025-06-18T18:30:12.082Z,1750271412.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.872765 m,
nav range: 75.374870 m,
bearing: 316.107770 deg,
approach rate: -0.652616 m/s,
LOS rate: -0.024342 deg/s,
cmd heading: 317.120902 deg,
new cmd heading: 317.088813 deg.
2025-06-18T18:30:12.083Z,1750271412.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.534244 target range: 78.872765 and range: 79.60 m.
2025-06-18T18:30:12.225Z,1750271412.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746056
2025-06-18T18:30:12.443Z,1750271412.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.87 m.
2025-06-18T18:30:12.450Z,1750271412.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.872765 m,
nav range: 75.147301 m,
bearing: 316.099005 deg,
approach rate: -0.624745 m/s,
LOS rate: -0.024135 deg/s,
cmd heading: 317.088800 deg,
new cmd heading: 317.062426 deg.
2025-06-18T18:30:12.451Z,1750271412.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.533783 target range: 78.872765 and range: 79.60 m.
2025-06-18T18:30:12.477Z,1750271412.477 [DAT](INFO): DAT read: Rx Time:18:30:12.9972
2025-06-18T18:30:12.477Z,1750271412.477 [DAT](INFO): Rx dataTimestamp_ set to:1750271412.477181
2025-06-18T18:30:12.478Z,1750271412.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999102
2025-06-18T18:30:12.729Z,1750271412.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249843
2025-06-18T18:30:12.829Z,1750271412.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.87 m.
2025-06-18T18:30:12.831Z,1750271412.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.872765 m,
nav range: 74.885231 m,
bearing: 316.088647 deg,
approach rate: -0.679337 m/s,
LOS rate: -0.026945 deg/s,
cmd heading: 317.062436 deg,
new cmd heading: 317.031251 deg.
2025-06-18T18:30:12.833Z,1750271412.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.533239 target range: 78.872765 and range: 79.60 m.
2025-06-18T18:30:12.988Z,1750271412.988 [DAT](INFO): DAT read: 18:30:12.9972 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.14, 2.189, 0.850, 2.240, 1.760, PHS= 0.517,-0.864, 0.477, RAW= 148.5, -1.9, CAL= 152.5, -10.8, ROT= 357.5, 10.8
2025-06-18T18:30:12.989Z,1750271412.989 [DAT](INFO): got valid direction response:
18:30:12.9972 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.14, 2.189, 0.850, 2.240, 1.760, PHS= 0.517,-0.864, 0.477, RAW= 148.5, -1.9, CAL= 152.5, -10.8, ROT= 357.5, 10.8
2025-06-18T18:30:12.993Z,1750271412.993 [DAT](INFO): DAT read: Bearing 357.5, 10.8 (Local)
2025-06-18T18:30:12.994Z,1750271412.994 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.5, 10.8 (Local)
2025-06-18T18:30:12.999Z,1750271412.999 [DAT](INFO): DAT read: Range 10 to 50 : 77.4 m (Round-trip 103.2 ms) speed 0.6 m/s
2025-06-18T18:30:13.033Z,1750271413.033 [DAT](INFO): DAT read: user:1252>
2025-06-18T18:30:13.035Z,1750271413.035 [DAT](INFO): DAT read: Tx time:18:30:14.0899
2025-06-18T18:30:13.043Z,1750271413.043 [DAT](INFO): Ping request sent.
2025-06-18T18:30:13.043Z,1750271413.043 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:13.049Z,1750271413.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:13.060Z,1750271413.060 [DAT](INFO): direction in FSK: [0.981352,-0.042847,-0.187381]
2025-06-18T18:30:13.061Z,1750271413.061 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:13.061Z,1750271413.061 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:13.078Z,1750271413.078 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:13.078Z,1750271413.078 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:13.233Z,1750271413.233 [DAT](INFO): DAT read: TxSync time:18:30:14.0891
2025-06-18T18:30:13.335Z,1750271413.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 77.400002 m,
deltaT: 3.526478 s,
deltaX: -2.199997 m,
approachRate: -0.623851 m/s,
rangeRepo size: 4
2025-06-18T18:30:13.341Z,1750271413.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 76.693001 m,
bearing: 315.727372 deg,
lat: 36.905877 deg,
lon: -122.115758 deg,
deltaT: 3.526478 s,
deltaX: -2.179764 m,
approachRate: -0.618114 m/s,
posRepo size: 4
2025-06-18T18:30:13.342Z,1750271413.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.69 m.
2025-06-18T18:30:13.349Z,1750271413.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.693001 m,
nav range: 74.767097 m,
bearing: 315.938877 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.026945 deg/s,
cmd heading: 317.031263 deg,
new cmd heading: 316.990403 deg.
2025-06-18T18:30:13.350Z,1750271413.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.532526 target range: 76.693001 and range: 77.40 m.
2025-06-18T18:30:13.658Z,1750271413.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:13.660Z,1750271413.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.69 m.
2025-06-18T18:30:13.663Z,1750271413.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.693001 m,
nav range: 74.547241 m,
bearing: 315.932720 deg,
approach rate: -0.674222 m/s,
LOS rate: -0.018937 deg/s,
cmd heading: 316.990391 deg,
new cmd heading: 316.971865 deg.
2025-06-18T18:30:13.664Z,1750271413.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.532203 target range: 76.693001 and range: 77.40 m.
2025-06-18T18:30:13.738Z,1750271413.738 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:13.738Z,1750271413.738 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:13.739Z,1750271413.739 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:13.989Z,1750271413.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.946271
2025-06-18T18:30:14.109Z,1750271414.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.69 m.
2025-06-18T18:30:14.113Z,1750271414.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.693001 m,
nav range: 74.257576 m,
bearing: 315.928895 deg,
approach rate: -0.645249 m/s,
LOS rate: -0.008552 deg/s,
cmd heading: 316.971867 deg,
new cmd heading: 316.960350 deg.
2025-06-18T18:30:14.114Z,1750271414.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.532001 target range: 76.693001 and range: 77.40 m.
2025-06-18T18:30:14.241Z,1750271414.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.198431
2025-06-18T18:30:14.450Z,1750271414.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.69 m.
2025-06-18T18:30:14.453Z,1750271414.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.693001 m,
nav range: 74.041969 m,
bearing: 315.926376 deg,
approach rate: -0.633178 m/s,
LOS rate: -0.007420 deg/s,
cmd heading: 316.960338 deg,
new cmd heading: 316.952759 deg.
2025-06-18T18:30:14.454Z,1750271414.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531869 target range: 76.693001 and range: 77.40 m.
2025-06-18T18:30:14.493Z,1750271414.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450410
2025-06-18T18:30:14.745Z,1750271414.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702385
2025-06-18T18:30:14.846Z,1750271414.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.69 m.
2025-06-18T18:30:14.849Z,1750271414.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.693001 m,
nav range: 73.791290 m,
bearing: 315.923405 deg,
approach rate: -0.632676 m/s,
LOS rate: -0.007524 deg/s,
cmd heading: 316.952770 deg,
new cmd heading: 316.943827 deg.
2025-06-18T18:30:14.850Z,1750271414.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531713 target range: 76.693001 and range: 77.40 m.
2025-06-18T18:30:14.997Z,1750271414.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954384
2025-06-18T18:30:15.254Z,1750271415.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211004
2025-06-18T18:30:15.291Z,1750271415.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.69 m.
2025-06-18T18:30:15.294Z,1750271415.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.693001 m,
nav range: 73.515854 m,
bearing: 315.921509 deg,
approach rate: -0.619018 m/s,
LOS rate: -0.004277 deg/s,
cmd heading: 316.943836 deg,
new cmd heading: 316.938127 deg.
2025-06-18T18:30:15.295Z,1750271415.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531614 target range: 76.693001 and range: 77.40 m.
2025-06-18T18:30:15.502Z,1750271415.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459761
2025-06-18T18:30:15.662Z,1750271415.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:15.665Z,1750271415.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.69 m.
2025-06-18T18:30:15.667Z,1750271415.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.693001 m,
nav range: 73.284805 m,
bearing: 315.919720 deg,
approach rate: -0.618154 m/s,
LOS rate: -0.004801 deg/s,
cmd heading: 316.938126 deg,
new cmd heading: 316.932742 deg.
2025-06-18T18:30:15.669Z,1750271415.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531520 target range: 76.693001 and range: 77.40 m.
2025-06-18T18:30:15.753Z,1750271415.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710763
2025-06-18T18:30:16.007Z,1750271416.007 [DAT](INFO): DAT read: Rx Time:18:30:16.5940
2025-06-18T18:30:16.007Z,1750271416.007 [DAT](INFO): Rx dataTimestamp_ set to:1750271416.006908
2025-06-18T18:30:16.008Z,1750271416.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.965362
2025-06-18T18:30:16.139Z,1750271416.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.69 m.
2025-06-18T18:30:16.142Z,1750271416.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.693001 m,
nav range: 73.000832 m,
bearing: 315.919789 deg,
approach rate: -0.598636 m/s,
LOS rate: 0.000145 deg/s,
cmd heading: 316.932744 deg,
new cmd heading: 316.932951 deg.
2025-06-18T18:30:16.143Z,1750271416.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531524 target range: 76.693001 and range: 77.40 m.
2025-06-18T18:30:16.258Z,1750271416.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214681
2025-06-18T18:30:16.488Z,1750271416.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.69 m.
2025-06-18T18:30:16.515Z,1750271416.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.472089
2025-06-18T18:30:16.538Z,1750271416.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.693001 m,
nav range: 72.797905 m,
bearing: 315.919738 deg,
approach rate: -0.585779 m/s,
LOS rate: -0.000147 deg/s,
cmd heading: 316.932963 deg,
new cmd heading: 316.932810 deg.
2025-06-18T18:30:16.545Z,1750271416.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531521 target range: 76.693001 and range: 77.40 m.
2025-06-18T18:30:16.770Z,1750271416.770 [DAT](INFO): DAT read: 18:30:16.5940 LVL= 30160, 32753, 24290, 32755, AGC= 68, IDX= 412, 0.10, 2.797, 1.419, 2.872, 2.329, PHS= 0.556,-0.863, 0.540, RAW= 149.4, -3.3, CAL= 153.8, -12.0, ROT= 356.2, 12.0
2025-06-18T18:30:16.771Z,1750271416.771 [DAT](INFO): got valid direction response:
18:30:16.5940 LVL= 30160, 32753, 24290, 32755, AGC= 68, IDX= 412, 0.10, 2.797, 1.419, 2.872, 2.329, PHS= 0.556,-0.863, 0.540, RAW= 149.4, -3.3, CAL= 153.8, -12.0, ROT= 356.2, 12.0
2025-06-18T18:30:16.773Z,1750271416.773 [DAT](INFO): DAT read: Bearing 356.2, 12.0 (Local)
2025-06-18T18:30:16.774Z,1750271416.774 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.2, 12.0 (Local)
2025-06-18T18:30:16.777Z,1750271416.777 [DAT](INFO): DAT read: Range 10 to 50 : 75.0 m (Round-trip 100.0 ms) speed 0.6 m/s
2025-06-18T18:30:16.778Z,1750271416.778 [DAT](INFO): DAT read: user:1253>
2025-06-18T18:30:16.779Z,1750271416.779 [DAT](INFO): DAT read: Tx time:18:30:17.6899
2025-06-18T18:30:16.779Z,1750271416.779 [DAT](INFO): Ping request sent.
2025-06-18T18:30:16.779Z,1750271416.779 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:16.801Z,1750271416.801 [DAT](INFO): DAT read: TxSync time:18:30:17.6891
2025-06-18T18:30:16.802Z,1750271416.802 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:16.803Z,1750271416.803 [DAT](INFO): direction in FSK: [0.975997,-0.064825,-0.207912]
2025-06-18T18:30:16.803Z,1750271416.803 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:16.803Z,1750271416.803 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:16.806Z,1750271416.806 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:16.807Z,1750271416.807 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:16.945Z,1750271416.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 75.000000 m,
deltaT: 3.781198 s,
deltaX: -2.400002 m,
approachRate: -0.634720 m/s,
rangeRepo size: 4
2025-06-18T18:30:16.947Z,1750271416.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 74.314751 m,
bearing: 314.584416 deg,
lat: 36.905876 deg,
lon: -122.115763 deg,
deltaT: 3.781198 s,
deltaX: -2.378250 m,
approachRate: -0.628967 m/s,
posRepo size: 4
2025-06-18T18:30:16.956Z,1750271416.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.31 m.
2025-06-18T18:30:16.959Z,1750271416.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.314751 m,
nav range: 72.748070 m,
bearing: 315.625750 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000147 deg/s,
cmd heading: 316.932799 deg,
new cmd heading: 316.932600 deg.
2025-06-18T18:30:16.964Z,1750271416.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531518 target range: 74.314751 and range: 75.00 m.
2025-06-18T18:30:17.306Z,1750271417.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.31 m.
2025-06-18T18:30:17.309Z,1750271417.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.314751 m,
nav range: 72.531982 m,
bearing: 315.625168 deg,
approach rate: -0.583466 m/s,
LOS rate: -0.001574 deg/s,
cmd heading: 316.932607 deg,
new cmd heading: 316.930858 deg.
2025-06-18T18:30:17.310Z,1750271417.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531487 target range: 74.314751 and range: 75.00 m.
2025-06-18T18:30:17.672Z,1750271417.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:17.674Z,1750271417.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.31 m.
2025-06-18T18:30:17.677Z,1750271417.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.314751 m,
nav range: 72.303055 m,
bearing: 315.624517 deg,
approach rate: -0.622062 m/s,
LOS rate: -0.001774 deg/s,
cmd heading: 316.930859 deg,
new cmd heading: 316.928900 deg.
2025-06-18T18:30:17.678Z,1750271417.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531453 target range: 74.314751 and range: 75.00 m.
2025-06-18T18:30:17.770Z,1750271417.770 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:17.770Z,1750271417.770 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:17.770Z,1750271417.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:18.021Z,1750271418.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241573
2025-06-18T18:30:18.152Z,1750271418.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.31 m.
2025-06-18T18:30:18.155Z,1750271418.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.314751 m,
nav range: 72.018768 m,
bearing: 315.625356 deg,
approach rate: -0.595515 m/s,
LOS rate: 0.001763 deg/s,
cmd heading: 316.928892 deg,
new cmd heading: 316.931417 deg.
2025-06-18T18:30:18.176Z,1750271418.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531497 target range: 74.314751 and range: 75.00 m.
2025-06-18T18:30:18.274Z,1750271418.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494321
2025-06-18T18:30:18.485Z,1750271418.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.31 m.
2025-06-18T18:30:18.487Z,1750271418.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.314751 m,
nav range: 71.820877 m,
bearing: 315.625743 deg,
approach rate: -0.594479 m/s,
LOS rate: 0.001167 deg/s,
cmd heading: 316.931405 deg,
new cmd heading: 316.932571 deg.
2025-06-18T18:30:18.488Z,1750271418.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531517 target range: 74.314751 and range: 75.00 m.
2025-06-18T18:30:18.525Z,1750271418.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745656
2025-06-18T18:30:18.777Z,1750271418.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997800
2025-06-18T18:30:18.913Z,1750271418.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.31 m.
2025-06-18T18:30:18.918Z,1750271418.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.314751 m,
nav range: 71.570953 m,
bearing: 315.626192 deg,
approach rate: -0.584702 m/s,
LOS rate: 0.001053 deg/s,
cmd heading: 316.932580 deg,
new cmd heading: 316.933930 deg.
2025-06-18T18:30:18.919Z,1750271418.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531540 target range: 74.314751 and range: 75.00 m.
2025-06-18T18:30:19.030Z,1750271419.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250567
2025-06-18T18:30:19.281Z,1750271419.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501558
2025-06-18T18:30:19.326Z,1750271419.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.31 m.
2025-06-18T18:30:19.329Z,1750271419.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.314751 m,
nav range: 71.321625 m,
bearing: 315.623299 deg,
approach rate: -0.602594 m/s,
LOS rate: -0.007015 deg/s,
cmd heading: 316.933919 deg,
new cmd heading: 316.925211 deg.
2025-06-18T18:30:19.330Z,1750271419.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531388 target range: 74.314751 and range: 75.00 m.
2025-06-18T18:30:19.533Z,1750271419.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753830
2025-06-18T18:30:19.705Z,1750271419.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:19.707Z,1750271419.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.31 m.
2025-06-18T18:30:19.710Z,1750271419.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.314751 m,
nav range: 71.095360 m,
bearing: 315.620712 deg,
approach rate: -0.592652 m/s,
LOS rate: -0.006797 deg/s,
cmd heading: 316.925203 deg,
new cmd heading: 316.917418 deg.
2025-06-18T18:30:19.711Z,1750271419.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531252 target range: 74.314751 and range: 75.00 m.
2025-06-18T18:30:19.786Z,1750271419.786 [DAT](INFO): DAT read: Rx Time:18:30:20.1910
2025-06-18T18:30:19.787Z,1750271419.787 [DAT](INFO): Rx dataTimestamp_ set to:1750271419.786265
2025-06-18T18:30:19.787Z,1750271419.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008196
2025-06-18T18:30:20.038Z,1750271420.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258233
2025-06-18T18:30:20.221Z,1750271420.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.31 m.
2025-06-18T18:30:20.224Z,1750271420.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.314751 m,
nav range: 70.786957 m,
bearing: 315.617310 deg,
approach rate: -0.600355 m/s,
LOS rate: -0.006653 deg/s,
cmd heading: 316.917417 deg,
new cmd heading: 316.907165 deg.
2025-06-18T18:30:20.225Z,1750271420.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531074 target range: 74.314751 and range: 75.00 m.
2025-06-18T18:30:20.295Z,1750271420.295 [DAT](INFO): DAT read: 18:30:20.1910 LVL= 28240, 31697, 21442, 32755, AGC= 68, IDX= 413, 0.16, 1.837, 0.470, 1.899, 1.372, PHS= 0.553,-0.855, 0.524, RAW= 149.0, -3.2, CAL= 153.3, -12.0, ROT= 356.7, 12.0
2025-06-18T18:30:20.296Z,1750271420.296 [DAT](INFO): got valid direction response:
18:30:20.1910 LVL= 28240, 31697, 21442, 32755, AGC= 68, IDX= 413, 0.16, 1.837, 0.470, 1.899, 1.372, PHS= 0.553,-0.855, 0.524, RAW= 149.0, -3.2, CAL= 153.3, -12.0, ROT= 356.7, 12.0
2025-06-18T18:30:20.297Z,1750271420.297 [DAT](INFO): DAT read: Bearing 356.7, 12.0 (Local)
2025-06-18T18:30:20.297Z,1750271420.297 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.7, 12.0 (Local)
2025-06-18T18:30:20.299Z,1750271420.299 [DAT](INFO): DAT read: Range 10 to 50 : 72.6 m (Round-trip 96.9 ms) speed 0.6 m/s
2025-06-18T18:30:20.300Z,1750271420.300 [DAT](INFO): DAT read: user:1254>
2025-06-18T18:30:20.301Z,1750271420.301 [DAT](INFO): DAT read: Tx time:18:30:21.2899
2025-06-18T18:30:20.301Z,1750271420.301 [DAT](INFO): Ping request sent.
2025-06-18T18:30:20.301Z,1750271420.301 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:20.301Z,1750271420.301 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:20.302Z,1750271420.302 [DAT](INFO): direction in FSK: [0.976526,-0.056306,-0.207912]
2025-06-18T18:30:20.303Z,1750271420.303 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:20.303Z,1750271420.303 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:20.306Z,1750271420.306 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:20.306Z,1750271420.306 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:20.541Z,1750271420.541 [DAT](INFO): DAT read: TxSync time:18:30:21.2891
2025-06-18T18:30:20.546Z,1750271420.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 72.599998 m,
deltaT: 3.526663 s,
deltaX: -2.400002 m,
approachRate: -0.680530 m/s,
rangeRepo size: 4
2025-06-18T18:30:20.552Z,1750271420.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 71.936447 m,
bearing: 314.861535 deg,
lat: 36.905875 deg,
lon: -122.115764 deg,
deltaT: 3.526663 s,
deltaX: -2.378304 m,
approachRate: -0.674378 m/s,
posRepo size: 4
2025-06-18T18:30:20.553Z,1750271420.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.94 m.
2025-06-18T18:30:20.555Z,1750271420.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.936447 m,
nav range: 70.616158 m,
bearing: 315.512277 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006653 deg/s,
cmd heading: 316.907172 deg,
new cmd heading: 316.900709 deg.
2025-06-18T18:30:20.561Z,1750271420.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530961 target range: 71.936447 and range: 72.60 m.
2025-06-18T18:30:20.913Z,1750271420.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.94 m.
2025-06-18T18:30:20.916Z,1750271420.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.936447 m,
nav range: 70.382713 m,
bearing: 315.509852 deg,
approach rate: -0.633605 m/s,
LOS rate: -0.006603 deg/s,
cmd heading: 316.900697 deg,
new cmd heading: 316.893398 deg.
2025-06-18T18:30:20.917Z,1750271420.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530833 target range: 71.936447 and range: 72.60 m.
2025-06-18T18:30:21.334Z,1750271421.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.94 m.
2025-06-18T18:30:21.337Z,1750271421.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.936447 m,
nav range: 70.127113 m,
bearing: 315.507671 deg,
approach rate: -0.607898 m/s,
LOS rate: -0.005206 deg/s,
cmd heading: 316.893402 deg,
new cmd heading: 316.886836 deg.
2025-06-18T18:30:21.338Z,1750271421.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530719 target range: 71.936447 and range: 72.60 m.
2025-06-18T18:30:21.710Z,1750271421.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:21.713Z,1750271421.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.94 m.
2025-06-18T18:30:21.715Z,1750271421.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.936447 m,
nav range: 69.897209 m,
bearing: 315.505643 deg,
approach rate: -0.607157 m/s,
LOS rate: -0.005375 deg/s,
cmd heading: 316.886845 deg,
new cmd heading: 316.880739 deg.
2025-06-18T18:30:21.716Z,1750271421.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530612 target range: 71.936447 and range: 72.60 m.
2025-06-18T18:30:21.801Z,1750271421.801 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:21.801Z,1750271421.801 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:21.801Z,1750271421.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:22.053Z,1750271422.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751805
2025-06-18T18:30:22.186Z,1750271422.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.94 m.
2025-06-18T18:30:22.193Z,1750271422.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.936447 m,
nav range: 69.632858 m,
bearing: 315.502702 deg,
approach rate: -0.557922 m/s,
LOS rate: -0.006230 deg/s,
cmd heading: 316.880753 deg,
new cmd heading: 316.871897 deg.
2025-06-18T18:30:22.194Z,1750271422.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530458 target range: 71.936447 and range: 72.60 m.
2025-06-18T18:30:22.305Z,1750271422.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003763
2025-06-18T18:30:22.553Z,1750271422.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.94 m.
2025-06-18T18:30:22.561Z,1750271422.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260462
2025-06-18T18:30:22.572Z,1750271422.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.936447 m,
nav range: 69.379578 m,
bearing: 315.496355 deg,
approach rate: -0.690680 m/s,
LOS rate: -0.017372 deg/s,
cmd heading: 316.871901 deg,
new cmd heading: 316.852790 deg.
2025-06-18T18:30:22.577Z,1750271422.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530124 target range: 71.936447 and range: 72.60 m.
2025-06-18T18:30:22.813Z,1750271422.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511798
2025-06-18T18:30:22.852Z,1750271422.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:30:22.939Z,1750271422.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.94 m.
2025-06-18T18:30:22.942Z,1750271422.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.936447 m,
nav range: 69.138725 m,
bearing: 315.490346 deg,
approach rate: -0.624156 m/s,
LOS rate: -0.015625 deg/s,
cmd heading: 316.852776 deg,
new cmd heading: 316.834688 deg.
2025-06-18T18:30:22.943Z,1750271422.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529809 target range: 71.936447 and range: 72.60 m.
2025-06-18T18:30:23.065Z,1750271423.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763739
2025-06-18T18:30:23.317Z,1750271423.317 [DAT](INFO): DAT read: Rx Time:18:30:23.7882
2025-06-18T18:30:23.317Z,1750271423.317 [DAT](INFO): Rx dataTimestamp_ set to:1750271423.316983
2025-06-18T18:30:23.318Z,1750271423.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016803
2025-06-18T18:30:23.384Z,1750271423.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.94 m.
2025-06-18T18:30:23.387Z,1750271423.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.936447 m,
nav range: 68.874237 m,
bearing: 315.482701 deg,
approach rate: -0.599749 m/s,
LOS rate: -0.017404 deg/s,
cmd heading: 316.834690 deg,
new cmd heading: 316.811664 deg.
2025-06-18T18:30:23.393Z,1750271423.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529407 target range: 71.936447 and range: 72.60 m.
2025-06-18T18:30:23.569Z,1750271423.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267772
2025-06-18T18:30:23.827Z,1750271423.827 [DAT](INFO): DAT read: 18:30:23.7882 LVL= 21952, 25297, 17746, 30963, AGC= 69, IDX= 416,-0.42, 1.850, 0.431, 1.899, 1.394, PHS= 0.544,-0.916, 0.502, RAW= 148.5, -1.8, CAL= 152.5, -10.7, ROT= 357.5, 10.7
2025-06-18T18:30:23.828Z,1750271423.828 [DAT](INFO): got valid direction response:
18:30:23.7882 LVL= 21952, 25297, 17746, 30963, AGC= 69, IDX= 416,-0.42, 1.850, 0.431, 1.899, 1.394, PHS= 0.544,-0.916, 0.502, RAW= 148.5, -1.8, CAL= 152.5, -10.7, ROT= 357.5, 10.7
2025-06-18T18:30:23.829Z,1750271423.829 [DAT](INFO): DAT read: Bearing 357.5, 10.7 (Local)
2025-06-18T18:30:23.830Z,1750271423.830 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.5, 10.7 (Local)
2025-06-18T18:30:23.831Z,1750271423.831 [DAT](INFO): DAT read: Range 10 to 50 : 70.5 m (Round-trip 94.1 ms) speed 0.4 m/s
2025-06-18T18:30:23.856Z,1750271423.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:30:23.858Z,1750271423.858 [DAT](INFO): DAT read: user:1255>
2025-06-18T18:30:23.858Z,1750271423.858 [DAT](INFO): DAT read: Tx time:18:30:24.8900
2025-06-18T18:30:23.859Z,1750271423.859 [DAT](INFO): Ping request sent.
2025-06-18T18:30:23.859Z,1750271423.859 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:23.859Z,1750271423.859 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:23.869Z,1750271423.869 [DAT](INFO): direction in FSK: [0.981678,-0.042861,-0.185667]
2025-06-18T18:30:23.870Z,1750271423.870 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:23.870Z,1750271423.870 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:23.883Z,1750271423.883 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:23.883Z,1750271423.883 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:23.905Z,1750271423.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 70.500000 m,
deltaT: 3.532032 s,
deltaX: -2.099998 m,
approachRate: -0.594558 m/s,
rangeRepo size: 4
2025-06-18T18:30:23.907Z,1750271423.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 69.855789 m,
bearing: 315.641126 deg,
lat: 36.905875 deg,
lon: -122.115764 deg,
deltaT: 3.532032 s,
deltaX: -2.080658 m,
approachRate: -0.589082 m/s,
posRepo size: 4
2025-06-18T18:30:23.912Z,1750271423.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-18T18:30:23.915Z,1750271423.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.855789 m,
nav range: 68.572433 m,
bearing: 315.474028 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.017404 deg/s,
cmd heading: 316.811658 deg,
new cmd heading: 316.784304 deg.
2025-06-18T18:30:23.917Z,1750271423.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528929 target range: 69.855789 and range: 70.50 m.
2025-06-18T18:30:24.073Z,1750271424.073 [DAT](INFO): DAT read: TxSync time:18:30:24.8892
2025-06-18T18:30:24.358Z,1750271424.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-18T18:30:24.365Z,1750271424.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.855789 m,
nav range: 68.232750 m,
bearing: 315.465106 deg,
approach rate: -0.748244 m/s,
LOS rate: -0.019752 deg/s,
cmd heading: 316.784310 deg,
new cmd heading: 316.757410 deg.
2025-06-18T18:30:24.366Z,1750271424.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528460 target range: 69.855789 and range: 70.50 m.
2025-06-18T18:30:24.695Z,1750271424.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:24.702Z,1750271424.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-18T18:30:24.710Z,1750271424.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.855789 m,
nav range: 68.029694 m,
bearing: 315.460226 deg,
approach rate: -0.590665 m/s,
LOS rate: -0.014238 deg/s,
cmd heading: 316.757399 deg,
new cmd heading: 316.742716 deg.
2025-06-18T18:30:24.711Z,1750271424.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528203 target range: 69.855789 and range: 70.50 m.
2025-06-18T18:30:24.829Z,1750271424.829 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:24.829Z,1750271424.829 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:24.829Z,1750271424.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:25.062Z,1750271425.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-18T18:30:25.065Z,1750271425.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.855789 m,
nav range: 67.767616 m,
bearing: 315.454218 deg,
approach rate: -0.726723 m/s,
LOS rate: -0.016724 deg/s,
cmd heading: 316.742728 deg,
new cmd heading: 316.724634 deg.
2025-06-18T18:30:25.066Z,1750271425.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527888 target range: 69.855789 and range: 70.50 m.
2025-06-18T18:30:25.081Z,1750271425.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222100
2025-06-18T18:30:25.333Z,1750271425.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473863
2025-06-18T18:30:25.473Z,1750271425.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-18T18:30:25.477Z,1750271425.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.855789 m,
nav range: 67.501503 m,
bearing: 315.448253 deg,
approach rate: -0.647589 m/s,
LOS rate: -0.014573 deg/s,
cmd heading: 316.724642 deg,
new cmd heading: 316.706676 deg.
2025-06-18T18:30:25.478Z,1750271425.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527574 target range: 69.855789 and range: 70.50 m.
2025-06-18T18:30:25.585Z,1750271425.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726001
2025-06-18T18:30:25.837Z,1750271425.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978092
2025-06-18T18:30:25.847Z,1750271425.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-18T18:30:25.850Z,1750271425.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.855789 m,
nav range: 67.254906 m,
bearing: 315.442669 deg,
approach rate: -0.659589 m/s,
LOS rate: -0.014990 deg/s,
cmd heading: 316.706665 deg,
new cmd heading: 316.689852 deg.
2025-06-18T18:30:25.851Z,1750271425.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527281 target range: 69.855789 and range: 70.50 m.
2025-06-18T18:30:26.089Z,1750271426.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229913
2025-06-18T18:30:26.285Z,1750271426.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-18T18:30:26.287Z,1750271426.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.855789 m,
nav range: 66.975266 m,
bearing: 315.436135 deg,
approach rate: -0.639074 m/s,
LOS rate: -0.014994 deg/s,
cmd heading: 316.689862 deg,
new cmd heading: 316.670180 deg.
2025-06-18T18:30:26.289Z,1750271426.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526937 target range: 69.855789 and range: 70.50 m.
2025-06-18T18:30:26.342Z,1750271426.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482652
2025-06-18T18:30:26.593Z,1750271426.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733957
2025-06-18T18:30:26.687Z,1750271426.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-18T18:30:26.690Z,1750271426.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.855789 m,
nav range: 66.726402 m,
bearing: 315.430275 deg,
approach rate: -0.618000 m/s,
LOS rate: -0.014607 deg/s,
cmd heading: 316.670192 deg,
new cmd heading: 316.652545 deg.
2025-06-18T18:30:26.691Z,1750271426.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526629 target range: 69.855789 and range: 70.50 m.
2025-06-18T18:30:26.845Z,1750271426.845 [DAT](INFO): DAT read: Rx Time:18:30:27.3852
2025-06-18T18:30:26.845Z,1750271426.845 [DAT](INFO): Rx dataTimestamp_ set to:1750271426.845090
2025-06-18T18:30:26.846Z,1750271426.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987078
2025-06-18T18:30:27.064Z,1750271427.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:27.066Z,1750271427.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.86 m.
2025-06-18T18:30:27.069Z,1750271427.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.855789 m,
nav range: 66.475639 m,
bearing: 315.424169 deg,
approach rate: -0.662241 m/s,
LOS rate: -0.016188 deg/s,
cmd heading: 316.652542 deg,
new cmd heading: 316.634154 deg.
2025-06-18T18:30:27.070Z,1750271427.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526309 target range: 69.855789 and range: 70.50 m.
2025-06-18T18:30:27.097Z,1750271427.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238045
2025-06-18T18:30:27.355Z,1750271427.355 [DAT](INFO): DAT read: 18:30:27.3852 LVL= 25696, 31697, 21266, 32083, AGC= 69, IDX= 417,-0.18, 0.699,-0.714, 0.759, 0.254, PHS= 0.533,-0.921, 0.502, RAW= 148.9, -1.6, CAL= 152.7, -10.5, ROT= 357.3, 10.5
2025-06-18T18:30:27.356Z,1750271427.356 [DAT](INFO): got valid direction response:
18:30:27.3852 LVL= 25696, 31697, 21266, 32083, AGC= 69, IDX= 417,-0.18, 0.699,-0.714, 0.759, 0.254, PHS= 0.533,-0.921, 0.502, RAW= 148.9, -1.6, CAL= 152.7, -10.5, ROT= 357.3, 10.5
2025-06-18T18:30:27.357Z,1750271427.357 [DAT](INFO): DAT read: Bearing 357.3, 10.5 (Local)
2025-06-18T18:30:27.357Z,1750271427.357 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.3, 10.5 (Local)
2025-06-18T18:30:27.359Z,1750271427.359 [DAT](INFO): DAT read: Range 10 to 50 : 68.3 m (Round-trip 91.1 ms) speed 0.6 m/s
2025-06-18T18:30:27.359Z,1750271427.359 [DAT](INFO): DAT read: user:1256>
2025-06-18T18:30:27.360Z,1750271427.360 [DAT](INFO): DAT read: Tx time:18:30:28.4900
2025-06-18T18:30:27.361Z,1750271427.361 [DAT](INFO): Ping request sent.
2025-06-18T18:30:27.361Z,1750271427.361 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:27.361Z,1750271427.361 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:27.362Z,1750271427.362 [DAT](INFO): direction in FSK: [0.982163,-0.046318,-0.182236]
2025-06-18T18:30:27.362Z,1750271427.362 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:27.362Z,1750271427.362 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:27.366Z,1750271427.366 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:27.366Z,1750271427.366 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:27.563Z,1750271427.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 68.300003 m,
deltaT: 3.528032 s,
deltaX: -2.199997 m,
approachRate: -0.623576 m/s,
rangeRepo size: 4
2025-06-18T18:30:27.569Z,1750271427.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 67.675751 m,
bearing: 315.020523 deg,
lat: 36.905875 deg,
lon: -122.115767 deg,
deltaT: 3.528032 s,
deltaX: -2.180038 m,
approachRate: -0.617919 m/s,
posRepo size: 4
2025-06-18T18:30:27.570Z,1750271427.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-06-18T18:30:27.577Z,1750271427.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.675751 m,
nav range: 66.342064 m,
bearing: 315.175716 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016188 deg/s,
cmd heading: 316.634155 deg,
new cmd heading: 316.610065 deg.
2025-06-18T18:30:27.578Z,1750271427.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525888 target range: 67.675751 and range: 68.30 m.
2025-06-18T18:30:27.601Z,1750271427.601 [DAT](INFO): DAT read: TxSync time:18:30:28.4892
2025-06-18T18:30:27.871Z,1750271427.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-06-18T18:30:27.893Z,1750271427.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.675751 m,
nav range: 66.138290 m,
bearing: 315.168776 deg,
approach rate: -0.659745 m/s,
LOS rate: -0.022539 deg/s,
cmd heading: 316.610059 deg,
new cmd heading: 316.589174 deg.
2025-06-18T18:30:27.898Z,1750271427.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525524 target range: 67.675751 and range: 68.30 m.
2025-06-18T18:30:28.331Z,1750271428.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-06-18T18:30:28.334Z,1750271428.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.675751 m,
nav range: 65.843735 m,
bearing: 315.159340 deg,
approach rate: -0.640333 m/s,
LOS rate: -0.020605 deg/s,
cmd heading: 316.589185 deg,
new cmd heading: 316.560750 deg.
2025-06-18T18:30:28.335Z,1750271428.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525027 target range: 67.675751 and range: 68.30 m.
2025-06-18T18:30:28.691Z,1750271428.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-06-18T18:30:28.695Z,1750271428.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.675751 m,
nav range: 65.614914 m,
bearing: 315.151951 deg,
approach rate: -0.634711 m/s,
LOS rate: -0.020566 deg/s,
cmd heading: 316.560745 deg,
new cmd heading: 316.538501 deg.
2025-06-18T18:30:28.696Z,1750271428.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524639 target range: 67.675751 and range: 68.30 m.
2025-06-18T18:30:29.096Z,1750271429.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:29.098Z,1750271429.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-06-18T18:30:29.101Z,1750271429.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.675751 m,
nav range: 65.357269 m,
bearing: 315.142834 deg,
approach rate: -0.633152 m/s,
LOS rate: -0.022495 deg/s,
cmd heading: 316.538505 deg,
new cmd heading: 316.511044 deg.
2025-06-18T18:30:29.102Z,1750271429.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524160 target range: 67.675751 and range: 68.30 m.
2025-06-18T18:30:29.125Z,1750271429.125 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:29.125Z,1750271429.125 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:29.125Z,1750271429.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:29.377Z,1750271429.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016621
2025-06-18T18:30:29.525Z,1750271429.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-06-18T18:30:29.527Z,1750271429.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.675751 m,
nav range: 65.090767 m,
bearing: 315.134102 deg,
approach rate: -0.624847 m/s,
LOS rate: -0.020556 deg/s,
cmd heading: 316.511048 deg,
new cmd heading: 316.484746 deg.
2025-06-18T18:30:29.529Z,1750271429.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523701 target range: 67.675751 and range: 68.30 m.
2025-06-18T18:30:29.629Z,1750271429.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268740
2025-06-18T18:30:29.882Z,1750271429.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520889
2025-06-18T18:30:29.907Z,1750271429.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-06-18T18:30:29.910Z,1750271429.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.675751 m,
nav range: 64.853050 m,
bearing: 315.126116 deg,
approach rate: -0.621812 m/s,
LOS rate: -0.020966 deg/s,
cmd heading: 316.484738 deg,
new cmd heading: 316.460692 deg.
2025-06-18T18:30:29.911Z,1750271429.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523281 target range: 67.675751 and range: 68.30 m.
2025-06-18T18:30:30.134Z,1750271430.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773231
2025-06-18T18:30:30.348Z,1750271430.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-06-18T18:30:30.351Z,1750271430.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.675751 m,
nav range: 64.574234 m,
bearing: 315.118250 deg,
approach rate: -0.632609 m/s,
LOS rate: -0.017925 deg/s,
cmd heading: 316.460696 deg,
new cmd heading: 316.436996 deg.
2025-06-18T18:30:30.352Z,1750271430.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522868 target range: 67.675751 and range: 68.30 m.
2025-06-18T18:30:30.385Z,1750271430.385 [DAT](INFO): DAT read: Rx Time:18:30:30.9822
2025-06-18T18:30:30.385Z,1750271430.385 [DAT](INFO): Rx dataTimestamp_ set to:1750271430.385159
2025-06-18T18:30:30.386Z,1750271430.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025326
2025-06-18T18:30:30.637Z,1750271430.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276039
2025-06-18T18:30:30.716Z,1750271430.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-06-18T18:30:30.719Z,1750271430.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.675751 m,
nav range: 64.353340 m,
bearing: 315.112132 deg,
approach rate: -0.599491 m/s,
LOS rate: -0.016659 deg/s,
cmd heading: 316.437009 deg,
new cmd heading: 316.418593 deg.
2025-06-18T18:30:30.720Z,1750271430.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522546 target range: 67.675751 and range: 68.30 m.
2025-06-18T18:30:30.894Z,1750271430.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532951
2025-06-18T18:30:31.096Z,1750271431.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.68 m.
2025-06-18T18:30:31.098Z,1750271431.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.675751 m,
nav range: 64.101585 m,
bearing: 315.105284 deg,
approach rate: -0.663980 m/s,
LOS rate: -0.018132 deg/s,
cmd heading: 316.418595 deg,
new cmd heading: 316.397970 deg.
2025-06-18T18:30:31.099Z,1750271431.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522186 target range: 67.675751 and range: 68.30 m.
2025-06-18T18:30:31.149Z,1750271431.149 [DAT](INFO): DAT read: 18:30:30.9822 LVL= 26096, 31505, 25650, 32755, AGC= 69, IDX= 418,-0.08,-1.714,-3.008,-1.709,-2.112, PHS= 0.486,-0.849, 0.400, RAW= 146.7, -0.6, CAL= 150.5, -9.6, ROT= 359.5, 9.6
2025-06-18T18:30:31.150Z,1750271431.150 [DAT](INFO): got valid direction response:
18:30:30.9822 LVL= 26096, 31505, 25650, 32755, AGC= 69, IDX= 418,-0.08,-1.714,-3.008,-1.709,-2.112, PHS= 0.486,-0.849, 0.400, RAW= 146.7, -0.6, CAL= 150.5, -9.6, ROT= 359.5, 9.6
2025-06-18T18:30:31.152Z,1750271431.152 [DAT](INFO): DAT read: Bearing 359.5, 9.6 (Local)
2025-06-18T18:30:31.152Z,1750271431.152 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.5, 9.6 (Local)
2025-06-18T18:30:31.155Z,1750271431.155 [DAT](INFO): DAT read: Range 10 to 50 : 66.0 m (Round-trip 88.0 ms) speed 0.4 m/s
2025-06-18T18:30:31.172Z,1750271431.172 [DAT](INFO): DAT read: user:1257>
2025-06-18T18:30:31.173Z,1750271431.173 [DAT](INFO): DAT read: Tx time:18:30:32.0900
2025-06-18T18:30:31.174Z,1750271431.174 [DAT](INFO): Ping request sent.
2025-06-18T18:30:31.174Z,1750271431.174 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:31.175Z,1750271431.175 [DAT](INFO): DAT read: TxSync time:18:30:32.0892
2025-06-18T18:30:31.175Z,1750271431.175 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:31.189Z,1750271431.189 [DAT](INFO): direction in FSK: [0.985958,-0.008604,-0.166769]
2025-06-18T18:30:31.189Z,1750271431.189 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:31.189Z,1750271431.189 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:31.201Z,1750271431.201 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:31.201Z,1750271431.201 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:31.561Z,1750271431.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 66.000000 m,
deltaT: 3.791960 s,
deltaX: -2.300003 m,
approachRate: -0.606547 m/s,
rangeRepo size: 4
2025-06-18T18:30:31.563Z,1750271431.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 65.396828 m,
bearing: 317.072410 deg,
lat: 36.905877 deg,
lon: -122.115765 deg,
deltaT: 3.791960 s,
deltaX: -2.278923 m,
approachRate: -0.600988 m/s,
posRepo size: 4
2025-06-18T18:30:31.568Z,1750271431.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-06-18T18:30:31.571Z,1750271431.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.396828 m,
nav range: 63.867599 m,
bearing: 315.367453 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.018132 deg/s,
cmd heading: 316.397967 deg,
new cmd heading: 316.372666 deg.
2025-06-18T18:30:31.576Z,1750271431.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521745 target range: 65.396828 and range: 66.00 m.
2025-06-18T18:30:31.915Z,1750271431.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:31.918Z,1750271431.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-06-18T18:30:31.920Z,1750271431.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.396828 m,
nav range: 63.631618 m,
bearing: 315.365358 deg,
approach rate: -0.661295 m/s,
LOS rate: -0.005894 deg/s,
cmd heading: 316.372668 deg,
new cmd heading: 316.366359 deg.
2025-06-18T18:30:31.921Z,1750271431.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521635 target range: 65.396828 and range: 66.00 m.
2025-06-18T18:30:32.148Z,1750271432.148 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:32.149Z,1750271432.149 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:32.149Z,1750271432.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:32.381Z,1750271432.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-06-18T18:30:32.383Z,1750271432.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.396828 m,
nav range: 63.342838 m,
bearing: 315.358583 deg,
approach rate: -0.623616 m/s,
LOS rate: -0.014696 deg/s,
cmd heading: 316.366357 deg,
new cmd heading: 316.345941 deg.
2025-06-18T18:30:32.385Z,1750271432.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521278 target range: 65.396828 and range: 66.00 m.
2025-06-18T18:30:32.402Z,1750271432.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228566
2025-06-18T18:30:32.653Z,1750271432.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478861
2025-06-18T18:30:32.719Z,1750271432.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-06-18T18:30:32.722Z,1750271432.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.396828 m,
nav range: 63.131413 m,
bearing: 315.353891 deg,
approach rate: -0.625368 m/s,
LOS rate: -0.013925 deg/s,
cmd heading: 316.345949 deg,
new cmd heading: 316.331825 deg.
2025-06-18T18:30:32.723Z,1750271432.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521032 target range: 65.396828 and range: 66.00 m.
2025-06-18T18:30:32.905Z,1750271432.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730954
2025-06-18T18:30:33.119Z,1750271433.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-06-18T18:30:33.121Z,1750271433.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.396828 m,
nav range: 62.881981 m,
bearing: 315.348186 deg,
approach rate: -0.623780 m/s,
LOS rate: -0.014325 deg/s,
cmd heading: 316.331824 deg,
new cmd heading: 316.314640 deg.
2025-06-18T18:30:33.122Z,1750271433.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520732 target range: 65.396828 and range: 66.00 m.
2025-06-18T18:30:33.158Z,1750271433.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983705
2025-06-18T18:30:33.410Z,1750271433.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236518
2025-06-18T18:30:33.573Z,1750271433.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-06-18T18:30:33.578Z,1750271433.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.396828 m,
nav range: 62.605247 m,
bearing: 315.345928 deg,
approach rate: -0.611191 m/s,
LOS rate: -0.005009 deg/s,
cmd heading: 316.314639 deg,
new cmd heading: 316.307836 deg.
2025-06-18T18:30:33.579Z,1750271433.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520613 target range: 65.396828 and range: 66.00 m.
2025-06-18T18:30:33.661Z,1750271433.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487417
2025-06-18T18:30:33.913Z,1750271433.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739241
2025-06-18T18:30:33.947Z,1750271433.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:33.950Z,1750271433.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-06-18T18:30:33.953Z,1750271433.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.396828 m,
nav range: 62.366703 m,
bearing: 315.343898 deg,
approach rate: -0.630428 m/s,
LOS rate: -0.005384 deg/s,
cmd heading: 316.307836 deg,
new cmd heading: 316.301725 deg.
2025-06-18T18:30:33.954Z,1750271433.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520506 target range: 65.396828 and range: 66.00 m.
2025-06-18T18:30:34.166Z,1750271434.166 [DAT](INFO): DAT read: Rx Time:18:30:34.5791
2025-06-18T18:30:34.166Z,1750271434.166 [DAT](INFO): Rx dataTimestamp_ set to:1750271434.165838
2025-06-18T18:30:34.167Z,1750271434.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993122
2025-06-18T18:30:34.398Z,1750271434.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-06-18T18:30:34.401Z,1750271434.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.396828 m,
nav range: 62.097401 m,
bearing: 315.342639 deg,
approach rate: -0.601166 m/s,
LOS rate: -0.002824 deg/s,
cmd heading: 316.301716 deg,
new cmd heading: 316.297921 deg.
2025-06-18T18:30:34.402Z,1750271434.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520440 target range: 65.396828 and range: 66.00 m.
2025-06-18T18:30:34.417Z,1750271434.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242883
2025-06-18T18:30:34.679Z,1750271434.679 [DAT](INFO): DAT read: 18:30:34.5791 LVL= 22064, 24049, 18530, 28147, AGC= 67, IDX= 401, 0.08, 2.627, 1.221, 2.688, 2.150, PHS= 0.565,-0.882, 0.535, RAW= 149.0, -3.1, CAL= 153.3, -11.8, ROT= 356.7, 11.8
2025-06-18T18:30:34.682Z,1750271434.682 [DAT](INFO): got valid direction response:
18:30:34.5791 LVL= 22064, 24049, 18530, 28147, AGC= 67, IDX= 401, 0.08, 2.627, 1.221, 2.688, 2.150, PHS= 0.565,-0.882, 0.535, RAW= 149.0, -3.1, CAL= 153.3, -11.8, ROT= 356.7, 11.8
2025-06-18T18:30:34.683Z,1750271434.683 [DAT](INFO): DAT read: Bearing 356.7, 11.8 (Local)
2025-06-18T18:30:34.684Z,1750271434.684 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.7, 11.8 (Local)
2025-06-18T18:30:34.686Z,1750271434.686 [DAT](INFO): DAT read: Range 10 to 50 : 63.6 m (Round-trip 84.8 ms) speed 0.6 m/s
2025-06-18T18:30:34.690Z,1750271434.690 [DAT](INFO): DAT read: user:1258>
2025-06-18T18:30:34.692Z,1750271434.692 [DAT](INFO): DAT read: Tx time:18:30:35.6916
2025-06-18T18:30:34.695Z,1750271434.695 [DAT](INFO): Ping request sent.
2025-06-18T18:30:34.706Z,1750271434.706 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:34.709Z,1750271434.709 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:34.715Z,1750271434.715 [DAT](INFO): direction in FSK: [0.977244,-0.056347,-0.204496]
2025-06-18T18:30:34.715Z,1750271434.715 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:34.715Z,1750271434.715 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:34.758Z,1750271434.758 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:34.759Z,1750271434.759 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:34.869Z,1750271434.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 63.599998 m,
deltaT: 3.528649 s,
deltaX: -2.400002 m,
approachRate: -0.680147 m/s,
rangeRepo size: 4
2025-06-18T18:30:34.876Z,1750271434.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 63.018734 m,
bearing: 314.232904 deg,
lat: 36.905877 deg,
lon: -122.115765 deg,
deltaT: 3.528649 s,
deltaX: -2.378094 m,
approachRate: -0.673939 m/s,
posRepo size: 4
2025-06-18T18:30:34.878Z,1750271434.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:30:34.886Z,1750271434.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.018734 m,
nav range: 61.832851 m,
bearing: 315.341453 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002824 deg/s,
cmd heading: 316.297919 deg,
new cmd heading: 316.294006 deg.
2025-06-18T18:30:34.892Z,1750271434.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520372 target range: 63.018734 and range: 63.60 m.
2025-06-18T18:30:34.921Z,1750271434.921 [DAT](INFO): DAT read: TxSync time:18:30:35.6909
2025-06-18T18:30:35.202Z,1750271435.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:30:35.209Z,1750271435.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.018734 m,
nav range: 61.625042 m,
bearing: 315.340850 deg,
approach rate: -0.606537 m/s,
LOS rate: -0.001765 deg/s,
cmd heading: 316.294012 deg,
new cmd heading: 316.292198 deg.
2025-06-18T18:30:35.210Z,1750271435.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520340 target range: 63.018734 and range: 63.60 m.
2025-06-18T18:30:35.609Z,1750271435.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:30:35.612Z,1750271435.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.018734 m,
nav range: 61.371960 m,
bearing: 315.337934 deg,
approach rate: -0.621460 m/s,
LOS rate: -0.007191 deg/s,
cmd heading: 316.292209 deg,
new cmd heading: 316.283423 deg.
2025-06-18T18:30:35.613Z,1750271435.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520187 target range: 63.018734 and range: 63.60 m.
2025-06-18T18:30:35.992Z,1750271435.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:35.994Z,1750271435.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:30:35.997Z,1750271435.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.018734 m,
nav range: 61.141174 m,
bearing: 315.335485 deg,
approach rate: -0.599343 m/s,
LOS rate: -0.006385 deg/s,
cmd heading: 316.283412 deg,
new cmd heading: 316.276036 deg.
2025-06-18T18:30:35.998Z,1750271435.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520058 target range: 63.018734 and range: 63.60 m.
2025-06-18T18:30:36.181Z,1750271436.181 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:36.181Z,1750271436.181 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:36.181Z,1750271436.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:36.433Z,1750271436.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737572
2025-06-18T18:30:36.441Z,1750271436.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:30:36.444Z,1750271436.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.018734 m,
nav range: 60.875175 m,
bearing: 315.332352 deg,
approach rate: -0.596042 m/s,
LOS rate: -0.007051 deg/s,
cmd heading: 316.276035 deg,
new cmd heading: 316.266595 deg.
2025-06-18T18:30:36.445Z,1750271436.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519893 target range: 63.018734 and range: 63.60 m.
2025-06-18T18:30:36.685Z,1750271436.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989404
2025-06-18T18:30:36.821Z,1750271436.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:30:36.824Z,1750271436.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.018734 m,
nav range: 60.646580 m,
bearing: 315.329637 deg,
approach rate: -0.601068 m/s,
LOS rate: -0.007164 deg/s,
cmd heading: 316.266582 deg,
new cmd heading: 316.258408 deg.
2025-06-18T18:30:36.825Z,1750271436.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519751 target range: 63.018734 and range: 63.60 m.
2025-06-18T18:30:36.938Z,1750271436.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242606
2025-06-18T18:30:37.189Z,1750271437.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493569
2025-06-18T18:30:37.275Z,1750271437.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:30:37.278Z,1750271437.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.018734 m,
nav range: 60.375050 m,
bearing: 315.325624 deg,
approach rate: -0.597880 m/s,
LOS rate: -0.008876 deg/s,
cmd heading: 316.258413 deg,
new cmd heading: 316.246320 deg.
2025-06-18T18:30:37.279Z,1750271437.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519539 target range: 63.018734 and range: 63.60 m.
2025-06-18T18:30:37.441Z,1750271437.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745389
2025-06-18T18:30:37.672Z,1750271437.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:30:37.675Z,1750271437.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.018734 m,
nav range: 60.143967 m,
bearing: 315.323083 deg,
approach rate: -0.588554 m/s,
LOS rate: -0.006498 deg/s,
cmd heading: 316.246310 deg,
new cmd heading: 316.238656 deg.
2025-06-18T18:30:37.680Z,1750271437.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519406 target range: 63.018734 and range: 63.60 m.
2025-06-18T18:30:37.693Z,1750271437.693 [DAT](INFO): DAT read: Rx Time:18:30:38.1778
2025-06-18T18:30:37.693Z,1750271437.693 [DAT](INFO): Rx dataTimestamp_ set to:1750271437.693154
2025-06-18T18:30:37.694Z,1750271437.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998626
2025-06-18T18:30:37.945Z,1750271437.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249464
2025-06-18T18:30:38.038Z,1750271438.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:38.062Z,1750271438.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:30:38.081Z,1750271438.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.018734 m,
nav range: 59.915779 m,
bearing: 315.320500 deg,
approach rate: -0.586121 m/s,
LOS rate: -0.006660 deg/s,
cmd heading: 316.238660 deg,
new cmd heading: 316.230882 deg.
2025-06-18T18:30:38.099Z,1750271438.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519270 target range: 63.018734 and range: 63.60 m.
2025-06-18T18:30:38.205Z,1750271438.205 [DAT](INFO): DAT read: 18:30:38.1778 LVL= 21136, 27633, 17794, 32755, AGC= 68, IDX= 420,-0.43,-0.456,-1.830,-0.404,-0.911, PHS= 0.543,-0.872, 0.504, RAW= 148.6, -2.5, CAL= 152.8, -11.4, ROT= 357.2, 11.4
2025-06-18T18:30:38.206Z,1750271438.206 [DAT](INFO): got valid direction response:
18:30:38.1778 LVL= 21136, 27633, 17794, 32755, AGC= 68, IDX= 420,-0.43,-0.456,-1.830,-0.404,-0.911, PHS= 0.543,-0.872, 0.504, RAW= 148.6, -2.5, CAL= 152.8, -11.4, ROT= 357.2, 11.4
2025-06-18T18:30:38.207Z,1750271438.207 [DAT](INFO): DAT read: Bearing 357.2, 11.4 (Local)
2025-06-18T18:30:38.207Z,1750271438.207 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.2, 11.4 (Local)
2025-06-18T18:30:38.209Z,1750271438.209 [DAT](INFO): DAT read: Range 10 to 50 : 61.5 m (Round-trip 82.0 ms) speed 0.8 m/s
2025-06-18T18:30:38.210Z,1750271438.210 [DAT](INFO): DAT read: user:1259>
2025-06-18T18:30:38.211Z,1750271438.211 [DAT](INFO): DAT read: Tx time:18:30:39.2916
2025-06-18T18:30:38.211Z,1750271438.211 [DAT](INFO): Ping request sent.
2025-06-18T18:30:38.211Z,1750271438.211 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:38.211Z,1750271438.211 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:38.220Z,1750271438.220 [DAT](INFO): direction in FSK: [0.979101,-0.047886,-0.197657]
2025-06-18T18:30:38.221Z,1750271438.221 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:38.221Z,1750271438.221 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:38.229Z,1750271438.229 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:38.229Z,1750271438.229 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:38.450Z,1750271438.450 [DAT](INFO): DAT read: TxSync time:18:30:39.2909
2025-06-18T18:30:38.527Z,1750271438.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 61.500000 m,
deltaT: 3.527674 s,
deltaX: -2.099998 m,
approachRate: -0.595293 m/s,
rangeRepo size: 4
2025-06-18T18:30:38.529Z,1750271438.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 60.938023 m,
bearing: 314.741315 deg,
lat: 36.905875 deg,
lon: -122.115770 deg,
deltaT: 3.527674 s,
deltaX: -2.080711 m,
approachRate: -0.589825 m/s,
posRepo size: 4
2025-06-18T18:30:38.530Z,1750271438.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.94 m.
2025-06-18T18:30:38.533Z,1750271438.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.938023 m,
nav range: 59.761475 m,
bearing: 314.863572 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006660 deg/s,
cmd heading: 316.230874 deg,
new cmd heading: 316.221497 deg.
2025-06-18T18:30:38.534Z,1750271438.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519106 target range: 60.938023 and range: 61.50 m.
2025-06-18T18:30:38.836Z,1750271438.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.94 m.
2025-06-18T18:30:38.839Z,1750271438.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.938023 m,
nav range: 59.564468 m,
bearing: 314.862721 deg,
approach rate: -0.635584 m/s,
LOS rate: -0.002756 deg/s,
cmd heading: 316.221503 deg,
new cmd heading: 316.218940 deg.
2025-06-18T18:30:38.840Z,1750271438.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519062 target range: 60.938023 and range: 61.50 m.
2025-06-18T18:30:39.242Z,1750271439.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.94 m.
2025-06-18T18:30:39.244Z,1750271439.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.938023 m,
nav range: 59.314831 m,
bearing: 314.862348 deg,
approach rate: -0.616144 m/s,
LOS rate: -0.000923 deg/s,
cmd heading: 316.218935 deg,
new cmd heading: 316.217813 deg.
2025-06-18T18:30:39.246Z,1750271439.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519042 target range: 60.938023 and range: 61.50 m.
2025-06-18T18:30:39.663Z,1750271439.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.94 m.
2025-06-18T18:30:39.699Z,1750271439.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.938023 m,
nav range: 59.047256 m,
bearing: 314.860965 deg,
approach rate: -0.634964 m/s,
LOS rate: -0.003297 deg/s,
cmd heading: 316.217814 deg,
new cmd heading: 316.213646 deg.
2025-06-18T18:30:39.701Z,1750271439.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518969 target range: 60.938023 and range: 61.50 m.
2025-06-18T18:30:40.054Z,1750271440.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:40.072Z,1750271440.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.94 m.
2025-06-18T18:30:40.075Z,1750271440.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.938023 m,
nav range: 58.797768 m,
bearing: 314.859664 deg,
approach rate: -0.634929 m/s,
LOS rate: -0.003325 deg/s,
cmd heading: 316.213634 deg,
new cmd heading: 316.209715 deg.
2025-06-18T18:30:40.079Z,1750271440.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518901 target range: 60.938023 and range: 61.50 m.
2025-06-18T18:30:40.213Z,1750271440.213 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:40.213Z,1750271440.213 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:40.213Z,1750271440.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:40.465Z,1750271440.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253876
2025-06-18T18:30:40.510Z,1750271440.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.94 m.
2025-06-18T18:30:40.520Z,1750271440.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.938023 m,
nav range: 58.514854 m,
bearing: 314.858983 deg,
approach rate: -0.625124 m/s,
LOS rate: -0.001513 deg/s,
cmd heading: 316.209727 deg,
new cmd heading: 316.207673 deg.
2025-06-18T18:30:40.521Z,1750271440.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518865 target range: 60.938023 and range: 61.50 m.
2025-06-18T18:30:40.717Z,1750271440.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505820
2025-06-18T18:30:40.846Z,1750271440.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.94 m.
2025-06-18T18:30:40.849Z,1750271440.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.938023 m,
nav range: 58.286003 m,
bearing: 314.858541 deg,
approach rate: -0.677690 m/s,
LOS rate: -0.001311 deg/s,
cmd heading: 316.207678 deg,
new cmd heading: 316.206350 deg.
2025-06-18T18:30:40.850Z,1750271440.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518842 target range: 60.938023 and range: 61.50 m.
2025-06-18T18:30:40.970Z,1750271440.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758701
2025-06-18T18:30:41.221Z,1750271441.221 [DAT](INFO): DAT read: Rx Time:18:30:41.7749
2025-06-18T18:30:41.221Z,1750271441.221 [DAT](INFO): Rx dataTimestamp_ set to:1750271441.221019
2025-06-18T18:30:41.222Z,1750271441.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010909
2025-06-18T18:30:41.269Z,1750271441.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.94 m.
2025-06-18T18:30:41.272Z,1750271441.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.938023 m,
nav range: 58.011124 m,
bearing: 314.858171 deg,
approach rate: -0.649775 m/s,
LOS rate: -0.000881 deg/s,
cmd heading: 316.206340 deg,
new cmd heading: 316.205222 deg.
2025-06-18T18:30:41.273Z,1750271441.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518822 target range: 60.938023 and range: 61.50 m.
2025-06-18T18:30:41.477Z,1750271441.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265268
2025-06-18T18:30:41.732Z,1750271441.732 [DAT](INFO): DAT read: 18:30:41.7749 LVL= 27616, 28369, 21026, 31907, AGC= 69, IDX= 406,-0.49, 1.895, 0.474, 1.942, 1.399, PHS= 0.584,-0.878, 0.541, RAW= 148.5, -3.5, CAL= 153.0, -12.2, ROT= 357.0, 12.2
2025-06-18T18:30:41.733Z,1750271441.733 [DAT](INFO): got valid direction response:
18:30:41.7749 LVL= 27616, 28369, 21026, 31907, AGC= 69, IDX= 406,-0.49, 1.895, 0.474, 1.942, 1.399, PHS= 0.584,-0.878, 0.541, RAW= 148.5, -3.5, CAL= 153.0, -12.2, ROT= 357.0, 12.2
2025-06-18T18:30:41.734Z,1750271441.734 [DAT](INFO): DAT read: Bearing 357.0, 12.2 (Local)
2025-06-18T18:30:41.734Z,1750271441.734 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.0, 12.2 (Local)
2025-06-18T18:30:41.736Z,1750271441.736 [DAT](INFO): DAT read: Range 10 to 50 : 59.3 m (Round-trip 79.1 ms) speed 0.6 m/s
2025-06-18T18:30:41.736Z,1750271441.736 [DAT](INFO): DAT read: user:1260>
2025-06-18T18:30:41.737Z,1750271441.737 [DAT](INFO): DAT read: Tx time:18:30:42.8901
2025-06-18T18:30:41.737Z,1750271441.737 [DAT](INFO): Ping request sent.
2025-06-18T18:30:41.738Z,1750271441.738 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:41.738Z,1750271441.738 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:41.739Z,1750271441.739 [DAT](INFO): direction in FSK: [0.976076,-0.051154,-0.211325]
2025-06-18T18:30:41.739Z,1750271441.739 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:41.739Z,1750271441.739 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:41.762Z,1750271441.762 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:41.762Z,1750271441.762 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:41.801Z,1750271441.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 59.299999 m,
deltaT: 3.528565 s,
deltaX: -2.200001 m,
approachRate: -0.623483 m/s,
rangeRepo size: 4
2025-06-18T18:30:41.803Z,1750271441.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 58.758183 m,
bearing: 314.326885 deg,
lat: 36.905874 deg,
lon: -122.115771 deg,
deltaT: 3.528565 s,
deltaX: -2.179840 m,
approachRate: -0.617770 m/s,
posRepo size: 4
2025-06-18T18:30:41.808Z,1750271441.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.76 m.
2025-06-18T18:30:41.809Z,1750271441.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-18T18:30:41.811Z,1750271441.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.758183 m,
nav range: 57.667347 m,
bearing: 314.732144 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000881 deg/s,
cmd heading: 316.205220 deg,
new cmd heading: 316.203816 deg.
2025-06-18T18:30:41.817Z,1750271441.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518798 target range: 58.758183 and range: 59.30 m.
2025-06-18T18:30:41.846Z,1750271441.846 [DockingStepper](INFO): Changing to mode: 2
2025-06-18T18:30:41.847Z,1750271441.847 [DockingStepper](INFO): Armed mode.
2025-06-18T18:30:41.908Z,1750271441.908 [DockingStepper](INFO): Commanding negative:54593
2025-06-18T18:30:41.977Z,1750271441.977 [DAT](INFO): DAT read: TxSync time:18:30:42.8893
2025-06-18T18:30:42.182Z,1750271442.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:42.193Z,1750271442.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.76 m.
2025-06-18T18:30:42.194Z,1750271442.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-18T18:30:42.201Z,1750271442.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.758183 m,
nav range: 57.392899 m,
bearing: 314.732535 deg,
approach rate: -0.698440 m/s,
LOS rate: 0.001001 deg/s,
cmd heading: 316.203826 deg,
new cmd heading: 316.205007 deg.
2025-06-18T18:30:42.202Z,1750271442.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518818 target range: 58.758183 and range: 59.30 m.
2025-06-18T18:30:42.231Z,1750271442.231 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:42.232Z,1750271442.232 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:42.232Z,1750271442.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:42.481Z,1750271442.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743168
2025-06-18T18:30:42.567Z,1750271442.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.76 m.
2025-06-18T18:30:42.569Z,1750271442.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-18T18:30:42.575Z,1750271442.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.758183 m,
nav range: 57.136833 m,
bearing: 314.727923 deg,
approach rate: -0.685251 m/s,
LOS rate: -0.012399 deg/s,
cmd heading: 316.205001 deg,
new cmd heading: 316.191101 deg.
2025-06-18T18:30:42.578Z,1750271442.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518576 target range: 58.758183 and range: 59.30 m.
2025-06-18T18:30:42.733Z,1750271442.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995247
2025-06-18T18:30:42.937Z,1750271442.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.76 m.
2025-06-18T18:30:42.938Z,1750271442.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-18T18:30:42.941Z,1750271442.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.758183 m,
nav range: 56.894592 m,
bearing: 314.723543 deg,
approach rate: -0.654101 m/s,
LOS rate: -0.011878 deg/s,
cmd heading: 316.191095 deg,
new cmd heading: 316.177898 deg.
2025-06-18T18:30:42.942Z,1750271442.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518345 target range: 58.758183 and range: 59.30 m.
2025-06-18T18:30:42.986Z,1750271442.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248514
2025-06-18T18:30:43.237Z,1750271443.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499259
2025-06-18T18:30:43.342Z,1750271443.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.76 m.
2025-06-18T18:30:43.343Z,1750271443.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-18T18:30:43.346Z,1750271443.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.758183 m,
nav range: 56.629585 m,
bearing: 314.718574 deg,
approach rate: -0.654828 m/s,
LOS rate: -0.012335 deg/s,
cmd heading: 316.177899 deg,
new cmd heading: 316.162923 deg.
2025-06-18T18:30:43.347Z,1750271443.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518084 target range: 58.758183 and range: 59.30 m.
2025-06-18T18:30:43.494Z,1750271443.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753582
2025-06-18T18:30:43.741Z,1750271443.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003233
2025-06-18T18:30:43.795Z,1750271443.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.76 m.
2025-06-18T18:30:43.796Z,1750271443.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-18T18:30:43.799Z,1750271443.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.758183 m,
nav range: 56.348309 m,
bearing: 314.707067 deg,
approach rate: -0.620702 m/s,
LOS rate: -0.025520 deg/s,
cmd heading: 316.162927 deg,
new cmd heading: 316.128233 deg.
2025-06-18T18:30:43.804Z,1750271443.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517478 target range: 58.758183 and range: 59.30 m.
2025-06-18T18:30:43.996Z,1750271443.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258061
2025-06-18T18:30:44.148Z,1750271444.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.76 m.
2025-06-18T18:30:44.148Z,1750271444.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-18T18:30:44.151Z,1750271444.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.758183 m,
nav range: 56.104317 m,
bearing: 314.696498 deg,
approach rate: -0.692264 m/s,
LOS rate: -0.030116 deg/s,
cmd heading: 316.128230 deg,
new cmd heading: 316.096386 deg.
2025-06-18T18:30:44.169Z,1750271444.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516922 target range: 58.758183 and range: 59.30 m.
2025-06-18T18:30:44.245Z,1750271444.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507749
2025-06-18T18:30:44.500Z,1750271444.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762270
2025-06-18T18:30:44.600Z,1750271444.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:44.602Z,1750271444.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.76 m.
2025-06-18T18:30:44.603Z,1750271444.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-18T18:30:44.605Z,1750271444.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.758183 m,
nav range: 55.814129 m,
bearing: 314.681645 deg,
approach rate: -0.638637 m/s,
LOS rate: -0.032858 deg/s,
cmd heading: 316.096374 deg,
new cmd heading: 316.051583 deg.
2025-06-18T18:30:44.607Z,1750271444.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516141 target range: 58.758183 and range: 59.30 m.
2025-06-18T18:30:44.749Z,1750271444.749 [DAT](INFO): DAT read: Rx Time:18:30:45.3703
2025-06-18T18:30:44.749Z,1750271444.749 [DAT](INFO): Rx dataTimestamp_ set to:1750271444.749150
2025-06-18T18:30:44.750Z,1750271444.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012375
2025-06-18T18:30:44.959Z,1750271444.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.76 m.
2025-06-18T18:30:44.959Z,1750271444.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-18T18:30:44.962Z,1750271444.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.758183 m,
nav range: 55.585815 m,
bearing: 314.669667 deg,
approach rate: -0.640140 m/s,
LOS rate: -0.033722 deg/s,
cmd heading: 316.051595 deg,
new cmd heading: 316.015513 deg.
2025-06-18T18:30:44.963Z,1750271444.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515511 target range: 58.758183 and range: 59.30 m.
2025-06-18T18:30:45.002Z,1750271445.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264339
2025-06-18T18:30:45.256Z,1750271445.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517989
2025-06-18T18:30:45.361Z,1750271445.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.76 m.
2025-06-18T18:30:45.361Z,1750271445.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-18T18:30:45.365Z,1750271445.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.758183 m,
nav range: 55.328583 m,
bearing: 314.656119 deg,
approach rate: -0.639364 m/s,
LOS rate: -0.033831 deg/s,
cmd heading: 316.015504 deg,
new cmd heading: 315.974671 deg.
2025-06-18T18:30:45.366Z,1750271445.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514798 target range: 58.758183 and range: 59.30 m.
2025-06-18T18:30:45.530Z,1750271445.530 [DAT](INFO): DAT read: 18:30:45.3703 LVL= 17888, 29857, 17394, 32755, AGC= 64, IDX= 405, 0.07, 1.930, 0.582, 1.962, 1.468, PHS= 0.550,-0.839, 0.491, RAW= 147.8, -3.0, CAL= 152.2, -11.9, ROT= 357.8, 11.9
2025-06-18T18:30:45.540Z,1750271445.540 [DAT](INFO): got valid direction response:
18:30:45.3703 LVL= 17888, 29857, 17394, 32755, AGC= 64, IDX= 405, 0.07, 1.930, 0.582, 1.962, 1.468, PHS= 0.550,-0.839, 0.491, RAW= 147.8, -3.0, CAL= 152.2, -11.9, ROT= 357.8, 11.9
2025-06-18T18:30:45.541Z,1750271445.541 [DAT](INFO): DAT read: Bearing 357.8, 11.9 (Local)
2025-06-18T18:30:45.542Z,1750271445.542 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.8, 11.9 (Local)
2025-06-18T18:30:45.543Z,1750271445.543 [DAT](INFO): DAT read: Range 10 to 50 : 56.9 m (Round-trip 75.9 ms) speed 0.7 m/s
2025-06-18T18:30:45.560Z,1750271445.560 [DAT](INFO): DAT read: user:1261>
2025-06-18T18:30:45.561Z,1750271445.561 [DAT](INFO): DAT read: Tx time:18:30:46.4902
2025-06-18T18:30:45.562Z,1750271445.562 [DAT](INFO): Ping request sent.
2025-06-18T18:30:45.562Z,1750271445.562 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:45.562Z,1750271445.562 [DAT](INFO): DAT read: TxSync time:18:30:46.4894
2025-06-18T18:30:45.563Z,1750271445.563 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:45.572Z,1750271445.572 [DAT](INFO): direction in FSK: [0.977788,-0.037563,-0.206204]
2025-06-18T18:30:45.572Z,1750271445.572 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:45.573Z,1750271445.573 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:45.584Z,1750271445.584 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:45.584Z,1750271445.584 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:45.847Z,1750271445.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.900002 m,
deltaT: 3.780578 s,
deltaX: -2.399998 m,
approachRate: -0.634823 m/s,
rangeRepo size: 4
2025-06-18T18:30:45.854Z,1750271445.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 56.379993 m,
bearing: 315.150217 deg,
lat: 36.905874 deg,
lon: -122.115771 deg,
deltaT: 3.780578 s,
deltaX: -2.378189 m,
approachRate: -0.629054 m/s,
posRepo size: 4
2025-06-18T18:30:45.854Z,1750271445.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.38 m.
2025-06-18T18:30:45.855Z,1750271445.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m.
2025-06-18T18:30:45.862Z,1750271445.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.379993 m,
nav range: 55.040165 m,
bearing: 314.633573 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.033831 deg/s,
cmd heading: 315.974660 deg,
new cmd heading: 315.925393 deg.
2025-06-18T18:30:45.869Z,1750271445.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513938 target range: 56.379993 and range: 56.90 m.
2025-06-18T18:30:46.169Z,1750271446.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.38 m.
2025-06-18T18:30:46.170Z,1750271446.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m.
2025-06-18T18:30:46.173Z,1750271446.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.379993 m,
nav range: 54.818573 m,
bearing: 314.617127 deg,
approach rate: -0.686175 m/s,
LOS rate: -0.051129 deg/s,
cmd heading: 315.925400 deg,
new cmd heading: 315.875865 deg.
2025-06-18T18:30:46.174Z,1750271446.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513074 target range: 56.379993 and range: 56.90 m.
2025-06-18T18:30:46.607Z,1750271446.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:46.610Z,1750271446.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.38 m.
2025-06-18T18:30:46.610Z,1750271446.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m.
2025-06-18T18:30:46.613Z,1750271446.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.379993 m,
nav range: 54.545708 m,
bearing: 314.606516 deg,
approach rate: -0.619903 m/s,
LOS rate: -0.024227 deg/s,
cmd heading: 315.875868 deg,
new cmd heading: 315.843876 deg.
2025-06-18T18:30:46.614Z,1750271446.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512516 target range: 56.379993 and range: 56.90 m.
2025-06-18T18:30:46.765Z,1750271446.765 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:46.765Z,1750271446.765 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:46.765Z,1750271446.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:46.994Z,1750271446.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.38 m.
2025-06-18T18:30:46.994Z,1750271446.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m.
2025-06-18T18:30:46.997Z,1750271446.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.379993 m,
nav range: 54.317013 m,
bearing: 314.597256 deg,
approach rate: -0.595369 m/s,
LOS rate: -0.024210 deg/s,
cmd heading: 315.843875 deg,
new cmd heading: 315.815977 deg.
2025-06-18T18:30:46.998Z,1750271446.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512029 target range: 56.379993 and range: 56.90 m.
2025-06-18T18:30:47.017Z,1750271447.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.455300
2025-06-18T18:30:47.269Z,1750271447.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.707106
2025-06-18T18:30:47.381Z,1750271447.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.38 m.
2025-06-18T18:30:47.381Z,1750271447.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m.
2025-06-18T18:30:47.384Z,1750271447.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.379993 m,
nav range: 54.066681 m,
bearing: 314.586569 deg,
approach rate: -0.646320 m/s,
LOS rate: -0.027720 deg/s,
cmd heading: 315.815981 deg,
new cmd heading: 315.783771 deg.
2025-06-18T18:30:47.385Z,1750271447.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511467 target range: 56.379993 and range: 56.90 m.
2025-06-18T18:30:47.524Z,1750271447.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961395
2025-06-18T18:30:47.773Z,1750271447.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211120
2025-06-18T18:30:47.821Z,1750271447.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.38 m.
2025-06-18T18:30:47.821Z,1750271447.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m.
2025-06-18T18:30:47.822Z,1750271447.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.90 m.
2025-06-18T18:30:47.822Z,1750271447.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-18T18:30:47.825Z,1750271447.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.379993 m,
nav range: 53.801033 m,
bearing: 314.574364 deg,
approach rate: -0.603981 m/s,
LOS rate: -0.027885 deg/s,
cmd heading: 315.783770 deg,
new cmd heading: 315.746975 deg.
2025-06-18T18:30:47.826Z,1750271447.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510824 target range: 56.379993 and range: 56.90 m.
2025-06-18T18:30:48.025Z,1750271448.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463058
2025-06-18T18:30:48.189Z,1750271448.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.38 m.
2025-06-18T18:30:48.192Z,1750271448.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.379993 m,
nav range: 53.578068 m,
bearing: 314.563455 deg,
approach rate: -0.607120 m/s,
LOS rate: -0.029829 deg/s,
cmd heading: 315.746968 deg,
new cmd heading: 315.714104 deg.
2025-06-18T18:30:48.193Z,1750271448.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510251 target range: 56.379993 and range: 56.90 m.
2025-06-18T18:30:48.278Z,1750271448.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716472
2025-06-18T18:30:48.531Z,1750271448.531 [DAT](INFO): DAT read: Rx Time:18:30:48.9671
2025-06-18T18:30:48.533Z,1750271448.533 [DAT](INFO): Rx dataTimestamp_ set to:1750271448.532026
2025-06-18T18:30:48.535Z,1750271448.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972490
2025-06-18T18:30:48.647Z,1750271448.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:48.650Z,1750271448.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.38 m.
2025-06-18T18:30:48.653Z,1750271448.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.379993 m,
nav range: 53.302380 m,
bearing: 314.545435 deg,
approach rate: -0.596672 m/s,
LOS rate: -0.039203 deg/s,
cmd heading: 315.714102 deg,
new cmd heading: 315.659761 deg.
2025-06-18T18:30:48.654Z,1750271448.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509302 target range: 56.379993 and range: 56.90 m.
2025-06-18T18:30:48.781Z,1750271448.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219254
2025-06-18T18:30:49.027Z,1750271449.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.38 m.
2025-06-18T18:30:49.030Z,1750271449.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.379993 m,
nav range: 53.077419 m,
bearing: 314.530591 deg,
approach rate: -0.597328 m/s,
LOS rate: -0.039581 deg/s,
cmd heading: 315.659761 deg,
new cmd heading: 315.615041 deg.
2025-06-18T18:30:49.031Z,1750271449.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508522 target range: 56.379993 and range: 56.90 m.
2025-06-18T18:30:49.059Z,1750271449.059 [DAT](INFO): DAT read: 18:30:48.9671 LVL= 22704, 30545, 17618, 32595, AGC= 67, IDX= 406,-0.43,-0.916,-2.255,-0.835,-1.366, PHS= 0.537,-0.842, 0.528, RAW= 149.7, -3.3, CAL= 154.0, -12.0, ROT= 356.0, 12.0
2025-06-18T18:30:49.072Z,1750271449.072 [DAT](INFO): got valid direction response:
18:30:48.9671 LVL= 22704, 30545, 17618, 32595, AGC= 67, IDX= 406,-0.43,-0.916,-2.255,-0.835,-1.366, PHS= 0.537,-0.842, 0.528, RAW= 149.7, -3.3, CAL= 154.0, -12.0, ROT= 356.0, 12.0
2025-06-18T18:30:49.073Z,1750271449.073 [DAT](INFO): DAT read: Bearing 356.0, 12.0 (Local)
2025-06-18T18:30:49.074Z,1750271449.074 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.0, 12.0 (Local)
2025-06-18T18:30:49.075Z,1750271449.075 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (Round-trip 72.8 ms) speed 0.5 m/s
2025-06-18T18:30:49.076Z,1750271449.076 [DAT](INFO): DAT read: user:1262>
2025-06-18T18:30:49.077Z,1750271449.077 [DAT](INFO): DAT read: Tx time:18:30:50.0902
2025-06-18T18:30:49.077Z,1750271449.077 [DAT](INFO): Ping request sent.
2025-06-18T18:30:49.077Z,1750271449.077 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:49.077Z,1750271449.077 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:49.078Z,1750271449.078 [DAT](INFO): direction in FSK: [0.975765,-0.068232,-0.207912]
2025-06-18T18:30:49.079Z,1750271449.079 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:49.079Z,1750271449.079 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:49.121Z,1750271449.121 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:49.122Z,1750271449.122 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:49.285Z,1750271449.285 [DAT](INFO): DAT read: TxSync time:18:30:50.0894
2025-06-18T18:30:49.433Z,1750271449.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.599998 m,
deltaT: 3.526574 s,
deltaX: -2.300003 m,
approachRate: -0.652192 m/s,
rangeRepo size: 4
2025-06-18T18:30:49.435Z,1750271449.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 54.100990 m,
bearing: 313.982263 deg,
lat: 36.905871 deg,
lon: -122.115772 deg,
deltaT: 3.526574 s,
deltaX: -2.279003 m,
approachRate: -0.646237 m/s,
posRepo size: 4
2025-06-18T18:30:49.440Z,1750271449.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-06-18T18:30:49.443Z,1750271449.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.100990 m,
nav range: 52.720718 m,
bearing: 314.181044 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.039581 deg/s,
cmd heading: 315.615037 deg,
new cmd heading: 315.566836 deg.
2025-06-18T18:30:49.448Z,1750271449.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507680 target range: 54.100990 and range: 54.60 m.
2025-06-18T18:30:49.899Z,1750271449.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-06-18T18:30:49.902Z,1750271449.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.100990 m,
nav range: 52.445030 m,
bearing: 314.172009 deg,
approach rate: -0.590725 m/s,
LOS rate: -0.019462 deg/s,
cmd heading: 315.566843 deg,
new cmd heading: 315.539594 deg.
2025-06-18T18:30:49.903Z,1750271449.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507205 target range: 54.100990 and range: 54.60 m.
2025-06-18T18:30:50.219Z,1750271450.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-06-18T18:30:50.223Z,1750271450.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.100990 m,
nav range: 52.261703 m,
bearing: 314.165525 deg,
approach rate: -0.572978 m/s,
LOS rate: -0.020336 deg/s,
cmd heading: 315.539604 deg,
new cmd heading: 315.520084 deg.
2025-06-18T18:30:50.224Z,1750271450.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506865 target range: 54.100990 and range: 54.60 m.
2025-06-18T18:30:50.748Z,1750271450.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:50.750Z,1750271450.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-06-18T18:30:50.754Z,1750271450.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.100990 m,
nav range: 51.956074 m,
bearing: 314.149510 deg,
approach rate: -0.575660 m/s,
LOS rate: -0.030343 deg/s,
cmd heading: 315.520097 deg,
new cmd heading: 315.471767 deg.
2025-06-18T18:30:50.755Z,1750271450.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506021 target range: 54.100990 and range: 54.60 m.
2025-06-18T18:30:50.797Z,1750271450.797 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:50.797Z,1750271450.797 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:50.797Z,1750271450.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:51.049Z,1750271451.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971512
2025-06-18T18:30:51.198Z,1750271451.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-06-18T18:30:51.205Z,1750271451.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.100990 m,
nav range: 51.702816 m,
bearing: 314.135003 deg,
approach rate: -0.565127 m/s,
LOS rate: -0.032528 deg/s,
cmd heading: 315.471767 deg,
new cmd heading: 315.428034 deg.
2025-06-18T18:30:51.206Z,1750271451.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505258 target range: 54.100990 and range: 54.60 m.
2025-06-18T18:30:51.302Z,1750271451.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224868
2025-06-18T18:30:51.553Z,1750271451.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475665
2025-06-18T18:30:51.666Z,1750271451.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-06-18T18:30:51.669Z,1750271451.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.100990 m,
nav range: 51.425385 m,
bearing: 314.121800 deg,
approach rate: -0.592869 m/s,
LOS rate: -0.028368 deg/s,
cmd heading: 315.428026 deg,
new cmd heading: 315.388202 deg.
2025-06-18T18:30:51.670Z,1750271451.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504562 target range: 54.100990 and range: 54.60 m.
2025-06-18T18:30:51.805Z,1750271451.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728273
2025-06-18T18:30:52.061Z,1750271452.061 [DAT](INFO): DAT read: Rx Time:18:30:52.5643
2025-06-18T18:30:52.061Z,1750271452.061 [DAT](INFO): Rx dataTimestamp_ set to:1750271452.061040
2025-06-18T18:30:52.062Z,1750271452.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984676
2025-06-18T18:30:52.107Z,1750271452.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-06-18T18:30:52.117Z,1750271452.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.100990 m,
nav range: 51.169025 m,
bearing: 314.108020 deg,
approach rate: -0.582352 m/s,
LOS rate: -0.031459 deg/s,
cmd heading: 315.388192 deg,
new cmd heading: 315.346646 deg.
2025-06-18T18:30:52.119Z,1750271452.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503837 target range: 54.100990 and range: 54.60 m.
2025-06-18T18:30:52.313Z,1750271452.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236293
2025-06-18T18:30:52.519Z,1750271452.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m.
2025-06-18T18:30:52.526Z,1750271452.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.100990 m,
nav range: 50.945885 m,
bearing: 314.095755 deg,
approach rate: -0.540341 m/s,
LOS rate: -0.029831 deg/s,
cmd heading: 315.346637 deg,
new cmd heading: 315.309681 deg.
2025-06-18T18:30:52.527Z,1750271452.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503192 target range: 54.100990 and range: 54.60 m.
2025-06-18T18:30:52.611Z,1750271452.611 [DAT](INFO): DAT read: 18:30:52.5643 LVL= 21088, 30481, 15314, 32755, AGC= 66, IDX= 409,-0.36, 0.256,-1.113, 0.418,-0.164, PHS= 0.508,-0.902, 0.579, RAW= 152.5, -2.6, CAL= 156.2, -11.2, ROT= 353.8, 11.2
2025-06-18T18:30:52.627Z,1750271452.627 [DAT](INFO): got valid direction response:
18:30:52.5643 LVL= 21088, 30481, 15314, 32755, AGC= 66, IDX= 409,-0.36, 0.256,-1.113, 0.418,-0.164, PHS= 0.508,-0.902, 0.579, RAW= 152.5, -2.6, CAL= 156.2, -11.2, ROT= 353.8, 11.2
2025-06-18T18:30:52.644Z,1750271452.644 [DAT](INFO): DAT read: Bearing 353.8, 11.2 (Local)
2025-06-18T18:30:52.645Z,1750271452.645 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.8, 11.2 (Local)
2025-06-18T18:30:52.646Z,1750271452.646 [DAT](INFO): DAT read: Range 10 to 50 : 52.5 m (Round-trip 70.0 ms) speed 0.5 m/s
2025-06-18T18:30:52.647Z,1750271452.647 [DAT](INFO): DAT read: user:1263>
2025-06-18T18:30:52.657Z,1750271452.657 [DAT](INFO): DAT read: Tx time:18:30:53.6402
2025-06-18T18:30:52.657Z,1750271452.657 [DAT](INFO): Ping request sent.
2025-06-18T18:30:52.657Z,1750271452.657 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:52.658Z,1750271452.658 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:52.659Z,1750271452.659 [DAT](INFO): direction in FSK: [0.975218,-0.105943,-0.194234]
2025-06-18T18:30:52.664Z,1750271452.664 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:52.665Z,1750271452.665 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:52.681Z,1750271452.681 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:52.681Z,1750271452.681 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:52.817Z,1750271452.817 [DAT](INFO): DAT read: TxSync time:18:30:53.6394
2025-06-18T18:30:52.985Z,1750271452.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.500000 m,
deltaT: 3.533538 s,
deltaX: -2.099998 m,
approachRate: -0.594305 m/s,
rangeRepo size: 4
2025-06-18T18:30:52.987Z,1750271452.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.020203 m,
bearing: 312.419616 deg,
lat: 36.905871 deg,
lon: -122.115772 deg,
deltaT: 3.533538 s,
deltaX: -2.080788 m,
approachRate: -0.588868 m/s,
posRepo size: 4
2025-06-18T18:30:52.992Z,1750271452.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:30:52.995Z,1750271452.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020203 m,
nav range: 50.670277 m,
bearing: 314.076298 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.029831 deg/s,
cmd heading: 315.309672 deg,
new cmd heading: 315.268048 deg.
2025-06-18T18:30:53.000Z,1750271453.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502465 target range: 52.020203 and range: 52.50 m.
2025-06-18T18:30:53.286Z,1750271453.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:53.288Z,1750271453.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:30:53.291Z,1750271453.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020203 m,
nav range: 50.481533 m,
bearing: 314.063197 deg,
approach rate: -0.622181 m/s,
LOS rate: -0.043348 deg/s,
cmd heading: 315.268036 deg,
new cmd heading: 315.228586 deg.
2025-06-18T18:30:53.292Z,1750271453.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501777 target range: 52.020203 and range: 52.50 m.
2025-06-18T18:30:53.321Z,1750271453.321 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:53.321Z,1750271453.321 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:53.321Z,1750271453.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:53.576Z,1750271453.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.919002
2025-06-18T18:30:53.721Z,1750271453.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:30:53.723Z,1750271453.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020203 m,
nav range: 50.229282 m,
bearing: 314.049800 deg,
approach rate: -0.582899 m/s,
LOS rate: -0.031114 deg/s,
cmd heading: 315.228584 deg,
new cmd heading: 315.188190 deg.
2025-06-18T18:30:53.725Z,1750271453.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501071 target range: 52.020203 and range: 52.50 m.
2025-06-18T18:30:53.825Z,1750271453.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.167990
2025-06-18T18:30:53.976Z,1750271453.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:30:54.077Z,1750271454.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.419714
2025-06-18T18:30:54.104Z,1750271454.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:30:54.107Z,1750271454.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020203 m,
nav range: 50.005295 m,
bearing: 314.037936 deg,
approach rate: -0.584581 m/s,
LOS rate: -0.031100 deg/s,
cmd heading: 315.188177 deg,
new cmd heading: 315.152428 deg.
2025-06-18T18:30:54.108Z,1750271454.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.500448 target range: 52.020203 and range: 52.50 m.
2025-06-18T18:30:54.330Z,1750271454.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.672474
2025-06-18T18:30:54.504Z,1750271454.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:30:54.507Z,1750271454.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020203 m,
nav range: 49.771839 m,
bearing: 314.025055 deg,
approach rate: -0.583387 m/s,
LOS rate: -0.032341 deg/s,
cmd heading: 315.152442 deg,
new cmd heading: 315.113615 deg.
2025-06-18T18:30:54.508Z,1750271454.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499770 target range: 52.020203 and range: 52.50 m.
2025-06-18T18:30:54.581Z,1750271454.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.923979
2025-06-18T18:30:54.833Z,1750271454.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.175882
2025-06-18T18:30:54.957Z,1750271454.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:30:54.959Z,1750271454.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020203 m,
nav range: 49.516502 m,
bearing: 314.009290 deg,
approach rate: -0.564348 m/s,
LOS rate: -0.035023 deg/s,
cmd heading: 315.113619 deg,
new cmd heading: 315.066081 deg.
2025-06-18T18:30:54.965Z,1750271454.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498940 target range: 52.020203 and range: 52.50 m.
2025-06-18T18:30:54.981Z,1750271454.981 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:30:55.085Z,1750271455.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.427800
2025-06-18T18:30:55.337Z,1750271455.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.680069
2025-06-18T18:30:55.374Z,1750271455.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:55.377Z,1750271455.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:30:55.380Z,1750271455.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020203 m,
nav range: 49.266354 m,
bearing: 313.993656 deg,
approach rate: -0.594690 m/s,
LOS rate: -0.037357 deg/s,
cmd heading: 315.066081 deg,
new cmd heading: 315.018940 deg.
2025-06-18T18:30:55.381Z,1750271455.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498118 target range: 52.020203 and range: 52.50 m.
2025-06-18T18:30:55.589Z,1750271455.589 [DAT](INFO): DAT read: Rx Time:18:30:56.1116
2025-06-18T18:30:55.590Z,1750271455.590 [DAT](INFO): Rx dataTimestamp_ set to:1750271455.589639
2025-06-18T18:30:55.591Z,1750271455.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.933798
2025-06-18T18:30:55.758Z,1750271455.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:30:55.761Z,1750271455.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020203 m,
nav range: 49.031216 m,
bearing: 313.977048 deg,
approach rate: -0.617718 m/s,
LOS rate: -0.043839 deg/s,
cmd heading: 315.018952 deg,
new cmd heading: 314.968890 deg.
2025-06-18T18:30:55.762Z,1750271455.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497244 target range: 52.020203 and range: 52.50 m.
2025-06-18T18:30:55.842Z,1750271455.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.185402
2025-06-18T18:30:56.099Z,1750271456.099 [DAT](INFO): DAT read: 18:30:56.1116 LVL= 22896, 31521, 18530, 32755, AGC= 65, IDX= 412, 0.03, 3.058, 1.674,-3.052, 2.605, PHS= 0.542,-0.884, 0.624, RAW= 152.8, -3.9, CAL= 156.9, -12.3, ROT= 353.1, 12.3
2025-06-18T18:30:56.100Z,1750271456.100 [DAT](INFO): got valid direction response:
18:30:56.1116 LVL= 22896, 31521, 18530, 32755, AGC= 65, IDX= 412, 0.03, 3.058, 1.674,-3.052, 2.605, PHS= 0.542,-0.884, 0.624, RAW= 152.8, -3.9, CAL= 156.9, -12.3, ROT= 353.1, 12.3
2025-06-18T18:30:56.101Z,1750271456.101 [DAT](INFO): DAT read: Bearing 353.1, 12.3 (Local)
2025-06-18T18:30:56.101Z,1750271456.101 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.1, 12.3 (Local)
2025-06-18T18:30:56.103Z,1750271456.103 [DAT](INFO): DAT read: Range 10 to 50 : 50.3 m (Round-trip 67.1 ms) speed 0.5 m/s
2025-06-18T18:30:56.104Z,1750271456.104 [DAT](INFO): DAT read: user:1264>
2025-06-18T18:30:56.106Z,1750271456.106 [DAT](INFO): DAT read: Tx time:18:30:57.1903
2025-06-18T18:30:56.107Z,1750271456.107 [DAT](INFO): Ping request sent.
2025-06-18T18:30:56.107Z,1750271456.107 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:56.108Z,1750271456.108 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:56.110Z,1750271456.110 [DAT](INFO): direction in FSK: [0.969969,-0.117379,-0.213030]
2025-06-18T18:30:56.111Z,1750271456.111 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:56.111Z,1750271456.111 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:56.129Z,1750271456.129 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:56.129Z,1750271456.129 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:56.198Z,1750271456.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 50.299999 m,
deltaT: 3.526281 s,
deltaX: -2.200001 m,
approachRate: -0.623887 m/s,
rangeRepo size: 4
2025-06-18T18:30:56.204Z,1750271456.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.840405 m,
bearing: 311.681041 deg,
lat: 36.905869 deg,
lon: -122.115775 deg,
deltaT: 3.526281 s,
deltaX: -2.179798 m,
approachRate: -0.618158 m/s,
posRepo size: 4
2025-06-18T18:30:56.205Z,1750271456.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.84 m.
2025-06-18T18:30:56.216Z,1750271456.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.840405 m,
nav range: 48.878799 m,
bearing: 313.626610 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.043839 deg/s,
cmd heading: 314.968901 deg,
new cmd heading: 314.911118 deg.
2025-06-18T18:30:56.217Z,1750271456.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496236 target range: 49.840405 and range: 50.30 m.
2025-06-18T18:30:56.346Z,1750271456.346 [DAT](INFO): DAT read: TxSync time:18:30:57.1895
2025-06-18T18:30:56.537Z,1750271456.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.84 m.
2025-06-18T18:30:56.539Z,1750271456.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.840405 m,
nav range: 48.668018 m,
bearing: 313.610153 deg,
approach rate: -0.620750 m/s,
LOS rate: -0.048676 deg/s,
cmd heading: 314.911117 deg,
new cmd heading: 314.861532 deg.
2025-06-18T18:30:56.549Z,1750271456.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495370 target range: 49.840405 and range: 50.30 m.
2025-06-18T18:30:56.951Z,1750271456.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.84 m.
2025-06-18T18:30:56.954Z,1750271456.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.840405 m,
nav range: 48.416668 m,
bearing: 313.589521 deg,
approach rate: -0.606809 m/s,
LOS rate: -0.050067 deg/s,
cmd heading: 314.861530 deg,
new cmd heading: 314.799314 deg.
2025-06-18T18:30:56.955Z,1750271456.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494285 target range: 49.840405 and range: 50.30 m.
2025-06-18T18:30:57.335Z,1750271457.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.84 m.
2025-06-18T18:30:57.338Z,1750271457.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.840405 m,
nav range: 48.187851 m,
bearing: 313.571132 deg,
approach rate: -0.595502 m/s,
LOS rate: -0.048086 deg/s,
cmd heading: 314.799321 deg,
new cmd heading: 314.743891 deg.
2025-06-18T18:30:57.339Z,1750271457.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493317 target range: 49.840405 and range: 50.30 m.
2025-06-18T18:30:57.767Z,1750271457.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:30:57.769Z,1750271457.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.84 m.
2025-06-18T18:30:57.772Z,1750271457.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.840405 m,
nav range: 47.928764 m,
bearing: 313.551607 deg,
approach rate: -0.597099 m/s,
LOS rate: -0.045241 deg/s,
cmd heading: 314.743887 deg,
new cmd heading: 314.684995 deg.
2025-06-18T18:30:57.773Z,1750271457.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492289 target range: 49.840405 and range: 50.30 m.
2025-06-18T18:30:57.857Z,1750271457.857 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:30:57.858Z,1750271457.858 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:30:57.858Z,1750271457.858 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:30:58.109Z,1750271458.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002120
2025-06-18T18:30:58.143Z,1750271458.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.84 m.
2025-06-18T18:30:58.146Z,1750271458.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.840405 m,
nav range: 47.705112 m,
bearing: 313.534518 deg,
approach rate: -0.598392 m/s,
LOS rate: -0.045937 deg/s,
cmd heading: 314.684983 deg,
new cmd heading: 314.633476 deg.
2025-06-18T18:30:58.147Z,1750271458.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.491390 target range: 49.840405 and range: 50.30 m.
2025-06-18T18:30:58.363Z,1750271458.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255927
2025-06-18T18:30:58.540Z,1750271458.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.84 m.
2025-06-18T18:30:58.543Z,1750271458.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.840405 m,
nav range: 47.467834 m,
bearing: 313.516390 deg,
approach rate: -0.597669 m/s,
LOS rate: -0.045889 deg/s,
cmd heading: 314.633484 deg,
new cmd heading: 314.578829 deg.
2025-06-18T18:30:58.544Z,1750271458.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.490437 target range: 49.840405 and range: 50.30 m.
2025-06-18T18:30:58.614Z,1750271458.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507011
2025-06-18T18:30:58.866Z,1750271458.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758789
2025-06-18T18:30:58.978Z,1750271458.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.84 m.
2025-06-18T18:30:58.981Z,1750271458.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.840405 m,
nav range: 47.207165 m,
bearing: 313.489971 deg,
approach rate: -0.595626 m/s,
LOS rate: -0.060701 deg/s,
cmd heading: 314.578842 deg,
new cmd heading: 314.499147 deg.
2025-06-18T18:30:58.982Z,1750271458.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489046 target range: 49.840405 and range: 50.30 m.
2025-06-18T18:30:59.117Z,1750271459.117 [DAT](INFO): DAT read: Rx Time:18:30:59.6588
2025-06-18T18:30:59.117Z,1750271459.117 [DAT](INFO): Rx dataTimestamp_ set to:1750271459.117174
2025-06-18T18:30:59.118Z,1750271459.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011291
2025-06-18T18:30:59.354Z,1750271459.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.84 m.
2025-06-18T18:30:59.357Z,1750271459.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.840405 m,
nav range: 46.982849 m,
bearing: 313.467109 deg,
approach rate: -0.595749 m/s,
LOS rate: -0.061010 deg/s,
cmd heading: 314.499148 deg,
new cmd heading: 314.430232 deg.
2025-06-18T18:30:59.358Z,1750271459.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487843 target range: 49.840405 and range: 50.30 m.
2025-06-18T18:30:59.369Z,1750271459.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262165
2025-06-18T18:30:59.627Z,1750271459.627 [DAT](INFO): DAT read: 18:30:59.6588 LVL= 20672, 27857, 17634, 32755, AGC= 66, IDX= 415, 0.22,-1.302,-2.662,-1.166,-1.800, PHS= 0.586,-0.816, 0.631, RAW= 151.6, -5.7, CAL= 156.4, -13.9, ROT= 353.6, 13.9
2025-06-18T18:30:59.628Z,1750271459.628 [DAT](INFO): got valid direction response:
18:30:59.6588 LVL= 20672, 27857, 17634, 32755, AGC= 66, IDX= 415, 0.22,-1.302,-2.662,-1.166,-1.800, PHS= 0.586,-0.816, 0.631, RAW= 151.6, -5.7, CAL= 156.4, -13.9, ROT= 353.6, 13.9
2025-06-18T18:30:59.629Z,1750271459.629 [DAT](INFO): DAT read: Bearing 353.6, 13.9 (Local)
2025-06-18T18:30:59.629Z,1750271459.629 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.6, 13.9 (Local)
2025-06-18T18:30:59.631Z,1750271459.631 [DAT](INFO): DAT read: Range 10 to 50 : 48.3 m (Round-trip 64.4 ms) speed 0.5 m/s
2025-06-18T18:30:59.632Z,1750271459.632 [DAT](INFO): DAT read: user:1265>
2025-06-18T18:30:59.633Z,1750271459.633 [DAT](INFO): DAT read: Tx time:18:31:00.7403
2025-06-18T18:30:59.633Z,1750271459.633 [DAT](INFO): Ping request sent.
2025-06-18T18:30:59.633Z,1750271459.633 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:30:59.634Z,1750271459.634 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:30:59.635Z,1750271459.635 [DAT](INFO): direction in FSK: [0.964667,-0.108205,-0.240228]
2025-06-18T18:30:59.635Z,1750271459.635 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:59.635Z,1750271459.635 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:59.638Z,1750271459.638 [DAT](INFO): publishing transmit ping time
2025-06-18T18:30:59.638Z,1750271459.638 [DAT](INFO): publishing direction and range info
2025-06-18T18:30:59.834Z,1750271459.834 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061810322129,35.0, +9.9, 0.0,1489.8RA, 0.00, 82.45, 76.34, 78.04, 81.09
2025-06-18T18:30:59.874Z,1750271459.874 [DAT](INFO): DAT read: TxSync time:18:31:00.7395
2025-06-18T18:30:59.905Z,1750271459.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.299999 m,
deltaT: 3.528229 s,
deltaX: -2.000000 m,
approachRate: -0.566857 m/s,
rangeRepo size: 4
2025-06-18T18:30:59.907Z,1750271459.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.858719 m,
bearing: 311.813625 deg,
lat: 36.905863 deg,
lon: -122.115786 deg,
deltaT: 3.528229 s,
deltaX: -1.981686 m,
approachRate: -0.561666 m/s,
posRepo size: 4
2025-06-18T18:30:59.912Z,1750271459.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.86 m.
2025-06-18T18:30:59.915Z,1750271459.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.858719 m,
nav range: 46.884365 m,
bearing: 312.033423 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.061010 deg/s,
cmd heading: 314.430245 deg,
new cmd heading: 314.329450 deg.
2025-06-18T18:30:59.920Z,1750271459.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486084 target range: 47.858719 and range: 48.30 m.
2025-06-18T18:31:00.214Z,1750271460.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:00.217Z,1750271460.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.86 m.
2025-06-18T18:31:00.219Z,1750271460.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.858719 m,
nav range: 46.671413 m,
bearing: 312.005272 deg,
approach rate: -0.684316 m/s,
LOS rate: -0.090875 deg/s,
cmd heading: 314.329458 deg,
new cmd heading: 314.244620 deg.
2025-06-18T18:31:00.221Z,1750271460.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484603 target range: 47.858719 and range: 48.30 m.
2025-06-18T18:31:00.377Z,1750271460.377 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:00.377Z,1750271460.377 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:00.377Z,1750271460.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:31:00.613Z,1750271460.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.86 m.
2025-06-18T18:31:00.619Z,1750271460.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.858719 m,
nav range: 46.437408 m,
bearing: 311.974498 deg,
approach rate: -0.588824 m/s,
LOS rate: -0.077824 deg/s,
cmd heading: 314.244627 deg,
new cmd heading: 314.151843 deg.
2025-06-18T18:31:00.623Z,1750271460.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482984 target range: 47.858719 and range: 48.30 m.
2025-06-18T18:31:00.630Z,1750271460.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996930
2025-06-18T18:31:00.881Z,1750271460.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248004
2025-06-18T18:31:01.044Z,1750271461.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.86 m.
2025-06-18T18:31:01.047Z,1750271461.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.858719 m,
nav range: 46.188786 m,
bearing: 311.938871 deg,
approach rate: -0.577911 m/s,
LOS rate: -0.083260 deg/s,
cmd heading: 314.151846 deg,
new cmd heading: 314.044389 deg.
2025-06-18T18:31:01.068Z,1750271461.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481109 target range: 47.858719 and range: 48.30 m.
2025-06-18T18:31:01.134Z,1750271461.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500405
2025-06-18T18:31:01.385Z,1750271461.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751650
2025-06-18T18:31:01.437Z,1750271461.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.86 m.
2025-06-18T18:31:01.439Z,1750271461.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.858719 m,
nav range: 45.960682 m,
bearing: 311.906328 deg,
approach rate: -0.580016 m/s,
LOS rate: -0.083160 deg/s,
cmd heading: 314.044394 deg,
new cmd heading: 313.946281 deg.
2025-06-18T18:31:01.441Z,1750271461.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479396 target range: 47.858719 and range: 48.30 m.
2025-06-18T18:31:01.637Z,1750271461.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003503
2025-06-18T18:31:01.859Z,1750271461.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.86 m.
2025-06-18T18:31:01.890Z,1750271461.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256564
2025-06-18T18:31:01.891Z,1750271461.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.858719 m,
nav range: 45.719345 m,
bearing: 311.866981 deg,
approach rate: -0.571215 m/s,
LOS rate: -0.093621 deg/s,
cmd heading: 313.946285 deg,
new cmd heading: 313.827621 deg.
2025-06-18T18:31:01.897Z,1750271461.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477325 target range: 47.858719 and range: 48.30 m.
2025-06-18T18:31:02.142Z,1750271462.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508300
2025-06-18T18:31:02.233Z,1750271462.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:02.235Z,1750271462.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.86 m.
2025-06-18T18:31:02.238Z,1750271462.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.858719 m,
nav range: 45.507977 m,
bearing: 311.831957 deg,
approach rate: -0.562704 m/s,
LOS rate: -0.093676 deg/s,
cmd heading: 313.827631 deg,
new cmd heading: 313.722069 deg.
2025-06-18T18:31:02.239Z,1750271462.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475483 target range: 47.858719 and range: 48.30 m.
2025-06-18T18:31:02.393Z,1750271462.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759499
2025-06-18T18:31:02.645Z,1750271462.645 [DAT](INFO): DAT read: Rx Time:18:31:03.2060
2025-06-18T18:31:02.645Z,1750271462.645 [DAT](INFO): Rx dataTimestamp_ set to:1750271462.645113
2025-06-18T18:31:02.646Z,1750271462.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012694
2025-06-18T18:31:02.655Z,1750271462.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.86 m.
2025-06-18T18:31:02.667Z,1750271462.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.858719 m,
nav range: 45.276150 m,
bearing: 311.793368 deg,
approach rate: -0.551677 m/s,
LOS rate: -0.092299 deg/s,
cmd heading: 313.722063 deg,
new cmd heading: 313.605705 deg.
2025-06-18T18:31:02.672Z,1750271462.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473452 target range: 47.858719 and range: 48.30 m.
2025-06-18T18:31:02.899Z,1750271462.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264976
2025-06-18T18:31:03.059Z,1750271463.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.86 m.
2025-06-18T18:31:03.062Z,1750271463.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.858719 m,
nav range: 45.042622 m,
bearing: 311.753686 deg,
approach rate: -0.577760 m/s,
LOS rate: -0.098684 deg/s,
cmd heading: 313.605704 deg,
new cmd heading: 313.486041 deg.
2025-06-18T18:31:03.063Z,1750271463.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471364 target range: 47.858719 and range: 48.30 m.
2025-06-18T18:31:03.159Z,1750271463.159 [DAT](INFO): DAT read: 18:31:03.2060 LVL= 19504, 24689, 18850, 32371, AGC= 65, IDX= 419,-0.23,-2.401, 2.490,-2.253,-2.895, PHS= 0.583,-0.851, 0.639, RAW= 151.9, -5.1, CAL= 156.6, -13.4, ROT= 353.4, 13.4
2025-06-18T18:31:03.161Z,1750271463.161 [DAT](INFO): got valid direction response:
18:31:03.2060 LVL= 19504, 24689, 18850, 32371, AGC= 65, IDX= 419,-0.23,-2.401, 2.490,-2.253,-2.895, PHS= 0.583,-0.851, 0.639, RAW= 151.9, -5.1, CAL= 156.6, -13.4, ROT= 353.4, 13.4
2025-06-18T18:31:03.162Z,1750271463.162 [DAT](INFO): DAT read: Bearing 353.4, 13.4 (Local)
2025-06-18T18:31:03.162Z,1750271463.162 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.4, 13.4 (Local)
2025-06-18T18:31:03.182Z,1750271463.182 [DAT](INFO): DAT read: Range 10 to 50 : 46.2 m (Round-trip 61.6 ms) speed 0.5 m/s
2025-06-18T18:31:03.182Z,1750271463.182 [DAT](INFO): DAT read: user:1266>
2025-06-18T18:31:03.183Z,1750271463.183 [DAT](INFO): DAT read: Tx time:18:31:04.2903
2025-06-18T18:31:03.184Z,1750271463.184 [DAT](INFO): Ping request sent.
2025-06-18T18:31:03.188Z,1750271463.188 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:03.188Z,1750271463.188 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:31:03.189Z,1750271463.189 [DAT](INFO): direction in FSK: [0.966329,-0.111808,-0.231748]
2025-06-18T18:31:03.190Z,1750271463.190 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:03.190Z,1750271463.190 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:03.211Z,1750271463.211 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:03.211Z,1750271463.211 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:03.402Z,1750271463.402 [DAT](INFO): DAT read: TxSync time:18:31:04.2895
2025-06-18T18:31:03.469Z,1750271463.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.200001 m,
deltaT: 3.529427 s,
deltaX: -2.099998 m,
approachRate: -0.594997 m/s,
rangeRepo size: 4
2025-06-18T18:31:03.471Z,1750271463.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.777817 m,
bearing: 311.148292 deg,
lat: 36.905861 deg,
lon: -122.115786 deg,
deltaT: 3.529427 s,
deltaX: -2.080902 m,
approachRate: -0.589586 m/s,
posRepo size: 4
2025-06-18T18:31:03.476Z,1750271463.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:03.479Z,1750271463.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 44.706467 m,
bearing: 311.436850 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.098684 deg/s,
cmd heading: 313.486039 deg,
new cmd heading: 313.366215 deg.
2025-06-18T18:31:03.484Z,1750271463.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469272 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:04.011Z,1750271464.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:04.019Z,1750271464.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 44.396587 m,
bearing: 311.383081 deg,
approach rate: -0.566147 m/s,
LOS rate: -0.098921 deg/s,
cmd heading: 313.366210 deg,
new cmd heading: 313.203778 deg.
2025-06-18T18:31:04.021Z,1750271464.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466437 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:04.476Z,1750271464.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:04.478Z,1750271464.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:04.485Z,1750271464.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 44.139885 m,
bearing: 311.338381 deg,
approach rate: -0.550093 m/s,
LOS rate: -0.096344 deg/s,
cmd heading: 313.203789 deg,
new cmd heading: 313.068911 deg.
2025-06-18T18:31:04.489Z,1750271464.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464083 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:04.661Z,1750271464.661 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:04.661Z,1750271464.661 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:04.662Z,1750271464.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:31:04.913Z,1750271464.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729195
2025-06-18T18:31:04.949Z,1750271464.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:04.956Z,1750271464.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 43.875816 m,
bearing: 311.287917 deg,
approach rate: -0.560358 m/s,
LOS rate: -0.107730 deg/s,
cmd heading: 313.068906 deg,
new cmd heading: 312.916603 deg.
2025-06-18T18:31:04.957Z,1750271464.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461425 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:05.165Z,1750271465.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981305
2025-06-18T18:31:05.297Z,1750271465.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:05.299Z,1750271465.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 43.668156 m,
bearing: 311.247576 deg,
approach rate: -0.598096 m/s,
LOS rate: -0.116740 deg/s,
cmd heading: 312.916593 deg,
new cmd heading: 312.794995 deg.
2025-06-18T18:31:05.300Z,1750271465.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459302 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:05.417Z,1750271465.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233236
2025-06-18T18:31:05.669Z,1750271465.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485489
2025-06-18T18:31:05.693Z,1750271465.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:05.695Z,1750271465.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 43.444359 m,
bearing: 311.204047 deg,
approach rate: -0.564968 m/s,
LOS rate: -0.110456 deg/s,
cmd heading: 312.794988 deg,
new cmd heading: 312.663726 deg.
2025-06-18T18:31:05.697Z,1750271465.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457012 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:05.921Z,1750271465.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737166
2025-06-18T18:31:06.133Z,1750271466.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:06.135Z,1750271466.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 43.198639 m,
bearing: 311.159131 deg,
approach rate: -0.558517 m/s,
LOS rate: -0.102673 deg/s,
cmd heading: 312.663739 deg,
new cmd heading: 312.528226 deg.
2025-06-18T18:31:06.137Z,1750271466.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454647 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:06.173Z,1750271466.173 [DAT](INFO): DAT read: Rx Time:18:31:06.7534
2025-06-18T18:31:06.173Z,1750271466.173 [DAT](INFO): Rx dataTimestamp_ set to:1750271466.172916
2025-06-18T18:31:06.174Z,1750271466.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990094
2025-06-18T18:31:06.425Z,1750271466.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241128
2025-06-18T18:31:06.506Z,1750271466.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:06.508Z,1750271466.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:06.511Z,1750271466.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 42.985836 m,
bearing: 311.120899 deg,
approach rate: -0.566823 m/s,
LOS rate: -0.102340 deg/s,
cmd heading: 312.528228 deg,
new cmd heading: 312.412964 deg.
2025-06-18T18:31:06.512Z,1750271466.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452635 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:06.714Z,1750271466.714 [DAT](INFO): DAT read: 18:31:06.7534 LVL= 20400, 31329, 16626, 32755, AGC= 64, IDX= 406, 0.21, 0.398,-1.046, 0.483,-0.168, PHS= 0.654,-0.831, 0.648, RAW= 149.8, -6.4, CAL= 155.1, -14.8, ROT= 354.9, 14.8
2025-06-18T18:31:06.715Z,1750271466.715 [DAT](INFO): got valid direction response:
18:31:06.7534 LVL= 20400, 31329, 16626, 32755, AGC= 64, IDX= 406, 0.21, 0.398,-1.046, 0.483,-0.168, PHS= 0.654,-0.831, 0.648, RAW= 149.8, -6.4, CAL= 155.1, -14.8, ROT= 354.9, 14.8
2025-06-18T18:31:06.715Z,1750271466.715 [DAT](INFO): DAT read: Bearing 354.9, 14.8 (Local)
2025-06-18T18:31:06.736Z,1750271466.736 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.9, 14.8 (Local)
2025-06-18T18:31:06.736Z,1750271466.736 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:31:06.737Z,1750271466.737 [DAT](INFO): direction in FSK: [0.962996,-0.085945,-0.255446]
2025-06-18T18:31:06.758Z,1750271466.758 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:06.758Z,1750271466.758 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:06.758Z,1750271466.758 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:06.929Z,1750271466.929 [DAT](INFO): DAT read:
2025-06-18T18:31:06.929Z,1750271466.929 [DAT](INFO): DAT read: TxSync time:18:31:07.8396
2025-06-18T18:31:06.930Z,1750271466.930 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:06.930Z,1750271466.930 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:06.930Z,1750271466.930 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:06.978Z,1750271466.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:06.989Z,1750271466.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 42.722881 m,
bearing: 311.084602 deg,
approach rate: -0.559802 m/s,
LOS rate: -0.077747 deg/s,
cmd heading: 312.412962 deg,
new cmd heading: 312.303402 deg.
2025-06-18T18:31:06.990Z,1750271466.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450723 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:07.180Z,1750271467.180 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:07.181Z,1750271467.181 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:07.181Z,1750271467.181 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:07.315Z,1750271467.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:07.318Z,1750271467.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 42.532722 m,
bearing: 311.058573 deg,
approach rate: -0.563474 m/s,
LOS rate: -0.077473 deg/s,
cmd heading: 312.303406 deg,
new cmd heading: 312.224970 deg.
2025-06-18T18:31:07.319Z,1750271467.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449354 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:07.433Z,1750271467.433 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:07.433Z,1750271467.433 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:07.433Z,1750271467.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:07.685Z,1750271467.685 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:07.685Z,1750271467.685 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:07.685Z,1750271467.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:07.749Z,1750271467.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:07.756Z,1750271467.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 42.286282 m,
bearing: 311.025773 deg,
approach rate: -0.570074 m/s,
LOS rate: -0.076318 deg/s,
cmd heading: 312.224968 deg,
new cmd heading: 312.125992 deg.
2025-06-18T18:31:07.757Z,1750271467.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447626 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:07.937Z,1750271467.937 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:07.937Z,1750271467.937 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:07.937Z,1750271467.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:08.136Z,1750271468.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:08.144Z,1750271468.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 42.056259 m,
bearing: 310.999783 deg,
approach rate: -0.592016 m/s,
LOS rate: -0.067255 deg/s,
cmd heading: 312.125985 deg,
new cmd heading: 312.047591 deg.
2025-06-18T18:31:08.145Z,1750271468.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446258 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:08.189Z,1750271468.189 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:08.190Z,1750271468.190 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:08.190Z,1750271468.190 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:08.441Z,1750271468.441 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:08.441Z,1750271468.441 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:08.441Z,1750271468.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:08.539Z,1750271468.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:08.543Z,1750271468.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:08.546Z,1750271468.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 41.828983 m,
bearing: 310.974613 deg,
approach rate: -0.558246 m/s,
LOS rate: -0.062162 deg/s,
cmd heading: 312.047601 deg,
new cmd heading: 311.971679 deg.
2025-06-18T18:31:08.547Z,1750271468.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444933 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:08.693Z,1750271468.693 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:08.693Z,1750271468.693 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:08.693Z,1750271468.693 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:08.945Z,1750271468.945 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:08.945Z,1750271468.945 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:08.945Z,1750271468.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:08.988Z,1750271468.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:08.991Z,1750271468.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 41.585598 m,
bearing: 310.956925 deg,
approach rate: -0.552140 m/s,
LOS rate: -0.040361 deg/s,
cmd heading: 311.971677 deg,
new cmd heading: 311.918303 deg.
2025-06-18T18:31:08.997Z,1750271468.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444001 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:09.198Z,1750271469.198 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:09.198Z,1750271469.198 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:09.198Z,1750271469.198 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:09.337Z,1750271469.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:09.340Z,1750271469.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 41.376156 m,
bearing: 310.942115 deg,
approach rate: -0.593579 m/s,
LOS rate: -0.042185 deg/s,
cmd heading: 311.918292 deg,
new cmd heading: 311.873638 deg.
2025-06-18T18:31:09.341Z,1750271469.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443222 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:09.449Z,1750271469.449 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:09.449Z,1750271469.449 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:09.449Z,1750271469.449 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:09.701Z,1750271469.701 [DAT](INFO): DAT read: Rx Time:18:31:10.3007
2025-06-18T18:31:09.701Z,1750271469.701 [DAT](INFO): Rx dataTimestamp_ set to:1750271469.701106
2025-06-18T18:31:09.702Z,1750271469.702 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:09.702Z,1750271469.702 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:09.702Z,1750271469.702 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:09.789Z,1750271469.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:09.791Z,1750271469.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 41.122326 m,
bearing: 310.923964 deg,
approach rate: -0.561673 m/s,
LOS rate: -0.040413 deg/s,
cmd heading: 311.873650 deg,
new cmd heading: 311.818860 deg.
2025-06-18T18:31:09.793Z,1750271469.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442266 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:09.953Z,1750271469.953 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:09.953Z,1750271469.953 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:09.953Z,1750271469.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:10.174Z,1750271470.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.78 m.
2025-06-18T18:31:10.177Z,1750271470.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.777817 m,
nav range: 40.905529 m,
bearing: 310.910272 deg,
approach rate: -0.562610 m/s,
LOS rate: -0.035719 deg/s,
cmd heading: 311.818872 deg,
new cmd heading: 311.777580 deg.
2025-06-18T18:31:10.178Z,1750271470.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441545 target range: 45.777817 and range: 46.20 m.
2025-06-18T18:31:10.209Z,1750271470.209 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:10.210Z,1750271470.210 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:10.210Z,1750271470.210 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-18T18:31:10.466Z,1750271470.466 [DAT](INFO): DAT read: 18:31:10.3007 LVL= 18320, 24801, 15538, 27507, AGC= 64, IDX= 411, 0.18,-2.428, 2.403,-2.395,-3.027, PHS= 0.686,-0.806, 0.628, RAW= 148.0, -7.0, CAL= 153.7, -15.5, ROT= 356.3, 15.5
2025-06-18T18:31:10.468Z,1750271470.468 [DAT](INFO): got valid direction response:
18:31:10.3007 LVL= 18320, 24801, 15538, 27507, AGC= 64, IDX= 411, 0.18,-2.428, 2.403,-2.395,-3.027, PHS= 0.686,-0.806, 0.628, RAW= 148.0, -7.0, CAL= 153.7, -15.5, ROT= 356.3, 15.5
2025-06-18T18:31:10.469Z,1750271470.469 [DAT](INFO): DAT read: Bearing 356.3, 15.5 (Local)
2025-06-18T18:31:10.470Z,1750271470.470 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.3, 15.5 (Local)
2025-06-18T18:31:10.486Z,1750271470.486 [DAT](INFO): DAT read: Range 10 to 50 : 42.1 m (Round-trip 56.2 ms) speed 0.5 m/s
2025-06-18T18:31:10.487Z,1750271470.487 [DAT](INFO): DAT read: user:1268>
2025-06-18T18:31:10.492Z,1750271470.492 [DAT](INFO): DAT read: Tx time:18:31:11.3904
2025-06-18T18:31:10.492Z,1750271470.492 [DAT](INFO): Ping request sent.
2025-06-18T18:31:10.493Z,1750271470.493 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:10.493Z,1750271470.493 [DAT](INFO): DAT read: TxSync time:18:31:11.3896
2025-06-18T18:31:10.494Z,1750271470.494 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-18T18:31:10.495Z,1750271470.495 [DAT](INFO): direction in FSK: [0.961622,-0.062186,-0.267238]
2025-06-18T18:31:10.495Z,1750271470.495 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:10.495Z,1750271470.495 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:10.515Z,1750271470.515 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:10.515Z,1750271470.515 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:10.603Z,1750271470.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.099998 m,
deltaT: 7.308579 s,
deltaX: -4.100002 m,
approachRate: -0.560985 m/s,
rangeRepo size: 4
2025-06-18T18:31:10.610Z,1750271470.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.715298 m,
bearing: 311.823441 deg,
lat: 36.905861 deg,
lon: -122.115786 deg,
deltaT: 7.308579 s,
deltaX: -4.062519 m,
approachRate: -0.555856 m/s,
posRepo size: 4
2025-06-18T18:31:10.610Z,1750271470.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.72 m.
2025-06-18T18:31:10.617Z,1750271470.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.715298 m,
nav range: 40.669323 m,
bearing: 310.899355 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.035719 deg/s,
cmd heading: 311.777590 deg,
new cmd heading: 311.731689 deg.
2025-06-18T18:31:10.618Z,1750271470.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440744 target range: 41.715298 and range: 42.10 m.
2025-06-18T18:31:10.998Z,1750271470.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:11.001Z,1750271471.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.72 m.
2025-06-18T18:31:11.003Z,1750271471.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.715298 m,
nav range: 40.435616 m,
bearing: 310.893316 deg,
approach rate: -0.587013 m/s,
LOS rate: -0.015257 deg/s,
cmd heading: 311.731692 deg,
new cmd heading: 311.713469 deg.
2025-06-18T18:31:11.005Z,1750271471.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440426 target range: 41.715298 and range: 42.10 m.
2025-06-18T18:31:11.217Z,1750271471.217 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:11.217Z,1750271471.217 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:11.217Z,1750271471.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:31:11.348Z,1750271471.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.72 m.
2025-06-18T18:31:11.351Z,1750271471.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.715298 m,
nav range: 40.235550 m,
bearing: 310.891991 deg,
approach rate: -0.575932 m/s,
LOS rate: -0.003832 deg/s,
cmd heading: 311.713469 deg,
new cmd heading: 311.709475 deg.
2025-06-18T18:31:11.352Z,1750271471.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440357 target range: 41.715298 and range: 42.10 m.
2025-06-18T18:31:11.469Z,1750271471.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976131
2025-06-18T18:31:11.721Z,1750271471.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228249
2025-06-18T18:31:11.766Z,1750271471.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.72 m.
2025-06-18T18:31:11.773Z,1750271471.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.715298 m,
nav range: 40.004009 m,
bearing: 310.891649 deg,
approach rate: -0.554039 m/s,
LOS rate: -0.000823 deg/s,
cmd heading: 311.709480 deg,
new cmd heading: 311.708448 deg.
2025-06-18T18:31:11.774Z,1750271471.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440339 target range: 41.715298 and range: 42.10 m.
2025-06-18T18:31:11.980Z,1750271471.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487531
2025-06-18T18:31:12.172Z,1750271472.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.72 m.
2025-06-18T18:31:12.175Z,1750271472.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.715298 m,
nav range: 39.760365 m,
bearing: 310.896547 deg,
approach rate: -0.600333 m/s,
LOS rate: 0.012142 deg/s,
cmd heading: 311.708442 deg,
new cmd heading: 311.723225 deg.
2025-06-18T18:31:12.176Z,1750271472.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440597 target range: 41.715298 and range: 42.10 m.
2025-06-18T18:31:12.230Z,1750271472.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736987
2025-06-18T18:31:12.485Z,1750271472.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991693
2025-06-18T18:31:12.563Z,1750271472.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.72 m.
2025-06-18T18:31:12.566Z,1750271472.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.715298 m,
nav range: 39.534142 m,
bearing: 310.901630 deg,
approach rate: -0.577865 m/s,
LOS rate: 0.013060 deg/s,
cmd heading: 311.723222 deg,
new cmd heading: 311.738560 deg.
2025-06-18T18:31:12.567Z,1750271472.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440864 target range: 41.715298 and range: 42.10 m.
2025-06-18T18:31:12.733Z,1750271472.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240233
2025-06-18T18:31:12.985Z,1750271472.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492220
2025-06-18T18:31:12.990Z,1750271472.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.72 m.
2025-06-18T18:31:12.993Z,1750271472.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.715298 m,
nav range: 39.288696 m,
bearing: 310.908437 deg,
approach rate: -0.575466 m/s,
LOS rate: 0.016059 deg/s,
cmd heading: 311.738549 deg,
new cmd heading: 311.759097 deg.
2025-06-18T18:31:12.994Z,1750271472.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441223 target range: 41.715298 and range: 42.10 m.
2025-06-18T18:31:13.237Z,1750271473.237 [DAT](INFO): DAT read: Rx Time:18:31:13.8479
2025-06-18T18:31:13.237Z,1750271473.237 [DAT](INFO): Rx dataTimestamp_ set to:1750271473.237093
2025-06-18T18:31:13.238Z,1750271473.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745330
2025-06-18T18:31:13.362Z,1750271473.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:13.366Z,1750271473.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.72 m.
2025-06-18T18:31:13.380Z,1750271473.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.715298 m,
nav range: 39.071373 m,
bearing: 310.914920 deg,
approach rate: -0.578304 m/s,
LOS rate: 0.017346 deg/s,
cmd heading: 311.759094 deg,
new cmd heading: 311.778650 deg.
2025-06-18T18:31:13.382Z,1750271473.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441564 target range: 41.715298 and range: 42.10 m.
2025-06-18T18:31:13.489Z,1750271473.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996305
2025-06-18T18:31:13.744Z,1750271473.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251245
2025-06-18T18:31:13.820Z,1750271473.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.72 m.
2025-06-18T18:31:13.823Z,1750271473.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.715298 m,
nav range: 38.808239 m,
bearing: 310.923073 deg,
approach rate: -0.579396 m/s,
LOS rate: 0.018075 deg/s,
cmd heading: 311.778656 deg,
new cmd heading: 311.803283 deg.
2025-06-18T18:31:13.824Z,1750271473.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441994 target range: 41.715298 and range: 42.10 m.
2025-06-18T18:31:14.000Z,1750271474.000 [DAT](INFO): DAT read: 18:31:13.8479 LVL= 18576, 25137, 16146, 26867, AGC= 63, IDX= 414, 0.31,-0.999,-2.414,-1.084,-1.623, PHS= 0.712,-0.744, 0.535, RAW= 143.6, -7.4, CAL= 149.8, -16.5, ROT= 0.2, 16.5
2025-06-18T18:31:14.001Z,1750271474.001 [DAT](INFO): got valid direction response:
18:31:13.8479 LVL= 18576, 25137, 16146, 26867, AGC= 63, IDX= 414, 0.31,-0.999,-2.414,-1.084,-1.623, PHS= 0.712,-0.744, 0.535, RAW= 143.6, -7.4, CAL= 149.8, -16.5, ROT= 0.2, 16.5
2025-06-18T18:31:14.002Z,1750271474.002 [DAT](INFO): DAT read: Bearing 0.2, 16.5 (Local)
2025-06-18T18:31:14.003Z,1750271474.003 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.2, 16.5 (Local)
2025-06-18T18:31:14.004Z,1750271474.004 [DAT](INFO): DAT read: Range 10 to 50 : 40.0 m (Round-trip 53.4 ms) speed 0.5 m/s
2025-06-18T18:31:14.005Z,1750271474.005 [DAT](INFO): DAT read: user:1269>
2025-06-18T18:31:14.006Z,1750271474.006 [DAT](INFO): DAT read: Tx time:18:31:14.9404
2025-06-18T18:31:14.006Z,1750271474.006 [DAT](INFO): Ping request sent.
2025-06-18T18:31:14.006Z,1750271474.006 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:14.007Z,1750271474.007 [DAT](INFO): DAT read: TxSync time:18:31:14.9396
2025-06-18T18:31:14.007Z,1750271474.007 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:31:14.009Z,1750271474.009 [DAT](INFO): direction in FSK: [0.958814,0.003347,-0.284015]
2025-06-18T18:31:14.009Z,1750271474.009 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:14.009Z,1750271474.009 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:14.013Z,1750271474.013 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:14.013Z,1750271474.013 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:14.258Z,1750271474.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.000000 m,
deltaT: 3.534827 s,
deltaX: -2.099998 m,
approachRate: -0.594088 m/s,
rangeRepo size: 4
2025-06-18T18:31:14.265Z,1750271474.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.634441 m,
bearing: 314.572106 deg,
lat: 36.905861 deg,
lon: -122.115786 deg,
deltaT: 3.534827 s,
deltaX: -2.080856 m,
approachRate: -0.588673 m/s,
posRepo size: 4
2025-06-18T18:31:14.265Z,1750271474.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.63 m.
2025-06-18T18:31:14.272Z,1750271474.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.634441 m,
nav range: 38.531075 m,
bearing: 310.984309 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.018075 deg/s,
cmd heading: 311.803272 deg,
new cmd heading: 311.827022 deg.
2025-06-18T18:31:14.273Z,1750271474.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442408 target range: 39.634441 and range: 40.00 m.
2025-06-18T18:31:14.576Z,1750271474.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.63 m.
2025-06-18T18:31:14.579Z,1750271474.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.634441 m,
nav range: 38.349747 m,
bearing: 310.988971 deg,
approach rate: -0.570009 m/s,
LOS rate: 0.014724 deg/s,
cmd heading: 311.827014 deg,
new cmd heading: 311.841066 deg.
2025-06-18T18:31:14.580Z,1750271474.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442653 target range: 39.634441 and range: 40.00 m.
2025-06-18T18:31:15.012Z,1750271475.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.63 m.
2025-06-18T18:31:15.015Z,1750271475.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.634441 m,
nav range: 38.103741 m,
bearing: 310.980736 deg,
approach rate: -0.564106 m/s,
LOS rate: -0.019006 deg/s,
cmd heading: 311.841057 deg,
new cmd heading: 311.816192 deg.
2025-06-18T18:31:15.016Z,1750271475.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442219 target range: 39.634441 and range: 40.00 m.
2025-06-18T18:31:15.385Z,1750271475.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:15.387Z,1750271475.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.63 m.
2025-06-18T18:31:15.390Z,1750271475.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.634441 m,
nav range: 37.892467 m,
bearing: 310.973406 deg,
approach rate: -0.563854 m/s,
LOS rate: -0.019671 deg/s,
cmd heading: 311.816195 deg,
new cmd heading: 311.794083 deg.
2025-06-18T18:31:15.391Z,1750271475.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441833 target range: 39.634441 and range: 40.00 m.
2025-06-18T18:31:15.505Z,1750271475.505 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:15.505Z,1750271475.505 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:15.505Z,1750271475.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:31:15.757Z,1750271475.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750327
2025-06-18T18:31:15.801Z,1750271475.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.63 m.
2025-06-18T18:31:15.804Z,1750271475.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.634441 m,
nav range: 37.658298 m,
bearing: 310.964351 deg,
approach rate: -0.564638 m/s,
LOS rate: -0.021970 deg/s,
cmd heading: 311.794092 deg,
new cmd heading: 311.766757 deg.
2025-06-18T18:31:15.805Z,1750271475.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441356 target range: 39.634441 and range: 40.00 m.
2025-06-18T18:31:16.009Z,1750271476.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002427
2025-06-18T18:31:16.212Z,1750271476.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.63 m.
2025-06-18T18:31:16.215Z,1750271476.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.634441 m,
nav range: 37.427135 m,
bearing: 310.940781 deg,
approach rate: -0.562946 m/s,
LOS rate: -0.057754 deg/s,
cmd heading: 311.766744 deg,
new cmd heading: 311.695597 deg.
2025-06-18T18:31:16.232Z,1750271476.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440114 target range: 39.634441 and range: 40.00 m.
2025-06-18T18:31:16.261Z,1750271476.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254530
2025-06-18T18:31:16.513Z,1750271476.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506516
2025-06-18T18:31:16.598Z,1750271476.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.63 m.
2025-06-18T18:31:16.601Z,1750271476.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.634441 m,
nav range: 37.210365 m,
bearing: 310.917795 deg,
approach rate: -0.561914 m/s,
LOS rate: -0.059931 deg/s,
cmd heading: 311.695601 deg,
new cmd heading: 311.626242 deg.
2025-06-18T18:31:16.602Z,1750271476.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.438904 target range: 39.634441 and range: 40.00 m.
2025-06-18T18:31:16.765Z,1750271476.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758333
2025-06-18T18:31:17.017Z,1750271477.017 [DAT](INFO): DAT read: Rx Time:18:31:17.3952
2025-06-18T18:31:17.017Z,1750271477.017 [DAT](INFO): Rx dataTimestamp_ set to:1750271477.017103
2025-06-18T18:31:17.018Z,1750271477.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011542
2025-06-18T18:31:17.049Z,1750271477.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.63 m.
2025-06-18T18:31:17.069Z,1750271477.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.634441 m,
nav range: 36.960468 m,
bearing: 310.877516 deg,
approach rate: -0.553744 m/s,
LOS rate: -0.089857 deg/s,
cmd heading: 311.626233 deg,
new cmd heading: 311.504579 deg.
2025-06-18T18:31:17.070Z,1750271477.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.436780 target range: 39.634441 and range: 40.00 m.
2025-06-18T18:31:17.270Z,1750271477.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263765
2025-06-18T18:31:17.514Z,1750271477.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:17.516Z,1750271477.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.63 m.
2025-06-18T18:31:17.519Z,1750271477.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.634441 m,
nav range: 36.702633 m,
bearing: 310.835357 deg,
approach rate: -0.552455 m/s,
LOS rate: -0.090967 deg/s,
cmd heading: 311.504574 deg,
new cmd heading: 311.377210 deg.
2025-06-18T18:31:17.531Z,1750271477.531 [DAT](INFO): DAT read: 18:31:17.3952 LVL= 19120, 26193, 16946, 27123, AGC= 61, IDX= 418, 0.02,-0.318,-1.776,-0.383,-0.970, PHS= 0.740,-0.759, 0.584, RAW= 144.6, -8.0, CAL= 150.8, -16.9, ROT= 359.2, 16.9
2025-06-18T18:31:17.532Z,1750271477.532 [DAT](INFO): got valid direction response:
18:31:17.3952 LVL= 19120, 26193, 16946, 27123, AGC= 61, IDX= 418, 0.02,-0.318,-1.776,-0.383,-0.970, PHS= 0.740,-0.759, 0.584, RAW= 144.6, -8.0, CAL= 150.8, -16.9, ROT= 359.2, 16.9
2025-06-18T18:31:17.534Z,1750271477.534 [DAT](INFO): DAT read: Bearing 359.2, 16.9 (Local)
2025-06-18T18:31:17.535Z,1750271477.535 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.2, 16.9 (Local)
2025-06-18T18:31:17.554Z,1750271477.554 [DAT](INFO): DAT read: Range 10 to 50 : 37.9 m (Round-trip 50.6 ms) speed 0.4 m/s
2025-06-18T18:31:17.555Z,1750271477.555 [DAT](INFO): DAT read: user:1270>
2025-06-18T18:31:17.566Z,1750271477.566 [DAT](INFO): DAT read: Tx time:18:31:18.4904
2025-06-18T18:31:17.566Z,1750271477.566 [DAT](INFO): Ping request sent.
2025-06-18T18:31:17.566Z,1750271477.566 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:17.567Z,1750271477.567 [DAT](INFO): DAT read: TxSync time:18:31:18.4896
2025-06-18T18:31:17.567Z,1750271477.567 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:31:17.568Z,1750271477.568 [DAT](INFO): direction in FSK: [0.956720,-0.013359,-0.290702]
2025-06-18T18:31:17.569Z,1750271477.569 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:17.569Z,1750271477.569 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:17.572Z,1750271477.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.434557 target range: 39.634441 and range: 40.00 m.
2025-06-18T18:31:17.588Z,1750271477.588 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:17.589Z,1750271477.589 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:17.902Z,1750271477.902 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-18T18:31:17.902Z,1750271477.902 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-18T18:31:17.903Z,1750271477.903 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-18T18:31:17.920Z,1750271477.920 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 37.900002 m (mode 2.000000 count ).
2025-06-18T18:31:17.920Z,1750271477.920 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-18T18:31:17.920Z,1750271477.920 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-18T18:31:17.937Z,1750271477.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.900002 m,
deltaT: 3.528799 s,
deltaX: -2.099998 m,
approachRate: -0.595103 m/s,
rangeRepo size: 4
2025-06-18T18:31:17.939Z,1750271477.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.553799 m,
bearing: 314.090314 deg,
lat: 36.905865 deg,
lon: -122.115781 deg,
deltaT: 3.528799 s,
deltaX: -2.080643 m,
approachRate: -0.589618 m/s,
posRepo size: 4
2025-06-18T18:31:17.944Z,1750271477.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m.
2025-06-18T18:31:17.947Z,1750271477.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.553799 m,
nav range: 36.487652 m,
bearing: 311.770242 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.090967 deg/s,
cmd heading: 311.377205 deg,
new cmd heading: 311.263993 deg.
2025-06-18T18:31:17.964Z,1750271477.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432581 target range: 37.553799 and range: 37.90 m.
2025-06-18T18:31:18.329Z,1750271478.329 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-18T18:31:18.329Z,1750271478.329 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-18T18:31:18.332Z,1750271478.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m.
2025-06-18T18:31:18.334Z,1750271478.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.553799 m,
nav range: 36.245682 m,
bearing: 311.730697 deg,
approach rate: -0.603489 m/s,
LOS rate: -0.099287 deg/s,
cmd heading: 311.263987 deg,
new cmd heading: 311.144559 deg.
2025-06-18T18:31:18.335Z,1750271478.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.430497 target range: 37.553799 and range: 37.90 m.
2025-06-18T18:31:18.730Z,1750271478.730 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-18T18:31:18.730Z,1750271478.730 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-18T18:31:18.748Z,1750271478.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m.
2025-06-18T18:31:18.751Z,1750271478.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.553799 m,
nav range: 36.019527 m,
bearing: 311.694719 deg,
approach rate: -0.564636 m/s,
LOS rate: -0.090389 deg/s,
cmd heading: 311.144568 deg,
new cmd heading: 311.035958 deg.
2025-06-18T18:31:18.752Z,1750271478.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.428602 target range: 37.553799 and range: 37.90 m.
2025-06-18T18:31:19.173Z,1750271479.173 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-18T18:31:19.173Z,1750271479.173 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-18T18:31:19.173Z,1750271479.173 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-18T18:31:19.173Z,1750271479.173 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-18T18:31:19.175Z,1750271479.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m.
2025-06-18T18:31:19.178Z,1750271479.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.553799 m,
nav range: 35.770794 m,
bearing: 311.644495 deg,
approach rate: -0.560914 m/s,
LOS rate: -0.114047 deg/s,
cmd heading: 311.035968 deg,
new cmd heading: 310.884249 deg.
2025-06-18T18:31:19.179Z,1750271479.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425954 target range: 37.553799 and range: 37.90 m.
2025-06-18T18:31:19.590Z,1750271479.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:19.596Z,1750271479.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m.
2025-06-18T18:31:19.606Z,1750271479.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.553799 m,
nav range: 35.548676 m,
bearing: 311.598560 deg,
approach rate: -0.533650 m/s,
LOS rate: -0.111050 deg/s,
cmd heading: 310.884256 deg,
new cmd heading: 310.745591 deg.
2025-06-18T18:31:19.607Z,1750271479.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.423534 target range: 37.553799 and range: 37.90 m.
2025-06-18T18:31:19.789Z,1750271479.789 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:31:19.789Z,1750271479.789 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:31:19.790Z,1750271479.790 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-18T18:31:20.046Z,1750271480.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477332
2025-06-18T18:31:20.058Z,1750271480.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m.
2025-06-18T18:31:20.065Z,1750271480.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.553799 m,
nav range: 35.304146 m,
bearing: 311.547316 deg,
approach rate: -0.524301 m/s,
LOS rate: -0.110634 deg/s,
cmd heading: 310.745603 deg,
new cmd heading: 310.590808 deg.
2025-06-18T18:31:20.066Z,1750271480.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.420832 target range: 37.553799 and range: 37.90 m.
2025-06-18T18:31:20.293Z,1750271480.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726490
2025-06-18T18:31:20.425Z,1750271480.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m.
2025-06-18T18:31:20.427Z,1750271480.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.553799 m,
nav range: 35.062050 m,
bearing: 311.505141 deg,
approach rate: -0.661692 m/s,
LOS rate: -0.116067 deg/s,
cmd heading: 310.590804 deg,
new cmd heading: 310.463407 deg.
2025-06-18T18:31:20.429Z,1750271480.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.418609 target range: 37.553799 and range: 37.90 m.
2025-06-18T18:31:20.545Z,1750271480.545 [DAT](INFO): DAT read: Rx Time:18:31:20.9425
2025-06-18T18:31:20.545Z,1750271480.545 [DAT](INFO): Rx dataTimestamp_ set to:1750271480.545084
2025-06-18T18:31:20.546Z,1750271480.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979603
2025-06-18T18:31:20.797Z,1750271480.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230522
2025-06-18T18:31:20.802Z,1750271480.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m.
2025-06-18T18:31:20.809Z,1750271480.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.553799 m,
nav range: 34.852367 m,
bearing: 311.468454 deg,
approach rate: -0.555200 m/s,
LOS rate: -0.097727 deg/s,
cmd heading: 310.463407 deg,
new cmd heading: 310.352682 deg.
2025-06-18T18:31:20.810Z,1750271480.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416676 target range: 37.553799 and range: 37.90 m.
2025-06-18T18:31:21.059Z,1750271481.059 [DAT](INFO): DAT read: 18:31:20.9425 LVL= 21552, 26449, 17234, 27539, AGC= 62, IDX= 407, 0.34, 2.100, 0.663, 2.027, 1.475, PHS= 0.713,-0.764, 0.550, RAW= 144.2, -7.2, CAL= 150.3, -16.2, ROT= 359.7, 16.2
2025-06-18T18:31:21.061Z,1750271481.061 [DAT](INFO): got valid direction response:
18:31:20.9425 LVL= 21552, 26449, 17234, 27539, AGC= 62, IDX= 407, 0.34, 2.100, 0.663, 2.027, 1.475, PHS= 0.713,-0.764, 0.550, RAW= 144.2, -7.2, CAL= 150.3, -16.2, ROT= 359.7, 16.2
2025-06-18T18:31:21.062Z,1750271481.062 [DAT](INFO): DAT read: Bearing 359.7, 16.2 (Local)
2025-06-18T18:31:21.063Z,1750271481.063 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.7, 16.2 (Local)
2025-06-18T18:31:21.065Z,1750271481.065 [DAT](INFO): DAT read: Range 10 to 50 : 36.0 m (Round-trip 48.0 ms) speed 0.5 m/s
2025-06-18T18:31:21.066Z,1750271481.066 [DAT](INFO): DAT read: user:1271>
2025-06-18T18:31:21.067Z,1750271481.067 [DAT](INFO): DAT read: Tx time:18:31:22.0404
2025-06-18T18:31:21.068Z,1750271481.068 [DAT](INFO): Ping request sent.
2025-06-18T18:31:21.068Z,1750271481.068 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:21.068Z,1750271481.068 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:31:21.069Z,1750271481.069 [DAT](INFO): direction in FSK: [0.960281,-0.005028,-0.278991]
2025-06-18T18:31:21.070Z,1750271481.070 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:21.070Z,1750271481.070 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:21.082Z,1750271481.082 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:21.083Z,1750271481.083 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:21.087Z,1750271481.087 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.019041
2025-06-18T18:31:21.295Z,1750271481.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.000000 m,
deltaT: 3.528371 s,
deltaX: -1.900002 m,
approachRate: -0.538493 m/s,
rangeRepo size: 4
2025-06-18T18:31:21.301Z,1750271481.301 [DAT](INFO): DAT read: TxSync time:18:31:22.0396
2025-06-18T18:31:21.302Z,1750271481.302 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.234100
2025-06-18T18:31:21.308Z,1750271481.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.671162 m,
bearing: 313.984543 deg,
lat: 36.905874 deg,
lon: -122.115770 deg,
deltaT: 3.528371 s,
deltaX: -1.882637 m,
approachRate: -0.533571 m/s,
posRepo size: 4
2025-06-18T18:31:21.309Z,1750271481.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.67 m.
2025-06-18T18:31:21.311Z,1750271481.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.671162 m,
nav range: 34.471207 m,
bearing: 313.793040 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.097727 deg/s,
cmd heading: 310.352676 deg,
new cmd heading: 310.208205 deg.
2025-06-18T18:31:21.317Z,1750271481.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.414155 target range: 35.671162 and range: 36.00 m.
2025-06-18T18:31:21.553Z,1750271481.553 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.485819
2025-06-18T18:31:21.595Z,1750271481.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:21.610Z,1750271481.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.67 m.
2025-06-18T18:31:21.617Z,1750271481.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.671162 m,
nav range: 34.279949 m,
bearing: 313.777739 deg,
approach rate: -0.606598 m/s,
LOS rate: -0.048799 deg/s,
cmd heading: 310.208204 deg,
new cmd heading: 310.162046 deg.
2025-06-18T18:31:21.618Z,1750271481.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.413349 target range: 35.671162 and range: 36.00 m.
2025-06-18T18:31:21.805Z,1750271481.805 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.737160
2025-06-18T18:31:22.005Z,1750271482.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.67 m.
2025-06-18T18:31:22.009Z,1750271482.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.671162 m,
nav range: 34.040344 m,
bearing: 313.758908 deg,
approach rate: -0.605880 m/s,
LOS rate: -0.047955 deg/s,
cmd heading: 310.162032 deg,
new cmd heading: 310.105139 deg.
2025-06-18T18:31:22.013Z,1750271482.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.412356 target range: 35.671162 and range: 36.00 m.
2025-06-18T18:31:22.060Z,1750271482.060 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.991946
2025-06-18T18:31:22.309Z,1750271482.309 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.241334
2025-06-18T18:31:22.428Z,1750271482.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.67 m.
2025-06-18T18:31:22.431Z,1750271482.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.671162 m,
nav range: 33.791199 m,
bearing: 313.746977 deg,
approach rate: -0.589151 m/s,
LOS rate: -0.028421 deg/s,
cmd heading: 310.105150 deg,
new cmd heading: 310.069094 deg.
2025-06-18T18:31:22.432Z,1750271482.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.411726 target range: 35.671162 and range: 36.00 m.
2025-06-18T18:31:22.561Z,1750271482.561 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.493237
2025-06-18T18:31:22.813Z,1750271482.813 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.745169
2025-06-18T18:31:22.831Z,1750271482.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.67 m.
2025-06-18T18:31:22.838Z,1750271482.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.671162 m,
nav range: 33.558556 m,
bearing: 313.735392 deg,
approach rate: -0.577281 m/s,
LOS rate: -0.028946 deg/s,
cmd heading: 310.069087 deg,
new cmd heading: 310.034091 deg.
2025-06-18T18:31:22.839Z,1750271482.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.411116 target range: 35.671162 and range: 36.00 m.
2025-06-18T18:31:23.070Z,1750271483.070 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.001456
2025-06-18T18:31:23.247Z,1750271483.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.67 m.
2025-06-18T18:31:23.250Z,1750271483.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.671162 m,
nav range: 33.311398 m,
bearing: 313.730189 deg,
approach rate: -0.593613 m/s,
LOS rate: -0.012589 deg/s,
cmd heading: 310.034089 deg,
new cmd heading: 310.018364 deg.
2025-06-18T18:31:23.251Z,1750271483.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410841 target range: 35.671162 and range: 36.00 m.
2025-06-18T18:31:23.317Z,1750271483.317 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.249316
2025-06-18T18:31:23.569Z,1750271483.569 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.501069
2025-06-18T18:31:23.625Z,1750271483.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:23.627Z,1750271483.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.67 m.
2025-06-18T18:31:23.630Z,1750271483.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.671162 m,
nav range: 33.090614 m,
bearing: 313.725475 deg,
approach rate: -0.581570 m/s,
LOS rate: -0.012499 deg/s,
cmd heading: 310.018352 deg,
new cmd heading: 310.004118 deg.
2025-06-18T18:31:23.631Z,1750271483.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410593 target range: 35.671162 and range: 36.00 m.
2025-06-18T18:31:23.821Z,1750271483.821 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.753469
2025-06-18T18:31:24.027Z,1750271484.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.67 m.
2025-06-18T18:31:24.030Z,1750271484.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.671162 m,
nav range: 32.860748 m,
bearing: 313.721554 deg,
approach rate: -0.575291 m/s,
LOS rate: -0.009882 deg/s,
cmd heading: 310.004118 deg,
new cmd heading: 309.992272 deg.
2025-06-18T18:31:24.031Z,1750271484.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410386 target range: 35.671162 and range: 36.00 m.
2025-06-18T18:31:24.075Z,1750271484.075 [DAT](INFO): DAT read: Rx Time:18:31:24.4899
2025-06-18T18:31:24.077Z,1750271484.077 [DAT](INFO): Rx dataTimestamp_ set to:1750271484.075986
2025-06-18T18:31:24.079Z,1750271484.079 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.010516
2025-06-18T18:31:24.327Z,1750271484.327 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.259114
2025-06-18T18:31:24.477Z,1750271484.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.67 m.
2025-06-18T18:31:24.480Z,1750271484.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.671162 m,
nav range: 32.595558 m,
bearing: 313.730077 deg,
approach rate: -0.588805 m/s,
LOS rate: 0.019076 deg/s,
cmd heading: 309.992261 deg,
new cmd heading: 310.018036 deg.
2025-06-18T18:31:24.481Z,1750271484.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410835 target range: 35.671162 and range: 36.00 m.
2025-06-18T18:31:24.584Z,1750271484.584 [DAT](INFO): DAT read: 18:31:24.4899 LVL= 23312, 25713, 17954, 32499, AGC= 62, IDX= 412,-0.15, 0.868,-0.441, 0.752, 0.326, PHS= 0.629,-0.721, 0.423, RAW= 141.9, -5.3, CAL= 147.5, -14.6, ROT= 2.5, 14.6
2025-06-18T18:31:24.585Z,1750271484.585 [DAT](INFO): got valid direction response:
18:31:24.4899 LVL= 23312, 25713, 17954, 32499, AGC= 62, IDX= 412,-0.15, 0.868,-0.441, 0.752, 0.326, PHS= 0.629,-0.721, 0.423, RAW= 141.9, -5.3, CAL= 147.5, -14.6, ROT= 2.5, 14.6
2025-06-18T18:31:24.587Z,1750271484.587 [DAT](INFO): DAT read: Bearing 2.5, 14.6 (Local)
2025-06-18T18:31:24.587Z,1750271484.587 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.5, 14.6 (Local)
2025-06-18T18:31:24.593Z,1750271484.593 [DAT](INFO): DAT read: Range 10 to 50 : 33.9 m (Round-trip 45.3 ms) speed 0.5 m/s
2025-06-18T18:31:24.594Z,1750271484.594 [DAT](INFO): DAT read: user:1272>
2025-06-18T18:31:24.595Z,1750271484.595 [DAT](INFO): DAT read: Tx time:18:31:25.5905
2025-06-18T18:31:24.600Z,1750271484.600 [DAT](INFO): Ping request sent.
2025-06-18T18:31:24.600Z,1750271484.600 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:24.600Z,1750271484.600 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-18T18:31:24.601Z,1750271484.601 [DAT](INFO): direction in FSK: [0.966788,0.042211,-0.252069]
2025-06-18T18:31:24.602Z,1750271484.602 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:24.602Z,1750271484.602 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:24.609Z,1750271484.609 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:24.609Z,1750271484.609 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:24.617Z,1750271484.617 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.016840
2025-06-18T18:31:24.829Z,1750271484.829 [DAT](INFO): DAT read: TxSync time:18:31:25.5897
2025-06-18T18:31:24.830Z,1750271484.830 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.229514
2025-06-18T18:31:24.884Z,1750271484.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.900002 m,
deltaT: 3.527220 s,
deltaX: -2.099998 m,
approachRate: -0.595369 m/s,
rangeRepo size: 4
2025-06-18T18:31:24.887Z,1750271484.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.590302 m,
bearing: 316.079428 deg,
lat: 36.905875 deg,
lon: -122.115769 deg,
deltaT: 3.527220 s,
deltaX: -2.080860 m,
approachRate: -0.589943 m/s,
posRepo size: 4
2025-06-18T18:31:24.894Z,1750271484.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-06-18T18:31:24.901Z,1750271484.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.590302 m,
nav range: 32.438896 m,
bearing: 314.026774 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.019076 deg/s,
cmd heading: 310.018024 deg,
new cmd heading: 310.040995 deg.
2025-06-18T18:31:24.902Z,1750271484.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.411236 target range: 33.590302 and range: 33.90 m.
2025-06-18T18:31:25.084Z,1750271485.084 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.482988
2025-06-18T18:31:25.102Z,1750271485.102 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:31:25.256Z,1750271485.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-06-18T18:31:25.259Z,1750271485.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.590302 m,
nav range: 32.205868 m,
bearing: 314.057399 deg,
approach rate: -0.616423 m/s,
LOS rate: 0.081597 deg/s,
cmd heading: 310.041001 deg,
new cmd heading: 310.133541 deg.
2025-06-18T18:31:25.260Z,1750271485.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.412851 target range: 33.590302 and range: 33.90 m.
2025-06-18T18:31:25.333Z,1750271485.333 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.732929
2025-06-18T18:31:25.585Z,1750271485.585 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.984700
2025-06-18T18:31:25.641Z,1750271485.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:25.643Z,1750271485.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-06-18T18:31:25.646Z,1750271485.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.590302 m,
nav range: 31.984655 m,
bearing: 314.087078 deg,
approach rate: -0.572663 m/s,
LOS rate: 0.077363 deg/s,
cmd heading: 310.133537 deg,
new cmd heading: 310.223189 deg.
2025-06-18T18:31:25.647Z,1750271485.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.414416 target range: 33.590302 and range: 33.90 m.
2025-06-18T18:31:25.837Z,1750271485.837 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.236778
2025-06-18T18:31:26.048Z,1750271486.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-06-18T18:31:26.054Z,1750271486.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.590302 m,
nav range: 31.752275 m,
bearing: 314.119077 deg,
approach rate: -0.573735 m/s,
LOS rate: 0.079584 deg/s,
cmd heading: 310.223176 deg,
new cmd heading: 310.319877 deg.
2025-06-18T18:31:26.056Z,1750271486.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416103 target range: 33.590302 and range: 33.90 m.
2025-06-18T18:31:26.093Z,1750271486.093 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.492282
2025-06-18T18:31:26.107Z,1750271486.107 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:31:26.342Z,1750271486.342 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.742026
2025-06-18T18:31:26.475Z,1750271486.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-06-18T18:31:26.478Z,1750271486.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.590302 m,
nav range: 31.511120 m,
bearing: 314.162122 deg,
approach rate: -0.564290 m/s,
LOS rate: 0.101492 deg/s,
cmd heading: 310.319864 deg,
new cmd heading: 310.449985 deg.
2025-06-18T18:31:26.479Z,1750271486.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.418375 target range: 33.590302 and range: 33.90 m.
2025-06-18T18:31:26.593Z,1750271486.593 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.992761
2025-06-18T18:31:26.845Z,1750271486.845 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.244824
2025-06-18T18:31:26.859Z,1750271486.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-06-18T18:31:26.864Z,1750271486.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.590302 m,
nav range: 31.294361 m,
bearing: 314.201361 deg,
approach rate: -0.564563 m/s,
LOS rate: 0.102909 deg/s,
cmd heading: 310.449993 deg,
new cmd heading: 310.568525 deg.
2025-06-18T18:31:26.866Z,1750271486.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.420444 target range: 33.590302 and range: 33.90 m.
2025-06-18T18:31:27.100Z,1750271487.100 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.498987
2025-06-18T18:31:27.292Z,1750271487.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-06-18T18:31:27.295Z,1750271487.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.590302 m,
nav range: 31.050354 m,
bearing: 314.253435 deg,
approach rate: -0.564036 m/s,
LOS rate: 0.121318 deg/s,
cmd heading: 310.568538 deg,
new cmd heading: 310.725987 deg.
2025-06-18T18:31:27.296Z,1750271487.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.423192 target range: 33.590302 and range: 33.90 m.
2025-06-18T18:31:27.350Z,1750271487.350 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.749384
2025-06-18T18:31:27.601Z,1750271487.601 [DAT](INFO): DAT read: Rx Time:18:31:28.0371
2025-06-18T18:31:27.601Z,1750271487.601 [DAT](INFO): Rx dataTimestamp_ set to:1750271487.601031
2025-06-18T18:31:27.602Z,1750271487.602 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.001735
2025-06-18T18:31:27.676Z,1750271487.676 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:27.678Z,1750271487.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-06-18T18:31:27.686Z,1750271487.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.590302 m,
nav range: 30.837284 m,
bearing: 314.299738 deg,
approach rate: -0.551703 m/s,
LOS rate: 0.120722 deg/s,
cmd heading: 310.725987 deg,
new cmd heading: 310.865856 deg.
2025-06-18T18:31:27.693Z,1750271487.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425633 target range: 33.590302 and range: 33.90 m.
2025-06-18T18:31:27.853Z,1750271487.853 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.252763
2025-06-18T18:31:28.071Z,1750271488.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.59 m.
2025-06-18T18:31:28.074Z,1750271488.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.590302 m,
nav range: 30.611015 m,
bearing: 314.349484 deg,
approach rate: -0.576008 m/s,
LOS rate: 0.127575 deg/s,
cmd heading: 310.865869 deg,
new cmd heading: 311.016211 deg.
2025-06-18T18:31:28.075Z,1750271488.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.428257 target range: 33.590302 and range: 33.90 m.
2025-06-18T18:31:28.128Z,1750271488.128 [DAT](INFO): DAT read: 18:31:28.0371 LVL= 19888, 26081, 17890, 29203, AGC= 61, IDX= 414, 0.07, 2.550, 1.126, 2.365, 1.982, PHS= 0.656,-0.809, 0.380, RAW= 139.8, -3.4, CAL= 145.0, -12.8, ROT= 5.0, 12.8
2025-06-18T18:31:28.136Z,1750271488.136 [DAT](INFO): got valid direction response:
18:31:28.0371 LVL= 19888, 26081, 17890, 29203, AGC= 61, IDX= 414, 0.07, 2.550, 1.126, 2.365, 1.982, PHS= 0.656,-0.809, 0.380, RAW= 139.8, -3.4, CAL= 145.0, -12.8, ROT= 5.0, 12.8
2025-06-18T18:31:28.139Z,1750271488.139 [DAT](INFO): DAT read: Bearing 5.0, 12.8 (Local)
2025-06-18T18:31:28.153Z,1750271488.153 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.0, 12.8 (Local)
2025-06-18T18:31:28.165Z,1750271488.165 [DAT](INFO): DAT read: Range 10 to 50 : 31.8 m (Round-trip 42.4 ms) speed 0.5 m/s
2025-06-18T18:31:28.167Z,1750271488.167 [DAT](INFO): DAT read: user:1273>
2025-06-18T18:31:28.184Z,1750271488.184 [DAT](INFO): DAT read: Tx time:18:31:29.1405
2025-06-18T18:31:28.185Z,1750271488.185 [DAT](INFO): Ping request sent.
2025-06-18T18:31:28.185Z,1750271488.185 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:28.185Z,1750271488.185 [DAT](INFO): DAT read: TxSync time:18:31:29.1397
2025-06-18T18:31:28.186Z,1750271488.186 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-18T18:31:28.187Z,1750271488.187 [DAT](INFO): direction in FSK: [0.971439,0.084990,-0.221548]
2025-06-18T18:31:28.187Z,1750271488.187 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:28.187Z,1750271488.187 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:28.201Z,1750271488.201 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:28.202Z,1750271488.202 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:28.244Z,1750271488.244 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.030802
2025-06-18T18:31:28.358Z,1750271488.358 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.172834
2025-06-18T18:31:28.549Z,1750271488.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.799999 m,
deltaT: 3.527654 s,
deltaX: -2.100002 m,
approachRate: -0.595297 m/s,
rangeRepo size: 4
2025-06-18T18:31:28.551Z,1750271488.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.509485 m,
bearing: 317.996635 deg,
lat: 36.905876 deg,
lon: -122.115767 deg,
deltaT: 3.527654 s,
deltaX: -2.080816 m,
approachRate: -0.589858 m/s,
posRepo size: 4
2025-06-18T18:31:28.556Z,1750271488.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.51 m.
2025-06-18T18:31:28.559Z,1750271488.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.509485 m,
nav range: 30.301573 m,
bearing: 314.795140 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.127575 deg/s,
cmd heading: 311.016216 deg,
new cmd heading: 311.197339 deg.
2025-06-18T18:31:28.566Z,1750271488.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.431418 target range: 31.509485 and range: 31.80 m.
2025-06-18T18:31:28.610Z,1750271488.610 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.424879
2025-06-18T18:31:28.861Z,1750271488.861 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.676500
2025-06-18T18:31:28.899Z,1750271488.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.51 m.
2025-06-18T18:31:28.902Z,1750271488.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.509485 m,
nav range: 30.094839 m,
bearing: 314.850890 deg,
approach rate: -0.582403 m/s,
LOS rate: 0.158136 deg/s,
cmd heading: 311.197352 deg,
new cmd heading: 311.365751 deg.
2025-06-18T18:31:28.903Z,1750271488.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.434358 target range: 31.509485 and range: 31.80 m.
2025-06-18T18:31:29.119Z,1750271489.119 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.930945
2025-06-18T18:31:29.303Z,1750271489.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.51 m.
2025-06-18T18:31:29.306Z,1750271489.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.509485 m,
nav range: 29.867323 m,
bearing: 314.899118 deg,
approach rate: -0.562953 m/s,
LOS rate: 0.120240 deg/s,
cmd heading: 311.365757 deg,
new cmd heading: 311.511542 deg.
2025-06-18T18:31:29.307Z,1750271489.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.436902 target range: 31.509485 and range: 31.80 m.
2025-06-18T18:31:29.366Z,1750271489.366 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.181131
2025-06-18T18:31:29.617Z,1750271489.617 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.432023
2025-06-18T18:31:29.698Z,1750271489.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:29.700Z,1750271489.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.51 m.
2025-06-18T18:31:29.703Z,1750271489.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.509485 m,
nav range: 29.646152 m,
bearing: 314.946715 deg,
approach rate: -0.557395 m/s,
LOS rate: 0.120849 deg/s,
cmd heading: 311.511541 deg,
new cmd heading: 311.655396 deg.
2025-06-18T18:31:29.733Z,1750271489.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.439413 target range: 31.509485 and range: 31.80 m.
2025-06-18T18:31:29.870Z,1750271489.870 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.684877
2025-06-18T18:31:30.101Z,1750271490.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.51 m.
2025-06-18T18:31:30.108Z,1750271490.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.509485 m,
nav range: 29.431103 m,
bearing: 314.992235 deg,
approach rate: -0.535825 m/s,
LOS rate: 0.114249 deg/s,
cmd heading: 311.655385 deg,
new cmd heading: 311.792944 deg.
2025-06-18T18:31:30.109Z,1750271490.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441813 target range: 31.509485 and range: 31.80 m.
2025-06-18T18:31:30.121Z,1750271490.121 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.936214
2025-06-18T18:31:30.373Z,1750271490.373 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.188160
2025-06-18T18:31:30.523Z,1750271490.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.51 m.
2025-06-18T18:31:30.530Z,1750271490.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.509485 m,
nav range: 29.201529 m,
bearing: 315.030638 deg,
approach rate: -0.543953 m/s,
LOS rate: 0.091707 deg/s,
cmd heading: 311.792945 deg,
new cmd heading: 311.909059 deg.
2025-06-18T18:31:30.531Z,1750271490.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443840 target range: 31.509485 and range: 31.80 m.
2025-06-18T18:31:30.625Z,1750271490.625 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.440106
2025-06-18T18:31:30.878Z,1750271490.878 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.693065
2025-06-18T18:31:30.919Z,1750271490.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.51 m.
2025-06-18T18:31:30.926Z,1750271490.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.509485 m,
nav range: 28.972893 m,
bearing: 315.068622 deg,
approach rate: -0.577338 m/s,
LOS rate: 0.096673 deg/s,
cmd heading: 311.909058 deg,
new cmd heading: 312.023910 deg.
2025-06-18T18:31:30.927Z,1750271490.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445845 target range: 31.509485 and range: 31.80 m.
2025-06-18T18:31:31.131Z,1750271491.131 [DAT](INFO): DAT read: Rx Time:18:31:31.5844
2025-06-18T18:31:31.133Z,1750271491.133 [DAT](INFO): Rx dataTimestamp_ set to:1750271491.131341
2025-06-18T18:31:31.134Z,1750271491.134 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.948897
2025-06-18T18:31:31.335Z,1750271491.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.51 m.
2025-06-18T18:31:31.338Z,1750271491.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.509485 m,
nav range: 28.741148 m,
bearing: 315.093397 deg,
approach rate: -0.557056 m/s,
LOS rate: 0.060033 deg/s,
cmd heading: 312.023914 deg,
new cmd heading: 312.098839 deg.
2025-06-18T18:31:31.339Z,1750271491.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447152 target range: 31.509485 and range: 31.80 m.
2025-06-18T18:31:31.382Z,1750271491.382 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.196567
2025-06-18T18:31:31.639Z,1750271491.639 [DAT](INFO): DAT read: 18:31:31.5844 LVL= 22576, 28145, 19122, 31059, AGC= 59, IDX= 419, 0.38,-1.404,-2.903,-1.651,-1.976, PHS= 0.661,-0.880, 0.322, RAW= 137.9, -1.5, CAL= 143.0, -10.7, ROT= 7.0, 10.7
2025-06-18T18:31:31.640Z,1750271491.640 [DAT](INFO): got valid direction response:
18:31:31.5844 LVL= 22576, 28145, 19122, 31059, AGC= 59, IDX= 419, 0.38,-1.404,-2.903,-1.651,-1.976, PHS= 0.661,-0.880, 0.322, RAW= 137.9, -1.5, CAL= 143.0, -10.7, ROT= 7.0, 10.7
2025-06-18T18:31:31.641Z,1750271491.641 [DAT](INFO): DAT read: Bearing 7.0, 10.7 (Local)
2025-06-18T18:31:31.641Z,1750271491.641 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.0, 10.7 (Local)
2025-06-18T18:31:31.643Z,1750271491.643 [DAT](INFO): DAT read: Range 10 to 50 : 29.8 m (Round-trip 39.8 ms) speed 0.4 m/s
2025-06-18T18:31:31.643Z,1750271491.643 [DAT](INFO): DAT read: user:1274>
2025-06-18T18:31:31.644Z,1750271491.644 [DAT](INFO): DAT read: Tx time:18:31:32.6905
2025-06-18T18:31:31.644Z,1750271491.644 [DAT](INFO): Ping request sent.
2025-06-18T18:31:31.645Z,1750271491.645 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:31.645Z,1750271491.645 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-18T18:31:31.646Z,1750271491.646 [DAT](INFO): direction in FSK: [0.975289,0.119750,-0.185667]
2025-06-18T18:31:31.646Z,1750271491.646 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:31.646Z,1750271491.646 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:31.650Z,1750271491.650 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:31.650Z,1750271491.650 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:31.653Z,1750271491.653 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.008563
2025-06-18T18:31:31.758Z,1750271491.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.799999 m,
deltaT: 3.526930 s,
deltaX: -2.000000 m,
approachRate: -0.567065 m/s,
rangeRepo size: 4
2025-06-18T18:31:31.764Z,1750271491.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.527771 m,
bearing: 320.443719 deg,
lat: 36.905885 deg,
lon: -122.115762 deg,
deltaT: 3.526930 s,
deltaX: -1.981714 m,
approachRate: -0.561881 m/s,
posRepo size: 4
2025-06-18T18:31:31.765Z,1750271491.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-06-18T18:31:31.772Z,1750271491.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.527771 m,
nav range: 28.890005 m,
bearing: 317.028304 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.060033 deg/s,
cmd heading: 312.098828 deg,
new cmd heading: 312.174812 deg.
2025-06-18T18:31:31.773Z,1750271491.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448478 target range: 29.527771 and range: 29.80 m.
2025-06-18T18:31:31.886Z,1750271491.886 [DAT](INFO): DAT read: TxSync time:18:31:32.6897
2025-06-18T18:31:31.887Z,1750271491.887 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.242650
2025-06-18T18:31:32.118Z,1750271492.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:32.120Z,1750271492.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-06-18T18:31:32.123Z,1750271492.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.527771 m,
nav range: 28.665739 m,
bearing: 317.066059 deg,
approach rate: -0.618276 m/s,
LOS rate: 0.104901 deg/s,
cmd heading: 312.174807 deg,
new cmd heading: 312.288958 deg.
2025-06-18T18:31:32.124Z,1750271492.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450470 target range: 29.527771 and range: 29.80 m.
2025-06-18T18:31:32.137Z,1750271492.137 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.492535
2025-06-18T18:31:32.389Z,1750271492.389 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.744284
2025-06-18T18:31:32.541Z,1750271492.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-06-18T18:31:32.544Z,1750271492.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.527771 m,
nav range: 28.425720 m,
bearing: 317.090423 deg,
approach rate: -0.569791 m/s,
LOS rate: 0.058327 deg/s,
cmd heading: 312.288953 deg,
new cmd heading: 312.362662 deg.
2025-06-18T18:31:32.545Z,1750271492.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451757 target range: 29.527771 and range: 29.80 m.
2025-06-18T18:31:32.641Z,1750271492.641 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.996515
2025-06-18T18:31:32.893Z,1750271492.893 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.248869
2025-06-18T18:31:32.919Z,1750271492.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-06-18T18:31:32.922Z,1750271492.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.527771 m,
nav range: 28.210531 m,
bearing: 317.113458 deg,
approach rate: -0.569482 m/s,
LOS rate: 0.061425 deg/s,
cmd heading: 312.362664 deg,
new cmd heading: 312.432296 deg.
2025-06-18T18:31:32.923Z,1750271492.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452972 target range: 29.527771 and range: 29.80 m.
2025-06-18T18:31:33.148Z,1750271493.148 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.502720
2025-06-18T18:31:33.370Z,1750271493.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-06-18T18:31:33.373Z,1750271493.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.527771 m,
nav range: 27.954365 m,
bearing: 317.132599 deg,
approach rate: -0.568107 m/s,
LOS rate: 0.042839 deg/s,
cmd heading: 312.432305 deg,
new cmd heading: 312.490255 deg.
2025-06-18T18:31:33.374Z,1750271493.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453984 target range: 29.527771 and range: 29.80 m.
2025-06-18T18:31:33.397Z,1750271493.397 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.752279
2025-06-18T18:31:33.649Z,1750271493.649 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.004276
2025-06-18T18:31:33.727Z,1750271493.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-06-18T18:31:33.730Z,1750271493.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.527771 m,
nav range: 27.751183 m,
bearing: 317.145721 deg,
approach rate: -0.568308 m/s,
LOS rate: 0.036973 deg/s,
cmd heading: 312.490252 deg,
new cmd heading: 312.529908 deg.
2025-06-18T18:31:33.731Z,1750271493.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454676 target range: 29.527771 and range: 29.80 m.
2025-06-18T18:31:33.901Z,1750271493.901 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.256570
2025-06-18T18:31:34.119Z,1750271494.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:34.122Z,1750271494.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-06-18T18:31:34.125Z,1750271494.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.527771 m,
nav range: 27.527615 m,
bearing: 317.158787 deg,
approach rate: -0.566626 m/s,
LOS rate: 0.033382 deg/s,
cmd heading: 312.529895 deg,
new cmd heading: 312.569408 deg.
2025-06-18T18:31:34.126Z,1750271494.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455365 target range: 29.527771 and range: 29.80 m.
2025-06-18T18:31:34.153Z,1750271494.153 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.508313
2025-06-18T18:31:34.405Z,1750271494.405 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.760569
2025-06-18T18:31:34.544Z,1750271494.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-06-18T18:31:34.547Z,1750271494.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.527771 m,
nav range: 27.281530 m,
bearing: 317.159247 deg,
approach rate: -0.582707 m/s,
LOS rate: 0.001101 deg/s,
cmd heading: 312.569401 deg,
new cmd heading: 312.570795 deg.
2025-06-18T18:31:34.548Z,1750271494.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455389 target range: 29.527771 and range: 29.80 m.
2025-06-18T18:31:34.657Z,1750271494.657 [DAT](INFO): DAT read: Rx Time:18:31:35.1319
2025-06-18T18:31:34.658Z,1750271494.658 [DAT](INFO): Rx dataTimestamp_ set to:1750271494.657443
2025-06-18T18:31:34.658Z,1750271494.658 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.013717
2025-06-18T18:31:34.909Z,1750271494.909 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.264071
2025-06-18T18:31:34.941Z,1750271494.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-06-18T18:31:34.944Z,1750271494.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.527771 m,
nav range: 27.049965 m,
bearing: 317.158377 deg,
approach rate: -0.583619 m/s,
LOS rate: -0.002213 deg/s,
cmd heading: 312.570794 deg,
new cmd heading: 312.568159 deg.
2025-06-18T18:31:34.945Z,1750271494.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455344 target range: 29.527771 and range: 29.80 m.
2025-06-18T18:31:35.169Z,1750271495.169 [DAT](INFO): DAT read: 18:31:35.1319 LVL= 22688, 32753, 19890, 32755, AGC= 58, IDX= 409,-0.23,-1.283,-2.700,-1.515,-1.801, PHS= 0.606,-0.852, 0.283, RAW= 137.8, -0.6, CAL= 142.8, -9.6, ROT= 7.2, 9.6
2025-06-18T18:31:35.170Z,1750271495.170 [DAT](INFO): got valid direction response:
18:31:35.1319 LVL= 22688, 32753, 19890, 32755, AGC= 58, IDX= 409,-0.23,-1.283,-2.700,-1.515,-1.801, PHS= 0.606,-0.852, 0.283, RAW= 137.8, -0.6, CAL= 142.8, -9.6, ROT= 7.2, 9.6
2025-06-18T18:31:35.176Z,1750271495.176 [DAT](INFO): DAT read: Bearing 7.2, 9.6 (Local)
2025-06-18T18:31:35.177Z,1750271495.177 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.2, 9.6 (Local)
2025-06-18T18:31:35.178Z,1750271495.178 [DAT](INFO): DAT read: Range 10 to 50 : 27.9 m (Round-trip 37.2 ms) speed 0.5 m/s
2025-06-18T18:31:35.179Z,1750271495.179 [DAT](INFO): DAT read: user:1275>
2025-06-18T18:31:35.180Z,1750271495.180 [DAT](INFO): DAT read: Tx time:18:31:36.2406
2025-06-18T18:31:35.180Z,1750271495.180 [DAT](INFO): Ping request sent.
2025-06-18T18:31:35.180Z,1750271495.180 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:35.180Z,1750271495.180 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-18T18:31:35.181Z,1750271495.181 [DAT](INFO): direction in FSK: [0.978221,0.123578,-0.166769]
2025-06-18T18:31:35.182Z,1750271495.182 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:35.182Z,1750271495.182 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:35.186Z,1750271495.186 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:35.186Z,1750271495.186 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:35.197Z,1750271495.197 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.016718
2025-06-18T18:31:35.413Z,1750271495.413 [DAT](INFO): DAT read: TxSync time:18:31:36.2398
2025-06-18T18:31:35.414Z,1750271495.414 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.233678
2025-06-18T18:31:35.527Z,1750271495.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.900000 m,
deltaT: 3.528332 s,
deltaX: -1.900000 m,
approachRate: -0.538498 m/s,
rangeRepo size: 4
2025-06-18T18:31:35.534Z,1750271495.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.645206 m,
bearing: 321.501283 deg,
lat: 36.905891 deg,
lon: -122.115757 deg,
deltaT: 3.528332 s,
deltaX: -1.882565 m,
approachRate: -0.533557 m/s,
posRepo size: 4
2025-06-18T18:31:35.535Z,1750271495.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:31:35.546Z,1750271495.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.645206 m,
nav range: 26.950783 m,
bearing: 318.748227 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002213 deg/s,
cmd heading: 312.568171 deg,
new cmd heading: 312.564282 deg.
2025-06-18T18:31:35.547Z,1750271495.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455276 target range: 27.645206 and range: 27.90 m.
2025-06-18T18:31:35.665Z,1750271495.665 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.484721
2025-06-18T18:31:35.844Z,1750271495.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:31:35.847Z,1750271495.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.645206 m,
nav range: 26.724819 m,
bearing: 318.758797 deg,
approach rate: -0.713449 m/s,
LOS rate: 0.033653 deg/s,
cmd heading: 312.564292 deg,
new cmd heading: 312.596268 deg.
2025-06-18T18:31:35.848Z,1750271495.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455834 target range: 27.645206 and range: 27.90 m.
2025-06-18T18:31:35.917Z,1750271495.917 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.736783
2025-06-18T18:31:36.169Z,1750271496.169 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.988720
2025-06-18T18:31:36.309Z,1750271496.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:36.312Z,1750271496.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:31:36.314Z,1750271496.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.645206 m,
nav range: 26.464741 m,
bearing: 318.771185 deg,
approach rate: -0.555760 m/s,
LOS rate: 0.026733 deg/s,
cmd heading: 312.596257 deg,
new cmd heading: 312.633788 deg.
2025-06-18T18:31:36.315Z,1750271496.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456489 target range: 27.645206 and range: 27.90 m.
2025-06-18T18:31:36.421Z,1750271496.421 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.240719
2025-06-18T18:31:36.662Z,1750271496.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:31:36.673Z,1750271496.673 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.492511
2025-06-18T18:31:36.681Z,1750271496.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.645206 m,
nav range: 26.244724 m,
bearing: 318.772226 deg,
approach rate: -0.626988 m/s,
LOS rate: 0.002990 deg/s,
cmd heading: 312.633796 deg,
new cmd heading: 312.636943 deg.
2025-06-18T18:31:36.682Z,1750271496.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456544 target range: 27.645206 and range: 27.90 m.
2025-06-18T18:31:36.925Z,1750271496.925 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.744654
2025-06-18T18:31:37.062Z,1750271497.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:31:37.069Z,1750271497.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.645206 m,
nav range: 26.017002 m,
bearing: 318.771701 deg,
approach rate: -0.570259 m/s,
LOS rate: -0.001325 deg/s,
cmd heading: 312.636937 deg,
new cmd heading: 312.635350 deg.
2025-06-18T18:31:37.070Z,1750271497.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456516 target range: 27.645206 and range: 27.90 m.
2025-06-18T18:31:37.177Z,1750271497.177 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.997241
2025-06-18T18:31:37.429Z,1750271497.429 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.248702
2025-06-18T18:31:37.507Z,1750271497.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:31:37.515Z,1750271497.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.645206 m,
nav range: 25.748024 m,
bearing: 318.786989 deg,
approach rate: -0.603495 m/s,
LOS rate: 0.034659 deg/s,
cmd heading: 312.635353 deg,
new cmd heading: 312.681696 deg.
2025-06-18T18:31:37.520Z,1750271497.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457325 target range: 27.645206 and range: 27.90 m.
2025-06-18T18:31:37.681Z,1750271497.681 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.500624
2025-06-18T18:31:37.909Z,1750271497.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:31:37.916Z,1750271497.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.645206 m,
nav range: 25.514921 m,
bearing: 318.799309 deg,
approach rate: -0.580672 m/s,
LOS rate: 0.030969 deg/s,
cmd heading: 312.681689 deg,
new cmd heading: 312.718985 deg.
2025-06-18T18:31:37.917Z,1750271497.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457976 target range: 27.645206 and range: 27.90 m.
2025-06-18T18:31:37.933Z,1750271497.933 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.752685
2025-06-18T18:31:38.185Z,1750271498.185 [DAT](INFO): DAT read: Rx Time:18:31:38.6791
2025-06-18T18:31:38.186Z,1750271498.186 [DAT](INFO): Rx dataTimestamp_ set to:1750271498.185268
2025-06-18T18:31:38.186Z,1750271498.186 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.005945
2025-06-18T18:31:38.334Z,1750271498.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:38.340Z,1750271498.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:31:38.343Z,1750271498.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.645206 m,
nav range: 25.265163 m,
bearing: 318.812031 deg,
approach rate: -0.584984 m/s,
LOS rate: 0.030093 deg/s,
cmd heading: 312.718982 deg,
new cmd heading: 312.757526 deg.
2025-06-18T18:31:38.356Z,1750271498.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458649 target range: 27.645206 and range: 27.90 m.
2025-06-18T18:31:38.438Z,1750271498.438 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.257716
2025-06-18T18:31:38.695Z,1750271498.695 [DAT](INFO): DAT read: 18:31:38.6791 LVL= 24176, 29553, 19602, 32755, AGC= 62, IDX= 413, 0.01, 0.213,-1.079, 0.075,-0.226, PHS= 0.527,-0.806, 0.298, RAW= 140.7, -0.3, CAL= 145.2, -9.3, ROT= 4.8, 9.3
2025-06-18T18:31:38.696Z,1750271498.696 [DAT](INFO): got valid direction response:
18:31:38.6791 LVL= 24176, 29553, 19602, 32755, AGC= 62, IDX= 413, 0.01, 0.213,-1.079, 0.075,-0.226, PHS= 0.527,-0.806, 0.298, RAW= 140.7, -0.3, CAL= 145.2, -9.3, ROT= 4.8, 9.3
2025-06-18T18:31:38.697Z,1750271498.697 [DAT](INFO): DAT read: Bearing 4.8, 9.3 (Local)
2025-06-18T18:31:38.697Z,1750271498.697 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.8, 9.3 (Local)
2025-06-18T18:31:38.699Z,1750271498.699 [DAT](INFO): DAT read: Range 10 to 50 : 25.8 m (Round-trip 34.4 ms) speed 0.5 m/s
2025-06-18T18:31:38.699Z,1750271498.699 [DAT](INFO): DAT read: user:1276>
2025-06-18T18:31:38.700Z,1750271498.700 [DAT](INFO): DAT read: Tx time:18:31:39.7921
2025-06-18T18:31:38.701Z,1750271498.701 [DAT](INFO): Ping request sent.
2025-06-18T18:31:38.701Z,1750271498.701 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:38.701Z,1750271498.701 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-18T18:31:38.702Z,1750271498.702 [DAT](INFO): direction in FSK: [0.983395,0.082578,-0.161604]
2025-06-18T18:31:38.702Z,1750271498.702 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:38.702Z,1750271498.702 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:38.748Z,1750271498.748 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:38.748Z,1750271498.748 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:38.751Z,1750271498.751 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.050713
2025-06-18T18:31:38.766Z,1750271498.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.799999 m,
deltaT: 3.527789 s,
deltaX: -2.100000 m,
approachRate: -0.595274 m/s,
rangeRepo size: 4
2025-06-18T18:31:38.785Z,1750271498.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.564402 m,
bearing: 319.802921 deg,
lat: 36.905894 deg,
lon: -122.115755 deg,
deltaT: 3.527789 s,
deltaX: -2.080805 m,
approachRate: -0.589833 m/s,
posRepo size: 4
2025-06-18T18:31:38.786Z,1750271498.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:31:38.797Z,1750271498.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.564402 m,
nav range: 25.238552 m,
bearing: 319.803007 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.030093 deg/s,
cmd heading: 312.757531 deg,
new cmd heading: 312.796317 deg.
2025-06-18T18:31:38.798Z,1750271498.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459326 target range: 25.564402 and range: 25.80 m.
2025-06-18T18:31:38.941Z,1750271498.941 [DAT](INFO): DAT read: TxSync time:18:31:39.7914
2025-06-18T18:31:38.942Z,1750271498.942 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.241058
2025-06-18T18:31:39.122Z,1750271499.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:31:39.125Z,1750271499.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.564402 m,
nav range: 25.001419 m,
bearing: 319.837016 deg,
approach rate: -0.664503 m/s,
LOS rate: 0.096205 deg/s,
cmd heading: 312.796327 deg,
new cmd heading: 312.899321 deg.
2025-06-18T18:31:39.126Z,1750271499.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461123 target range: 25.564402 and range: 25.80 m.
2025-06-18T18:31:39.193Z,1750271499.193 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.492343
2025-06-18T18:31:39.445Z,1750271499.445 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.744031
2025-06-18T18:31:39.524Z,1750271499.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:31:39.527Z,1750271499.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.564402 m,
nav range: 24.766300 m,
bearing: 319.889201 deg,
approach rate: -0.585550 m/s,
LOS rate: 0.131198 deg/s,
cmd heading: 312.899326 deg,
new cmd heading: 313.057367 deg.
2025-06-18T18:31:39.528Z,1750271499.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463882 target range: 25.564402 and range: 25.80 m.
2025-06-18T18:31:39.697Z,1750271499.697 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.996128
2025-06-18T18:31:39.913Z,1750271499.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:31:39.916Z,1750271499.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.564402 m,
nav range: 24.540218 m,
bearing: 319.939570 deg,
approach rate: -0.580543 m/s,
LOS rate: 0.130529 deg/s,
cmd heading: 313.057377 deg,
new cmd heading: 313.209873 deg.
2025-06-18T18:31:39.917Z,1750271499.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466544 target range: 25.564402 and range: 25.80 m.
2025-06-18T18:31:39.949Z,1750271499.949 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.248347
2025-06-18T18:31:40.201Z,1750271500.201 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.499986
2025-06-18T18:31:40.363Z,1750271500.363 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:40.365Z,1750271500.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:31:40.368Z,1750271500.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.564402 m,
nav range: 24.278299 m,
bearing: 319.998688 deg,
approach rate: -0.579782 m/s,
LOS rate: 0.132275 deg/s,
cmd heading: 313.209881 deg,
new cmd heading: 313.389148 deg.
2025-06-18T18:31:40.369Z,1750271500.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469673 target range: 25.564402 and range: 25.80 m.
2025-06-18T18:31:40.453Z,1750271500.453 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.752175
2025-06-18T18:31:40.705Z,1750271500.705 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.004161
2025-06-18T18:31:40.741Z,1750271500.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:31:40.744Z,1750271500.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.564402 m,
nav range: 24.064783 m,
bearing: 320.053065 deg,
approach rate: -0.568119 m/s,
LOS rate: 0.145969 deg/s,
cmd heading: 313.389160 deg,
new cmd heading: 313.553738 deg.
2025-06-18T18:31:40.745Z,1750271500.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472545 target range: 25.564402 and range: 25.80 m.
2025-06-18T18:31:40.957Z,1750271500.957 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.256034
2025-06-18T18:31:41.114Z,1750271501.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:31:41.117Z,1750271501.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.564402 m,
nav range: 23.853062 m,
bearing: 320.108239 deg,
approach rate: -0.567128 m/s,
LOS rate: 0.149105 deg/s,
cmd heading: 313.553740 deg,
new cmd heading: 313.720732 deg.
2025-06-18T18:31:41.118Z,1750271501.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475460 target range: 25.564402 and range: 25.80 m.
2025-06-18T18:31:41.209Z,1750271501.209 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.508573
2025-06-18T18:31:41.461Z,1750271501.461 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.760019
2025-06-18T18:31:41.543Z,1750271501.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:31:41.547Z,1750271501.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.564402 m,
nav range: 23.615269 m,
bearing: 320.190420 deg,
approach rate: -0.554094 m/s,
LOS rate: 0.193423 deg/s,
cmd heading: 313.720725 deg,
new cmd heading: 313.969748 deg.
2025-06-18T18:31:41.548Z,1750271501.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479806 target range: 25.564402 and range: 25.80 m.
2025-06-18T18:31:41.713Z,1750271501.713 [DAT](INFO): DAT read: Rx Time:18:31:42.2278
2025-06-18T18:31:41.713Z,1750271501.713 [DAT](INFO): Rx dataTimestamp_ set to:1750271501.713034
2025-06-18T18:31:41.714Z,1750271501.714 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.013101
2025-06-18T18:31:41.925Z,1750271501.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:31:41.928Z,1750271501.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.564402 m,
nav range: 23.403904 m,
bearing: 320.264730 deg,
approach rate: -0.553165 m/s,
LOS rate: 0.196233 deg/s,
cmd heading: 313.969753 deg,
new cmd heading: 314.194695 deg.
2025-06-18T18:31:41.929Z,1750271501.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483732 target range: 25.564402 and range: 25.80 m.
2025-06-18T18:31:41.966Z,1750271501.966 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.264848
2025-06-18T18:31:42.223Z,1750271502.223 [DAT](INFO): DAT read: 18:31:42.2278 LVL= 19696, 28913, 17906, 32755, AGC= 57, IDX= 415,-0.20, 2.215, 0.833, 2.129, 1.767, PHS= 0.537,-0.887, 0.360, RAW= 143.5, -0.1, CAL= 147.6, -9.1, ROT= 2.4, 9.1
2025-06-18T18:31:42.224Z,1750271502.224 [DAT](INFO): got valid direction response:
18:31:42.2278 LVL= 19696, 28913, 17906, 32755, AGC= 57, IDX= 415,-0.20, 2.215, 0.833, 2.129, 1.767, PHS= 0.537,-0.887, 0.360, RAW= 143.5, -0.1, CAL= 147.6, -9.1, ROT= 2.4, 9.1
2025-06-18T18:31:42.225Z,1750271502.225 [DAT](INFO): DAT read: Bearing 2.4, 9.1 (Local)
2025-06-18T18:31:42.225Z,1750271502.225 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.4, 9.1 (Local)
2025-06-18T18:31:42.227Z,1750271502.227 [DAT](INFO): DAT read: Range 10 to 50 : 23.6 m (Round-trip 31.5 ms) speed 0.4 m/s
2025-06-18T18:31:42.227Z,1750271502.227 [DAT](INFO): DAT read: user:1277>
2025-06-18T18:31:42.228Z,1750271502.228 [DAT](INFO): DAT read: Tx time:18:31:43.3406
2025-06-18T18:31:42.228Z,1750271502.228 [DAT](INFO): Ping request sent.
2025-06-18T18:31:42.229Z,1750271502.229 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:42.229Z,1750271502.229 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-18T18:31:42.230Z,1750271502.230 [DAT](INFO): direction in FSK: [0.986548,0.041349,-0.158158]
2025-06-18T18:31:42.230Z,1750271502.230 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:42.230Z,1750271502.230 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:42.234Z,1750271502.234 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:42.234Z,1750271502.234 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:42.237Z,1750271502.237 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.008611
2025-06-18T18:31:42.425Z,1750271502.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.600000 m,
deltaT: 3.527924 s,
deltaX: -2.199999 m,
approachRate: -0.623596 m/s,
rangeRepo size: 4
2025-06-18T18:31:42.427Z,1750271502.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.384453 m,
bearing: 317.467770 deg,
lat: 36.905896 deg,
lon: -122.115755 deg,
deltaT: 3.527924 s,
deltaX: -2.179949 m,
approachRate: -0.617913 m/s,
posRepo size: 4
2025-06-18T18:31:42.432Z,1750271502.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:31:42.435Z,1750271502.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.384453 m,
nav range: 23.268761 m,
bearing: 320.629725 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.196233 deg/s,
cmd heading: 314.194685 deg,
new cmd heading: 314.488442 deg.
2025-06-18T18:31:42.440Z,1750271502.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488859 target range: 23.384453 and range: 23.60 m.
2025-06-18T18:31:42.469Z,1750271502.469 [DAT](INFO): DAT read: TxSync time:18:31:43.3398
2025-06-18T18:31:42.470Z,1750271502.470 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.241100
2025-06-18T18:31:42.721Z,1750271502.721 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.492152
2025-06-18T18:31:42.785Z,1750271502.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:42.787Z,1750271502.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:31:42.795Z,1750271502.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.384453 m,
nav range: 23.070061 m,
bearing: 320.711158 deg,
approach rate: -0.547662 m/s,
LOS rate: 0.226380 deg/s,
cmd heading: 314.488438 deg,
new cmd heading: 314.734839 deg.
2025-06-18T18:31:42.800Z,1750271502.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493159 target range: 23.384453 and range: 23.60 m.
2025-06-18T18:31:42.973Z,1750271502.973 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.744178
2025-06-18T18:31:43.140Z,1750271503.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:31:43.143Z,1750271503.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.384453 m,
nav range: 22.867586 m,
bearing: 320.796584 deg,
approach rate: -0.573480 m/s,
LOS rate: 0.244100 deg/s,
cmd heading: 314.734844 deg,
new cmd heading: 314.993390 deg.
2025-06-18T18:31:43.144Z,1750271503.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497672 target range: 23.384453 and range: 23.60 m.
2025-06-18T18:31:43.225Z,1750271503.225 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.996266
2025-06-18T18:31:43.478Z,1750271503.478 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.249638
2025-06-18T18:31:43.570Z,1750271503.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:31:43.573Z,1750271503.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.384453 m,
nav range: 22.630407 m,
bearing: 320.904451 deg,
approach rate: -0.551725 m/s,
LOS rate: 0.253551 deg/s,
cmd heading: 314.993380 deg,
new cmd heading: 315.320371 deg.
2025-06-18T18:31:43.574Z,1750271503.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503379 target range: 23.384453 and range: 23.60 m.
2025-06-18T18:31:43.729Z,1750271503.729 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.500302
2025-06-18T18:31:43.952Z,1750271503.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:31:43.955Z,1750271503.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.384453 m,
nav range: 22.419125 m,
bearing: 321.001430 deg,
approach rate: -0.552794 m/s,
LOS rate: 0.256123 deg/s,
cmd heading: 315.320382 deg,
new cmd heading: 315.614057 deg.
2025-06-18T18:31:43.956Z,1750271503.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508504 target range: 23.384453 and range: 23.60 m.
2025-06-18T18:31:43.981Z,1750271503.981 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.752040
2025-06-18T18:31:44.233Z,1750271504.233 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.004403
2025-06-18T18:31:44.423Z,1750271504.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:31:44.426Z,1750271504.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.384453 m,
nav range: 22.159098 m,
bearing: 321.120732 deg,
approach rate: -0.552620 m/s,
LOS rate: 0.256520 deg/s,
cmd heading: 315.614053 deg,
new cmd heading: 315.976153 deg.
2025-06-18T18:31:44.427Z,1750271504.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514824 target range: 23.384453 and range: 23.60 m.
2025-06-18T18:31:44.485Z,1750271504.485 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.256358
2025-06-18T18:31:44.737Z,1750271504.737 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.508699
2025-06-18T18:31:44.870Z,1750271504.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:44.877Z,1750271504.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:31:44.886Z,1750271504.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.384453 m,
nav range: 21.918354 m,
bearing: 321.224426 deg,
approach rate: -0.530110 m/s,
LOS rate: 0.230838 deg/s,
cmd heading: 315.976162 deg,
new cmd heading: 316.290657 deg.
2025-06-18T18:31:44.887Z,1750271504.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520313 target range: 23.384453 and range: 23.60 m.
2025-06-18T18:31:44.991Z,1750271504.991 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.762207
2025-06-18T18:31:45.219Z,1750271505.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:31:45.226Z,1750271505.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.384453 m,
nav range: 21.732550 m,
bearing: 321.304293 deg,
approach rate: -0.542848 m/s,
LOS rate: 0.235336 deg/s,
cmd heading: 316.290652 deg,
new cmd heading: 316.532301 deg.
2025-06-18T18:31:45.227Z,1750271505.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524531 target range: 23.384453 and range: 23.60 m.
2025-06-18T18:31:45.245Z,1750271505.245 [DAT](INFO): DAT read: Rx Time:18:31:45.7736
2025-06-18T18:31:45.246Z,1750271505.246 [DAT](INFO): Rx dataTimestamp_ set to:1750271505.245452
2025-06-18T18:31:45.246Z,1750271505.246 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.017662
2025-06-18T18:31:45.493Z,1750271505.493 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.264133
2025-06-18T18:31:45.650Z,1750271505.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:31:45.653Z,1750271505.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.384453 m,
nav range: 21.485317 m,
bearing: 321.401080 deg,
approach rate: -0.573855 m/s,
LOS rate: 0.227238 deg/s,
cmd heading: 316.532304 deg,
new cmd heading: 316.826002 deg.
2025-06-18T18:31:45.658Z,1750271505.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529657 target range: 23.384453 and range: 23.60 m.
2025-06-18T18:31:45.756Z,1750271505.756 [DAT](INFO): DAT read: 18:31:45.7736 LVL= 23936, 32177, 21138, 32755, AGC= 56, IDX= 419,-0.01, 2.891, 1.498, 2.815, 2.462, PHS= 0.517,-0.916, 0.350, RAW= 143.9, 0.7, CAL= 147.7, -8.2, ROT= 2.3, 8.2
2025-06-18T18:31:45.758Z,1750271505.758 [DAT](INFO): got valid direction response:
18:31:45.7736 LVL= 23936, 32177, 21138, 32755, AGC= 56, IDX= 419,-0.01, 2.891, 1.498, 2.815, 2.462, PHS= 0.517,-0.916, 0.350, RAW= 143.9, 0.7, CAL= 147.7, -8.2, ROT= 2.3, 8.2
2025-06-18T18:31:45.761Z,1750271505.761 [DAT](INFO): DAT read: Bearing 2.3, 8.2 (Local)
2025-06-18T18:31:45.761Z,1750271505.761 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.3, 8.2 (Local)
2025-06-18T18:31:45.768Z,1750271505.768 [DAT](INFO): DAT read: Range 10 to 50 : 21.6 m (Round-trip 28.8 ms) speed 0.4 m/s
2025-06-18T18:31:45.769Z,1750271505.769 [DAT](INFO): DAT read: user:1278>
2025-06-18T18:31:45.770Z,1750271505.770 [DAT](INFO): DAT read: Tx time:18:31:46.8907
2025-06-18T18:31:45.771Z,1750271505.771 [DAT](INFO): Ping request sent.
2025-06-18T18:31:45.771Z,1750271505.771 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:45.776Z,1750271505.776 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-18T18:31:45.778Z,1750271505.778 [DAT](INFO): direction in FSK: [0.988979,0.039721,-0.142629]
2025-06-18T18:31:45.778Z,1750271505.778 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:45.779Z,1750271505.779 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:45.800Z,1750271505.800 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:45.800Z,1750271505.800 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:45.803Z,1750271505.803 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.032422
2025-06-18T18:31:45.997Z,1750271505.997 [DAT](INFO): DAT read: TxSync time:18:31:46.8899
2025-06-18T18:31:45.998Z,1750271505.998 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.226991
2025-06-18T18:31:46.060Z,1750271506.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.600000 m,
deltaT: 3.528692 s,
deltaX: -2.000000 m,
approachRate: -0.566782 m/s,
rangeRepo size: 4
2025-06-18T18:31:46.062Z,1750271506.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.402632 m,
bearing: 318.645891 deg,
lat: 36.905894 deg,
lon: -122.115757 deg,
deltaT: 3.528692 s,
deltaX: -1.981821 m,
approachRate: -0.561630 m/s,
posRepo size: 4
2025-06-18T18:31:46.063Z,1750271506.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:31:46.069Z,1750271506.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.402632 m,
nav range: 21.249895 m,
bearing: 320.844062 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.227238 deg/s,
cmd heading: 316.826002 deg,
new cmd heading: 317.101939 deg.
2025-06-18T18:31:46.071Z,1750271506.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.534473 target range: 21.402632 and range: 21.60 m.
2025-06-18T18:31:46.249Z,1750271506.249 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.477927
2025-06-18T18:31:46.496Z,1750271506.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:31:46.499Z,1750271506.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.402632 m,
nav range: 20.984266 m,
bearing: 320.914902 deg,
approach rate: -0.602575 m/s,
LOS rate: 0.162734 deg/s,
cmd heading: 317.101941 deg,
new cmd heading: 317.317151 deg.
2025-06-18T18:31:46.501Z,1750271506.501 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.729984
2025-06-18T18:31:46.502Z,1750271506.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538229 target range: 21.402632 and range: 21.60 m.
2025-06-18T18:31:46.753Z,1750271506.753 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.981939
2025-06-18T18:31:46.834Z,1750271506.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:31:46.837Z,1750271506.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.402632 m,
nav range: 20.794268 m,
bearing: 320.966688 deg,
approach rate: -0.562401 m/s,
LOS rate: 0.154688 deg/s,
cmd heading: 317.317147 deg,
new cmd heading: 317.473923 deg.
2025-06-18T18:31:46.838Z,1750271506.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540965 target range: 21.402632 and range: 21.60 m.
2025-06-18T18:31:47.005Z,1750271507.005 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.233859
2025-06-18T18:31:47.230Z,1750271507.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:47.252Z,1750271507.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:31:47.255Z,1750271507.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.402632 m,
nav range: 20.576412 m,
bearing: 321.021729 deg,
approach rate: -0.546746 m/s,
LOS rate: 0.139597 deg/s,
cmd heading: 317.473914 deg,
new cmd heading: 317.640783 deg.
2025-06-18T18:31:47.257Z,1750271507.257 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.485991
2025-06-18T18:31:47.260Z,1750271507.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.543878 target range: 21.402632 and range: 21.60 m.
2025-06-18T18:31:47.509Z,1750271507.509 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.737915
2025-06-18T18:31:47.650Z,1750271507.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:31:47.654Z,1750271507.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.402632 m,
nav range: 20.333517 m,
bearing: 321.070244 deg,
approach rate: -0.580648 m/s,
LOS rate: 0.117363 deg/s,
cmd heading: 317.640789 deg,
new cmd heading: 317.788073 deg.
2025-06-18T18:31:47.655Z,1750271507.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.546448 target range: 21.402632 and range: 21.60 m.
2025-06-18T18:31:47.762Z,1750271507.762 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.990836
2025-06-18T18:31:48.014Z,1750271508.014 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.242651
2025-06-18T18:31:48.058Z,1750271508.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:31:48.061Z,1750271508.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.402632 m,
nav range: 20.102892 m,
bearing: 321.108125 deg,
approach rate: -0.566229 m/s,
LOS rate: 0.094071 deg/s,
cmd heading: 317.788075 deg,
new cmd heading: 317.903020 deg.
2025-06-18T18:31:48.062Z,1750271508.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548454 target range: 21.402632 and range: 21.60 m.
2025-06-18T18:31:48.265Z,1750271508.265 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.493913
2025-06-18T18:31:48.503Z,1750271508.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:31:48.506Z,1750271508.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.402632 m,
nav range: 19.844156 m,
bearing: 321.145319 deg,
approach rate: -0.580991 m/s,
LOS rate: 0.084608 deg/s,
cmd heading: 317.903013 deg,
new cmd heading: 318.016050 deg.
2025-06-18T18:31:48.507Z,1750271508.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.550427 target range: 21.402632 and range: 21.60 m.
2025-06-18T18:31:48.517Z,1750271508.517 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.745857
2025-06-18T18:31:48.769Z,1750271508.769 [DAT](INFO): DAT read: Rx Time:18:31:49.3210
2025-06-18T18:31:48.770Z,1750271508.770 [DAT](INFO): Rx dataTimestamp_ set to:1750271508.769423
2025-06-18T18:31:48.770Z,1750271508.770 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.999329
2025-06-18T18:31:48.916Z,1750271508.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:31:48.919Z,1750271508.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.402632 m,
nav range: 19.622601 m,
bearing: 321.177948 deg,
approach rate: -0.558701 m/s,
LOS rate: 0.083212 deg/s,
cmd heading: 318.016039 deg,
new cmd heading: 318.115034 deg.
2025-06-18T18:31:48.924Z,1750271508.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552155 target range: 21.402632 and range: 21.60 m.
2025-06-18T18:31:49.021Z,1750271509.021 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.250054
2025-06-18T18:31:49.282Z,1750271509.282 [DAT](INFO): DAT read: 18:31:49.3210 LVL= 21232, 31121, 18530, 32755, AGC= 58, IDX= 408, 0.37, 1.212,-0.188, 1.304, 0.816, PHS= 0.484,-0.957, 0.485, RAW= 150.1, -0.2, CAL= 153.3, -9.0, ROT= 356.7, 9.0
2025-06-18T18:31:49.283Z,1750271509.283 [DAT](INFO): got valid direction response:
18:31:49.3210 LVL= 21232, 31121, 18530, 32755, AGC= 58, IDX= 408, 0.37, 1.212,-0.188, 1.304, 0.816, PHS= 0.484,-0.957, 0.485, RAW= 150.1, -0.2, CAL= 153.3, -9.0, ROT= 356.7, 9.0
2025-06-18T18:31:49.284Z,1750271509.284 [DAT](INFO): DAT read: Bearing 356.7, 9.0 (Local)
2025-06-18T18:31:49.285Z,1750271509.285 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.7, 9.0 (Local)
2025-06-18T18:31:49.286Z,1750271509.286 [DAT](INFO): DAT read: Range 10 to 50 : 19.6 m (Round-trip 26.2 ms) speed 0.4 m/s
2025-06-18T18:31:49.287Z,1750271509.287 [DAT](INFO): DAT read: user:1279>
2025-06-18T18:31:49.288Z,1750271509.288 [DAT](INFO): DAT read: Tx time:18:31:50.4407
2025-06-18T18:31:49.288Z,1750271509.288 [DAT](INFO): Ping request sent.
2025-06-18T18:31:49.288Z,1750271509.288 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:49.288Z,1750271509.288 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-18T18:31:49.289Z,1750271509.289 [DAT](INFO): direction in FSK: [0.986051,-0.056855,-0.156434]
2025-06-18T18:31:49.290Z,1750271509.290 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:49.290Z,1750271509.290 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:49.308Z,1750271509.308 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:49.308Z,1750271509.308 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:49.311Z,1750271509.311 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.023298
2025-06-18T18:31:49.355Z,1750271509.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.600000 m,
deltaT: 3.529779 s,
deltaX: -2.000000 m,
approachRate: -0.566608 m/s,
rangeRepo size: 4
2025-06-18T18:31:49.366Z,1750271509.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.420942 m,
bearing: 315.667689 deg,
lat: 36.905889 deg,
lon: -122.115763 deg,
deltaT: 3.529779 s,
deltaX: -1.981689 m,
approachRate: -0.561420 m/s,
posRepo size: 4
2025-06-18T18:31:49.366Z,1750271509.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:31:49.377Z,1750271509.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.420942 m,
nav range: 19.265985 m,
bearing: 318.799219 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.083212 deg/s,
cmd heading: 318.115022 deg,
new cmd heading: 318.228606 deg.
2025-06-18T18:31:49.378Z,1750271509.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554137 target range: 19.420942 and range: 19.60 m.
2025-06-18T18:31:49.526Z,1750271509.526 [DAT](INFO): DAT read: TxSync time:18:31:50.4399
2025-06-18T18:31:49.527Z,1750271509.527 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.238481
2025-06-18T18:31:49.777Z,1750271509.777 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.488826
2025-06-18T18:31:49.822Z,1750271509.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:49.829Z,1750271509.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:31:49.831Z,1750271509.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.420942 m,
nav range: 18.984812 m,
bearing: 318.779170 deg,
approach rate: -0.593319 m/s,
LOS rate: -0.042933 deg/s,
cmd heading: 318.228595 deg,
new cmd heading: 318.167557 deg.
2025-06-18T18:31:49.837Z,1750271509.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553071 target range: 19.420942 and range: 19.60 m.
2025-06-18T18:31:50.029Z,1750271510.029 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.740623
2025-06-18T18:31:50.135Z,1750271510.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:31:50.155Z,1750271510.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.420942 m,
nav range: 18.793337 m,
bearing: 318.765259 deg,
approach rate: -0.623786 m/s,
LOS rate: -0.045781 deg/s,
cmd heading: 318.167560 deg,
new cmd heading: 318.125402 deg.
2025-06-18T18:31:50.160Z,1750271510.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552336 target range: 19.420942 and range: 19.60 m.
2025-06-18T18:31:50.281Z,1750271510.281 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.992653
2025-06-18T18:31:50.533Z,1750271510.533 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.244764
2025-06-18T18:31:50.555Z,1750271510.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:31:50.558Z,1750271510.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.420942 m,
nav range: 18.546936 m,
bearing: 318.743532 deg,
approach rate: -0.587948 m/s,
LOS rate: -0.052532 deg/s,
cmd heading: 318.125404 deg,
new cmd heading: 318.059357 deg.
2025-06-18T18:31:50.559Z,1750271510.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551183 target range: 19.420942 and range: 19.60 m.
2025-06-18T18:31:50.790Z,1750271510.790 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.501553
2025-06-18T18:31:51.002Z,1750271511.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:31:51.005Z,1750271511.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.420942 m,
nav range: 18.283920 m,
bearing: 318.717496 deg,
approach rate: -0.588293 m/s,
LOS rate: -0.059073 deg/s,
cmd heading: 318.059370 deg,
new cmd heading: 317.980139 deg.
2025-06-18T18:31:51.006Z,1750271511.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.549800 target range: 19.420942 and range: 19.60 m.
2025-06-18T18:31:51.038Z,1750271511.038 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.749425
2025-06-18T18:31:51.289Z,1750271511.289 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.000862
2025-06-18T18:31:51.366Z,1750271511.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:31:51.375Z,1750271511.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.420942 m,
nav range: 18.079967 m,
bearing: 318.693644 deg,
approach rate: -0.559388 m/s,
LOS rate: -0.066160 deg/s,
cmd heading: 317.980140 deg,
new cmd heading: 317.907775 deg.
2025-06-18T18:31:51.381Z,1750271511.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548537 target range: 19.420942 and range: 19.60 m.
2025-06-18T18:31:51.541Z,1750271511.541 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.252761
2025-06-18T18:31:51.793Z,1750271511.793 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.504728
2025-06-18T18:31:51.798Z,1750271511.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:31:51.805Z,1750271511.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.420942 m,
nav range: 17.829172 m,
bearing: 318.663043 deg,
approach rate: -0.580566 m/s,
LOS rate: -0.071835 deg/s,
cmd heading: 317.907767 deg,
new cmd heading: 317.814673 deg.
2025-06-18T18:31:51.806Z,1750271511.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.546913 target range: 19.420942 and range: 19.60 m.
2025-06-18T18:31:52.045Z,1750271512.045 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.757043
2025-06-18T18:31:52.167Z,1750271512.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:52.169Z,1750271512.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:31:52.172Z,1750271512.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.420942 m,
nav range: 17.601629 m,
bearing: 318.631795 deg,
approach rate: -0.613483 m/s,
LOS rate: -0.085336 deg/s,
cmd heading: 317.814685 deg,
new cmd heading: 317.719731 deg.
2025-06-18T18:31:52.173Z,1750271512.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.545255 target range: 19.420942 and range: 19.60 m.
2025-06-18T18:31:52.297Z,1750271512.297 [DAT](INFO): DAT read: Rx Time:18:31:52.8683
2025-06-18T18:31:52.297Z,1750271512.297 [DAT](INFO): Rx dataTimestamp_ set to:1750271512.297123
2025-06-18T18:31:52.298Z,1750271512.298 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.009841
2025-06-18T18:31:52.549Z,1750271512.549 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.260787
2025-06-18T18:31:52.605Z,1750271512.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:31:52.607Z,1750271512.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.420942 m,
nav range: 17.357359 m,
bearing: 318.585576 deg,
approach rate: -0.560840 m/s,
LOS rate: -0.107613 deg/s,
cmd heading: 317.719718 deg,
new cmd heading: 317.579109 deg.
2025-06-18T18:31:52.613Z,1750271512.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.542801 target range: 19.420942 and range: 19.60 m.
2025-06-18T18:31:52.829Z,1750271512.829 [DAT](INFO): DAT read: 18:31:52.8683 LVL= 25184, 26145, 18354, 32755, AGC= 59, IDX= 413,-0.25,-0.207,-1.448, 0.036,-0.481, PHS= 0.362,-0.920, 0.514, RAW= 155.5, 0.7, CAL= 158.0, -8.1, ROT= 352.0, 8.1
2025-06-18T18:31:52.831Z,1750271512.831 [DAT](INFO): got valid direction response:
18:31:52.8683 LVL= 25184, 26145, 18354, 32755, AGC= 59, IDX= 413,-0.25,-0.207,-1.448, 0.036,-0.481, PHS= 0.362,-0.920, 0.514, RAW= 155.5, 0.7, CAL= 158.0, -8.1, ROT= 352.0, 8.1
2025-06-18T18:31:52.838Z,1750271512.838 [DAT](INFO): DAT read: Bearing 352.0, 8.1 (Local)
2025-06-18T18:31:52.838Z,1750271512.838 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.0, 8.1 (Local)
2025-06-18T18:31:52.844Z,1750271512.844 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m (Round-trip 23.5 ms) speed 0.4 m/s
2025-06-18T18:31:52.845Z,1750271512.845 [DAT](INFO): DAT read: user:1280>
2025-06-18T18:31:52.846Z,1750271512.846 [DAT](INFO): DAT read: Tx time:18:31:53.9907
2025-06-18T18:31:52.846Z,1750271512.846 [DAT](INFO): Ping request sent.
2025-06-18T18:31:52.846Z,1750271512.846 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:52.847Z,1750271512.847 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-18T18:31:52.868Z,1750271512.868 [DAT](INFO): direction in FSK: [0.980389,-0.137785,-0.140901]
2025-06-18T18:31:52.869Z,1750271512.869 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:52.869Z,1750271512.869 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:52.882Z,1750271512.882 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:52.883Z,1750271512.883 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:52.901Z,1750271512.901 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.054606
2025-06-18T18:31:52.999Z,1750271512.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.600000 m,
deltaT: 3.527158 s,
deltaX: -2.000000 m,
approachRate: -0.567029 m/s,
rangeRepo size: 4
2025-06-18T18:31:53.006Z,1750271513.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.439215 m,
bearing: 312.314199 deg,
lat: 36.905887 deg,
lon: -122.115764 deg,
deltaT: 3.527158 s,
deltaX: -1.981728 m,
approachRate: -0.561848 m/s,
posRepo size: 4
2025-06-18T18:31:53.006Z,1750271513.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.44 m.
2025-06-18T18:31:53.013Z,1750271513.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.439215 m,
nav range: 17.054058 m,
bearing: 317.774695 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.107613 deg/s,
cmd heading: 317.579098 deg,
new cmd heading: 317.451889 deg.
2025-06-18T18:31:53.014Z,1750271513.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540581 target range: 17.439215 and range: 17.60 m.
2025-06-18T18:31:53.053Z,1750271513.053 [DAT](INFO): DAT read: TxSync time:18:31:53.9899
2025-06-18T18:31:53.054Z,1750271513.054 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.207539
2025-06-18T18:31:53.305Z,1750271513.305 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.458757
2025-06-18T18:31:53.378Z,1750271513.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.44 m.
2025-06-18T18:31:53.381Z,1750271513.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.439215 m,
nav range: 16.830744 m,
bearing: 317.717696 deg,
approach rate: -0.588367 m/s,
LOS rate: -0.152168 deg/s,
cmd heading: 317.451893 deg,
new cmd heading: 317.278628 deg.
2025-06-18T18:31:53.382Z,1750271513.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.537557 target range: 17.439215 and range: 17.60 m.
2025-06-18T18:31:53.557Z,1750271513.557 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.710524
2025-06-18T18:31:53.797Z,1750271513.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.44 m.
2025-06-18T18:31:53.800Z,1750271513.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.439215 m,
nav range: 16.595737 m,
bearing: 317.661890 deg,
approach rate: -0.561087 m/s,
LOS rate: -0.135127 deg/s,
cmd heading: 317.278625 deg,
new cmd heading: 317.108835 deg.
2025-06-18T18:31:53.801Z,1750271513.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.534593 target range: 17.439215 and range: 17.60 m.
2025-06-18T18:31:53.809Z,1750271513.809 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.962570
2025-06-18T18:31:54.061Z,1750271514.061 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.214837
2025-06-18T18:31:54.169Z,1750271514.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:54.171Z,1750271514.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.44 m.
2025-06-18T18:31:54.174Z,1750271514.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.439215 m,
nav range: 16.386101 m,
bearing: 317.609995 deg,
approach rate: -0.560803 m/s,
LOS rate: -0.140601 deg/s,
cmd heading: 317.108826 deg,
new cmd heading: 316.951151 deg.
2025-06-18T18:31:54.175Z,1750271514.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531841 target range: 17.439215 and range: 17.60 m.
2025-06-18T18:31:54.313Z,1750271514.313 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.466557
2025-06-18T18:31:54.565Z,1750271514.565 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.718557
2025-06-18T18:31:54.634Z,1750271514.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.44 m.
2025-06-18T18:31:54.638Z,1750271514.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.439215 m,
nav range: 16.133892 m,
bearing: 317.542556 deg,
approach rate: -0.544518 m/s,
LOS rate: -0.147875 deg/s,
cmd heading: 316.951158 deg,
new cmd heading: 316.745682 deg.
2025-06-18T18:31:54.639Z,1750271514.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528255 target range: 17.439215 and range: 17.60 m.
2025-06-18T18:31:54.817Z,1750271514.817 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.970491
2025-06-18T18:31:54.992Z,1750271514.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.44 m.
2025-06-18T18:31:54.995Z,1750271514.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.439215 m,
nav range: 15.940285 m,
bearing: 317.487938 deg,
approach rate: -0.566838 m/s,
LOS rate: -0.161853 deg/s,
cmd heading: 316.745679 deg,
new cmd heading: 316.579834 deg.
2025-06-18T18:31:54.000Z,1750271515.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525361 target range: 17.439215 and range: 17.60 m.
2025-06-18T18:31:55.070Z,1750271515.070 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.223298
2025-06-18T18:31:55.321Z,1750271515.321 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.474482
2025-06-18T18:31:55.386Z,1750271515.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.44 m.
2025-06-18T18:31:55.389Z,1750271515.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.439215 m,
nav range: 15.713186 m,
bearing: 317.421516 deg,
approach rate: -0.553573 m/s,
LOS rate: -0.164249 deg/s,
cmd heading: 316.579842 deg,
new cmd heading: 316.377698 deg.
2025-06-18T18:31:55.390Z,1750271515.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521832 target range: 17.439215 and range: 17.60 m.
2025-06-18T18:31:55.574Z,1750271515.574 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.727251
2025-06-18T18:31:55.825Z,1750271515.825 [DAT](INFO): DAT read: Rx Time:18:31:56.4157
2025-06-18T18:31:55.826Z,1750271515.826 [DAT](INFO): Rx dataTimestamp_ set to:1750271515.825221
2025-06-18T18:31:55.826Z,1750271515.826 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.979765
2025-06-18T18:31:55.832Z,1750271515.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.44 m.
2025-06-18T18:31:55.835Z,1750271515.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.439215 m,
nav range: 15.467981 m,
bearing: 317.352587 deg,
approach rate: -0.549590 m/s,
LOS rate: -0.156944 deg/s,
cmd heading: 316.377695 deg,
new cmd heading: 316.167630 deg.
2025-06-18T18:31:55.836Z,1750271515.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518166 target range: 17.439215 and range: 17.60 m.
2025-06-18T18:31:56.077Z,1750271516.077 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.230480
2025-06-18T18:31:56.194Z,1750271516.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:56.196Z,1750271516.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.44 m.
2025-06-18T18:31:56.199Z,1750271516.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.439215 m,
nav range: 15.260152 m,
bearing: 317.293381 deg,
approach rate: -0.571070 m/s,
LOS rate: -0.164899 deg/s,
cmd heading: 316.167626 deg,
new cmd heading: 315.987592 deg.
2025-06-18T18:31:56.200Z,1750271516.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515024 target range: 17.439215 and range: 17.60 m.
2025-06-18T18:31:56.236Z,1750271516.236 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:31:56.334Z,1750271516.334 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.486865
2025-06-18T18:31:56.593Z,1750271516.593 [DAT](INFO): DAT read: 18:31:56.4157 LVL= 23648, 26529, 14578, 28563, AGC= 56, IDX= 416, 0.19,-1.958, 2.992,-1.555,-2.184, PHS= 0.315,-1.060, 0.627, RAW= 160.0, 1.5, CAL= 161.7, -7.2, ROT= 348.3, 7.2
2025-06-18T18:31:56.594Z,1750271516.594 [DAT](INFO): got valid direction response:
18:31:56.4157 LVL= 23648, 26529, 14578, 28563, AGC= 56, IDX= 416, 0.19,-1.958, 2.992,-1.555,-2.184, PHS= 0.315,-1.060, 0.627, RAW= 160.0, 1.5, CAL= 161.7, -7.2, ROT= 348.3, 7.2
2025-06-18T18:31:56.595Z,1750271516.595 [DAT](INFO): DAT read: Bearing 348.3, 7.2 (Local)
2025-06-18T18:31:56.595Z,1750271516.595 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.3, 7.2 (Local)
2025-06-18T18:31:56.601Z,1750271516.601 [DAT](INFO): DAT read: Range 10 to 50 : 15.6 m (Round-trip 20.8 ms) speed 0.4 m/s
2025-06-18T18:31:56.602Z,1750271516.602 [DAT](INFO): DAT read: user:1281>
2025-06-18T18:31:56.603Z,1750271516.603 [DAT](INFO): DAT read: Tx time:18:31:57.4908
2025-06-18T18:31:56.603Z,1750271516.603 [DAT](INFO): Ping request sent.
2025-06-18T18:31:56.603Z,1750271516.603 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:31:56.608Z,1750271516.608 [DAT](INFO): DAT read: TxSync time:18:31:57.4900
2025-06-18T18:31:56.609Z,1750271516.609 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-18T18:31:56.610Z,1750271516.610 [DAT](INFO): direction in FSK: [0.971501,-0.201189,-0.125333]
2025-06-18T18:31:56.610Z,1750271516.610 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:56.610Z,1750271516.610 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:56.634Z,1750271516.634 [DAT](INFO): publishing transmit ping time
2025-06-18T18:31:56.634Z,1750271516.634 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:56.645Z,1750271516.645 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.042083
2025-06-18T18:31:56.735Z,1750271516.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.600000 m,
deltaT: 3.779935 s,
deltaX: -2.000000 m,
approachRate: -0.529110 m/s,
rangeRepo size: 4
2025-06-18T18:31:56.741Z,1750271516.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.457469 m,
bearing: 308.566255 deg,
lat: 36.905882 deg,
lon: -122.115771 deg,
deltaT: 3.779935 s,
deltaX: -1.981746 m,
approachRate: -0.524280 m/s,
posRepo size: 4
2025-06-18T18:31:56.742Z,1750271516.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.46 m.
2025-06-18T18:31:56.749Z,1750271516.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.457469 m,
nav range: 14.948491 m,
bearing: 314.102690 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.164899 deg/s,
cmd heading: 315.987582 deg,
new cmd heading: 315.721405 deg.
2025-06-18T18:31:56.750Z,1750271516.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510378 target range: 15.457469 and range: 15.60 m.
2025-06-18T18:31:56.834Z,1750271516.834 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.230656
2025-06-18T18:31:57.070Z,1750271517.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.46 m.
2025-06-18T18:31:57.077Z,1750271517.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.457469 m,
nav range: 14.757792 m,
bearing: 314.030999 deg,
approach rate: -0.567246 m/s,
LOS rate: -0.216004 deg/s,
cmd heading: 315.721396 deg,
new cmd heading: 315.503545 deg.
2025-06-18T18:31:57.078Z,1750271517.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506576 target range: 15.457469 and range: 15.60 m.
2025-06-18T18:31:57.087Z,1750271517.087 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.483516
2025-06-18T18:31:57.240Z,1750271517.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:31:57.337Z,1750271517.337 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.733524
2025-06-18T18:31:57.434Z,1750271517.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.46 m.
2025-06-18T18:31:57.437Z,1750271517.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.457469 m,
nav range: 14.549449 m,
bearing: 313.954507 deg,
approach rate: -0.572873 m/s,
LOS rate: -0.213339 deg/s,
cmd heading: 315.503541 deg,
new cmd heading: 315.270780 deg.
2025-06-18T18:31:57.438Z,1750271517.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502513 target range: 15.457469 and range: 15.60 m.
2025-06-18T18:31:57.589Z,1750271517.589 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.985717
2025-06-18T18:31:57.841Z,1750271517.841 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.237696
2025-06-18T18:31:57.876Z,1750271517.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.46 m.
2025-06-18T18:31:57.901Z,1750271517.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.457469 m,
nav range: 14.303065 m,
bearing: 313.875799 deg,
approach rate: -0.557969 m/s,
LOS rate: -0.181314 deg/s,
cmd heading: 315.270768 deg,
new cmd heading: 315.030580 deg.
2025-06-18T18:31:57.902Z,1750271517.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498321 target range: 15.457469 and range: 15.60 m.
2025-06-18T18:31:58.097Z,1750271518.097 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.493413
2025-06-18T18:31:58.242Z,1750271518.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:31:58.246Z,1750271518.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.46 m.
2025-06-18T18:31:58.249Z,1750271518.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.457469 m,
nav range: 14.087720 m,
bearing: 313.805982 deg,
approach rate: -0.581774 m/s,
LOS rate: -0.191502 deg/s,
cmd heading: 315.030591 deg,
new cmd heading: 314.817937 deg.
2025-06-18T18:31:58.250Z,1750271518.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494609 target range: 15.457469 and range: 15.60 m.
2025-06-18T18:31:58.346Z,1750271518.346 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.742419
2025-06-18T18:31:58.599Z,1750271518.599 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.995418
2025-06-18T18:31:58.698Z,1750271518.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.46 m.
2025-06-18T18:31:58.705Z,1750271518.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.457469 m,
nav range: 13.839367 m,
bearing: 313.747129 deg,
approach rate: -0.549082 m/s,
LOS rate: -0.132453 deg/s,
cmd heading: 314.817926 deg,
new cmd heading: 314.638199 deg.
2025-06-18T18:31:58.706Z,1750271518.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.491473 target range: 15.457469 and range: 15.60 m.
2025-06-18T18:31:58.849Z,1750271518.849 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.245660
2025-06-18T18:31:59.049Z,1750271519.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.46 m.
2025-06-18T18:31:59.052Z,1750271519.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.457469 m,
nav range: 13.627445 m,
bearing: 313.697648 deg,
approach rate: -0.603375 m/s,
LOS rate: -0.143070 deg/s,
cmd heading: 314.638210 deg,
new cmd heading: 314.487460 deg.
2025-06-18T18:31:59.053Z,1750271519.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488842 target range: 15.457469 and range: 15.60 m.
2025-06-18T18:31:59.101Z,1750271519.101 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.497574
2025-06-18T18:31:59.354Z,1750271519.354 [DAT](INFO): DAT read: Rx Time:18:31:59.9130
2025-06-18T18:31:59.354Z,1750271519.354 [DAT](INFO): Rx dataTimestamp_ set to:1750271519.353948
2025-06-18T18:31:59.355Z,1750271519.355 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.751473
2025-06-18T18:31:59.472Z,1750271519.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.46 m.
2025-06-18T18:31:59.475Z,1750271519.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.457469 m,
nav range: 13.384966 m,
bearing: 313.642737 deg,
approach rate: -0.572782 m/s,
LOS rate: -0.132059 deg/s,
cmd heading: 314.487454 deg,
new cmd heading: 314.319738 deg.
2025-06-18T18:31:59.476Z,1750271519.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485914 target range: 15.457469 and range: 15.60 m.
2025-06-18T18:31:59.608Z,1750271519.608 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.004055
2025-06-18T18:31:59.864Z,1750271519.864 [DAT](INFO): DAT read: 18:31:59.9130 LVL= 21968, 29729, 16418, 32755, AGC= 56, IDX= 422,-0.17,-2.223, 2.738,-1.845,-2.425, PHS= 0.290,-1.073, 0.577, RAW= 159.4, 2.7, CAL= 160.7, -6.2, ROT= 349.3, 6.2
2025-06-18T18:31:59.865Z,1750271519.865 [DAT](INFO): got valid direction response:
18:31:59.9130 LVL= 21968, 29729, 16418, 32755, AGC= 56, IDX= 422,-0.17,-2.223, 2.738,-1.845,-2.425, PHS= 0.290,-1.073, 0.577, RAW= 159.4, 2.7, CAL= 160.7, -6.2, ROT= 349.3, 6.2
2025-06-18T18:31:59.867Z,1750271519.867 [DAT](INFO): DAT read: Bearing 349.3, 6.2 (Local)
2025-06-18T18:31:59.867Z,1750271519.867 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.3, 6.2 (Local)
2025-06-18T18:31:59.870Z,1750271519.870 [DAT](INFO): DAT read: Range 10 to 50 : 13.5 m (Round-trip 18.1 ms) speed 0.6 m/s
2025-06-18T18:31:59.871Z,1750271519.871 [DAT](INFO): DAT read: user:1282>
2025-06-18T18:31:59.873Z,1750271519.873 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-18T18:31:59.881Z,1750271519.881 [DAT](INFO): direction in FSK: [0.976865,-0.184581,-0.107999]
2025-06-18T18:31:59.882Z,1750271519.882 [DAT](INFO): publishing direction and range info
2025-06-18T18:31:59.887Z,1750271519.887 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.283512
2025-06-18T18:32:00.077Z,1750271520.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.500000 m,
deltaT: 3.274512 s,
deltaX: -2.100000 m,
approachRate: -0.641317 m/s,
rangeRepo size: 4
2025-06-18T18:32:00.084Z,1750271520.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.376614 m,
bearing: 308.273138 deg,
lat: 36.905878 deg,
lon: -122.115779 deg,
deltaT: 3.274512 s,
deltaX: -2.080855 m,
approachRate: -0.635470 m/s,
posRepo size: 4
2025-06-18T18:32:00.084Z,1750271520.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-18T18:32:00.087Z,1750271520.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.376614 m,
nav range: 13.263330 m,
bearing: 310.041671 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.132059 deg/s,
cmd heading: 314.319732 deg,
new cmd heading: 314.082388 deg.
2025-06-18T18:32:00.092Z,1750271520.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481772 target range: 13.376614 and range: 13.50 m.
2025-06-18T18:32:00.109Z,1750271520.109 [DAT](INFO): DAT read: Tx time:18:32:01.0408
2025-06-18T18:32:00.109Z,1750271520.109 [DAT](INFO): Ping request sent.
2025-06-18T18:32:00.109Z,1750271520.109 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:00.110Z,1750271520.110 [DAT](INFO): DAT read: TxSync time:18:32:01.0400
2025-06-18T18:32:00.110Z,1750271520.110 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:00.111Z,1750271520.111 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.001597
2025-06-18T18:32:00.361Z,1750271520.361 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.251648
2025-06-18T18:32:00.379Z,1750271520.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:00.389Z,1750271520.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-18T18:32:00.398Z,1750271520.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.376614 m,
nav range: 13.075263 m,
bearing: 309.936266 deg,
approach rate: -0.591936 m/s,
LOS rate: -0.336530 deg/s,
cmd heading: 314.082397 deg,
new cmd heading: 313.761637 deg.
2025-06-18T18:32:00.404Z,1750271520.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476173 target range: 13.376614 and range: 13.50 m.
2025-06-18T18:32:00.615Z,1750271520.615 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.505389
2025-06-18T18:32:00.792Z,1750271520.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-18T18:32:00.795Z,1750271520.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.376614 m,
nav range: 12.835537 m,
bearing: 309.818685 deg,
approach rate: -0.595560 m/s,
LOS rate: -0.297566 deg/s,
cmd heading: 313.761624 deg,
new cmd heading: 313.402298 deg.
2025-06-18T18:32:00.796Z,1750271520.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469902 target range: 13.376614 and range: 13.50 m.
2025-06-18T18:32:00.866Z,1750271520.866 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.756512
2025-06-18T18:32:01.117Z,1750271521.117 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.007453
2025-06-18T18:32:01.179Z,1750271521.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-18T18:32:01.182Z,1750271521.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.376614 m,
nav range: 12.611997 m,
bearing: 309.709575 deg,
approach rate: -0.577664 m/s,
LOS rate: -0.286954 deg/s,
cmd heading: 313.402301 deg,
new cmd heading: 313.069174 deg.
2025-06-18T18:32:01.183Z,1750271521.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464088 target range: 13.376614 and range: 13.50 m.
2025-06-18T18:32:01.370Z,1750271521.370 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.260447
2025-06-18T18:32:01.625Z,1750271521.625 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.515002
2025-06-18T18:32:01.657Z,1750271521.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-18T18:32:01.659Z,1750271521.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.376614 m,
nav range: 12.364769 m,
bearing: 309.588302 deg,
approach rate: -0.517441 m/s,
LOS rate: -0.258897 deg/s,
cmd heading: 313.069179 deg,
new cmd heading: 312.698090 deg.
2025-06-18T18:32:01.661Z,1750271521.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457611 target range: 13.376614 and range: 13.50 m.
2025-06-18T18:32:01.873Z,1750271521.873 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.764085
2025-06-18T18:32:02.006Z,1750271522.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-18T18:32:02.009Z,1750271522.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.376614 m,
nav range: 12.133329 m,
bearing: 309.455811 deg,
approach rate: -0.662870 m/s,
LOS rate: -0.386706 deg/s,
cmd heading: 312.698081 deg,
new cmd heading: 312.293035 deg.
2025-06-18T18:32:02.010Z,1750271522.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450541 target range: 13.376614 and range: 13.50 m.
2025-06-18T18:32:02.130Z,1750271522.130 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.020139
2025-06-18T18:32:02.381Z,1750271522.381 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.271365
2025-06-18T18:32:02.402Z,1750271522.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:02.404Z,1750271522.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-18T18:32:02.407Z,1750271522.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.376614 m,
nav range: 11.902879 m,
bearing: 309.318727 deg,
approach rate: -0.579156 m/s,
LOS rate: -0.351182 deg/s,
cmd heading: 312.293024 deg,
new cmd heading: 311.873817 deg.
2025-06-18T18:32:02.408Z,1750271522.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443225 target range: 13.376614 and range: 13.50 m.
2025-06-18T18:32:02.636Z,1750271522.636 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.526094
2025-06-18T18:32:02.842Z,1750271522.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-18T18:32:02.849Z,1750271522.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.376614 m,
nav range: 11.668185 m,
bearing: 309.167526 deg,
approach rate: -0.535758 m/s,
LOS rate: -0.352104 deg/s,
cmd heading: 311.873814 deg,
new cmd heading: 311.411097 deg.
2025-06-18T18:32:02.850Z,1750271522.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.435149 target range: 13.376614 and range: 13.50 m.
2025-06-18T18:32:02.886Z,1750271522.886 [DAT](INFO): DAT read: Rx Time:18:32:03.4604
2025-06-18T18:32:02.887Z,1750271522.887 [DAT](INFO): Rx dataTimestamp_ set to:1750271522.885931
2025-06-18T18:32:02.887Z,1750271522.887 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.777731
2025-06-18T18:32:03.137Z,1750271523.137 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.027393
2025-06-18T18:32:03.199Z,1750271523.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-18T18:32:03.201Z,1750271523.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.376614 m,
nav range: 11.440956 m,
bearing: 309.019879 deg,
approach rate: -0.636817 m/s,
LOS rate: -0.422004 deg/s,
cmd heading: 311.411110 deg,
new cmd heading: 310.959381 deg.
2025-06-18T18:32:03.202Z,1750271523.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.427265 target range: 13.376614 and range: 13.50 m.
2025-06-18T18:32:03.413Z,1750271523.413 [DAT](INFO): DAT read: 18:32:03.4604 LVL= 22432, 30993, 16194, 32755, AGC= 56, IDX= 410, 0.25, 2.064, 0.712, 2.345, 1.840, PHS= 0.313,-1.080, 0.502, RAW= 156.3, 3.6, CAL= 157.7, -5.4, ROT= 352.3, 5.4
2025-06-18T18:32:03.414Z,1750271523.414 [DAT](INFO): got valid direction response:
18:32:03.4604 LVL= 22432, 30993, 16194, 32755, AGC= 56, IDX= 410, 0.25, 2.064, 0.712, 2.345, 1.840, PHS= 0.313,-1.080, 0.502, RAW= 156.3, 3.6, CAL= 157.7, -5.4, ROT= 352.3, 5.4
2025-06-18T18:32:03.415Z,1750271523.415 [DAT](INFO): DAT read: Bearing 352.3, 5.4 (Local)
2025-06-18T18:32:03.417Z,1750271523.417 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.3, 5.4 (Local)
2025-06-18T18:32:03.418Z,1750271523.418 [DAT](INFO): DAT read: Range 10 to 50 : 11.6 m (Round-trip 15.5 ms) speed 0.6 m/s
2025-06-18T18:32:03.419Z,1750271523.419 [DAT](INFO): DAT read: user:1283>
2025-06-18T18:32:03.421Z,1750271523.421 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-18T18:32:03.425Z,1750271523.425 [DAT](INFO): direction in FSK: [0.986585,-0.133392,-0.094108]
2025-06-18T18:32:03.425Z,1750271523.425 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:03.430Z,1750271523.430 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.320860
2025-06-18T18:32:03.643Z,1750271523.643 [DAT](INFO): DAT read: Tx time:18:32:04.5908
2025-06-18T18:32:03.644Z,1750271523.644 [DAT](INFO): Ping request sent.
2025-06-18T18:32:03.645Z,1750271523.645 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:03.646Z,1750271523.646 [DAT](INFO): DAT read: TxSync time:18:32:04.5900
2025-06-18T18:32:03.648Z,1750271523.648 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:03.650Z,1750271523.650 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.005477
2025-06-18T18:32:03.680Z,1750271523.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 3.533891 s,
deltaX: -1.900000 m,
approachRate: -0.537651 m/s,
rangeRepo size: 4
2025-06-18T18:32:03.683Z,1750271523.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.494015 m,
bearing: 308.791929 deg,
lat: 36.905878 deg,
lon: -122.115781 deg,
deltaT: 3.533891 s,
deltaX: -1.882599 m,
approachRate: -0.532727 m/s,
posRepo size: 4
2025-06-18T18:32:03.683Z,1750271523.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.49 m.
2025-06-18T18:32:03.690Z,1750271523.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.494015 m,
nav range: 11.343090 m,
bearing: 308.295905 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.422004 deg/s,
cmd heading: 310.959388 deg,
new cmd heading: 310.364997 deg.
2025-06-18T18:32:03.691Z,1750271523.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416891 target range: 11.494015 and range: 11.60 m.
2025-06-18T18:32:03.893Z,1750271523.893 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.248976
2025-06-18T18:32:04.038Z,1750271524.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.49 m.
2025-06-18T18:32:04.042Z,1750271524.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.494015 m,
nav range: 11.106198 m,
bearing: 308.124354 deg,
approach rate: -0.641194 m/s,
LOS rate: -0.474239 deg/s,
cmd heading: 310.364998 deg,
new cmd heading: 309.839384 deg.
2025-06-18T18:32:04.043Z,1750271524.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.407717 target range: 11.494015 and range: 11.60 m.
2025-06-18T18:32:04.145Z,1750271524.145 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.500922
2025-06-18T18:32:04.397Z,1750271524.397 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.752568
2025-06-18T18:32:04.470Z,1750271524.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:04.473Z,1750271524.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.49 m.
2025-06-18T18:32:04.475Z,1750271524.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.494015 m,
nav range: 10.847789 m,
bearing: 307.938371 deg,
approach rate: -0.593863 m/s,
LOS rate: -0.437597 deg/s,
cmd heading: 309.839374 deg,
new cmd heading: 309.268154 deg.
2025-06-18T18:32:04.477Z,1750271524.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397748 target range: 11.494015 and range: 11.60 m.
2025-06-18T18:32:04.651Z,1750271524.651 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.006577
2025-06-18T18:32:04.869Z,1750271524.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.49 m.
2025-06-18T18:32:04.878Z,1750271524.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.494015 m,
nav range: 10.630261 m,
bearing: 307.768830 deg,
approach rate: -0.556272 m/s,
LOS rate: -0.442430 deg/s,
cmd heading: 309.268152 deg,
new cmd heading: 308.749136 deg.
2025-06-18T18:32:04.879Z,1750271524.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.388689 target range: 11.494015 and range: 11.60 m.
2025-06-18T18:32:04.901Z,1750271524.901 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.256666
2025-06-18T18:32:05.153Z,1750271525.153 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.508611
2025-06-18T18:32:05.236Z,1750271525.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.49 m.
2025-06-18T18:32:05.239Z,1750271525.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.494015 m,
nav range: 10.417677 m,
bearing: 307.602858 deg,
approach rate: -0.571352 m/s,
LOS rate: -0.455177 deg/s,
cmd heading: 308.749139 deg,
new cmd heading: 308.241075 deg.
2025-06-18T18:32:05.240Z,1750271525.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.379822 target range: 11.494015 and range: 11.60 m.
2025-06-18T18:32:05.405Z,1750271525.405 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.760792
2025-06-18T18:32:05.660Z,1750271525.660 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.014886
2025-06-18T18:32:05.666Z,1750271525.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.49 m.
2025-06-18T18:32:05.691Z,1750271525.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.494015 m,
nav range: 10.187687 m,
bearing: 307.421945 deg,
approach rate: -0.537262 m/s,
LOS rate: -0.432156 deg/s,
cmd heading: 308.241082 deg,
new cmd heading: 307.686110 deg.
2025-06-18T18:32:05.706Z,1750271525.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.370136 target range: 11.494015 and range: 11.60 m.
2025-06-18T18:32:05.909Z,1750271525.909 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.264502
2025-06-18T18:32:06.066Z,1750271526.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.49 m.
2025-06-18T18:32:06.073Z,1750271526.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.494015 m,
nav range: 9.967349 m,
bearing: 307.255910 deg,
approach rate: -0.548213 m/s,
LOS rate: -0.422235 deg/s,
cmd heading: 307.686116 deg,
new cmd heading: 307.177015 deg.
2025-06-18T18:32:06.074Z,1750271526.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.361250 target range: 11.494015 and range: 11.60 m.
2025-06-18T18:32:06.164Z,1750271526.164 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.519795
2025-06-18T18:32:06.413Z,1750271526.413 [DAT](INFO): DAT read: Rx Time:18:32:07.0077
2025-06-18T18:32:06.413Z,1750271526.413 [DAT](INFO): Rx dataTimestamp_ set to:1750271526.413170
2025-06-18T18:32:06.414Z,1750271526.414 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.769758
2025-06-18T18:32:06.464Z,1750271526.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.49 m.
2025-06-18T18:32:06.467Z,1750271526.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.494015 m,
nav range: 9.735919 m,
bearing: 307.082920 deg,
approach rate: -0.587103 m/s,
LOS rate: -0.449280 deg/s,
cmd heading: 307.177021 deg,
new cmd heading: 306.645731 deg.
2025-06-18T18:32:06.472Z,1750271526.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.351978 target range: 11.494015 and range: 11.60 m.
2025-06-18T18:32:06.665Z,1750271526.665 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.020520
2025-06-18T18:32:06.855Z,1750271526.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:06.858Z,1750271526.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.49 m.
2025-06-18T18:32:06.862Z,1750271526.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.494015 m,
nav range: 9.512167 m,
bearing: 306.924430 deg,
approach rate: -0.562649 m/s,
LOS rate: -0.407915 deg/s,
cmd heading: 306.645741 deg,
new cmd heading: 306.159099 deg.
2025-06-18T18:32:06.863Z,1750271526.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343484 target range: 11.494015 and range: 11.60 m.
2025-06-18T18:32:06.921Z,1750271526.921 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.275833
2025-06-18T18:32:07.180Z,1750271527.180 [DAT](INFO): DAT read: 18:32:07.0077 LVL= 24496, 32689, 18162, 32755, AGC= 53, IDX= 414,-0.05, 0.358,-0.987, 0.480, 0.139, PHS= 0.307,-1.079, 0.339, RAW= 151.1, 6.2, CAL= 152.3, -2.7, ROT= 357.7, 2.7
2025-06-18T18:32:07.181Z,1750271527.181 [DAT](INFO): got valid direction response:
18:32:07.0077 LVL= 24496, 32689, 18162, 32755, AGC= 53, IDX= 414,-0.05, 0.358,-0.987, 0.480, 0.139, PHS= 0.307,-1.079, 0.339, RAW= 151.1, 6.2, CAL= 152.3, -2.7, ROT= 357.7, 2.7
2025-06-18T18:32:07.183Z,1750271527.183 [DAT](INFO): DAT read: Bearing 357.7, 2.7 (Local)
2025-06-18T18:32:07.184Z,1750271527.184 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.7, 2.7 (Local)
2025-06-18T18:32:07.187Z,1750271527.187 [DAT](INFO): DAT read: Range 10 to 50 : 9.4 m (Round-trip 12.6 ms) speed 0.4 m/s
2025-06-18T18:32:07.188Z,1750271527.188 [DAT](INFO): DAT read: user:1284>
2025-06-18T18:32:07.190Z,1750271527.190 [DAT](INFO): DAT read: Tx time:18:32:08.0909
2025-06-18T18:32:07.191Z,1750271527.191 [DAT](INFO): Ping request sent.
2025-06-18T18:32:07.191Z,1750271527.191 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:07.191Z,1750271527.191 [DAT](INFO): DAT read: TxSync time:18:32:08.0901
2025-06-18T18:32:07.193Z,1750271527.193 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-18T18:32:07.194Z,1750271527.194 [DAT](INFO): direction in FSK: [0.998085,-0.040087,-0.047106]
2025-06-18T18:32:07.195Z,1750271527.195 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:07.195Z,1750271527.195 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:07.227Z,1750271527.227 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:07.227Z,1750271527.227 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:07.239Z,1750271527.239 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.047811
2025-06-18T18:32:07.307Z,1750271527.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.400000 m,
deltaT: 3.778865 s,
deltaX: -2.200001 m,
approachRate: -0.582186 m/s,
rangeRepo size: 4
2025-06-18T18:32:07.313Z,1750271527.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.314091 m,
bearing: 311.151874 deg,
lat: 36.905878 deg,
lon: -122.115781 deg,
deltaT: 3.778865 s,
deltaX: -2.179924 m,
approachRate: -0.576873 m/s,
posRepo size: 4
2025-06-18T18:32:07.314Z,1750271527.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.31 m.
2025-06-18T18:32:07.314Z,1750271527.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.40 m.
2025-06-18T18:32:07.314Z,1750271527.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-18T18:32:07.321Z,1750271527.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 9.273973 m,
bearing: 306.747244 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.407915 deg/s,
cmd heading: 306.159104 deg,
new cmd heading: 305.610233 deg.
2025-06-18T18:32:07.322Z,1750271527.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.333905 target range: 9.314091 and range: 9.40 m.
2025-06-18T18:32:07.421Z,1750271527.421 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.230023
2025-06-18T18:32:07.656Z,1750271527.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:07.659Z,1750271527.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 9.077880 m,
bearing: 306.612534 deg,
approach rate: -0.588122 m/s,
LOS rate: -0.412748 deg/s,
cmd heading: 305.610230 deg,
new cmd heading: 305.197378 deg.
2025-06-18T18:32:07.664Z,1750271527.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326699 target range: 9.314091 and range: 9.40 m.
2025-06-18T18:32:07.675Z,1750271527.675 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.483935
2025-06-18T18:32:07.925Z,1750271527.925 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.733978
2025-06-18T18:32:08.065Z,1750271528.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:08.067Z,1750271528.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 8.849555 m,
bearing: 306.453280 deg,
approach rate: -0.537375 m/s,
LOS rate: -0.384484 deg/s,
cmd heading: 305.197386 deg,
new cmd heading: 304.707310 deg.
2025-06-18T18:32:08.069Z,1750271528.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318146 target range: 9.314091 and range: 9.40 m.
2025-06-18T18:32:08.177Z,1750271528.177 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.986070
2025-06-18T18:32:08.429Z,1750271528.429 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.238006
2025-06-18T18:32:08.457Z,1750271528.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:08.460Z,1750271528.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 8.638079 m,
bearing: 306.310228 deg,
approach rate: -0.538428 m/s,
LOS rate: -0.373134 deg/s,
cmd heading: 304.707306 deg,
new cmd heading: 304.267652 deg.
2025-06-18T18:32:08.461Z,1750271528.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310472 target range: 9.314091 and range: 9.40 m.
2025-06-18T18:32:08.683Z,1750271528.683 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.491955
2025-06-18T18:32:08.887Z,1750271528.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:08.891Z,1750271528.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:08.897Z,1750271528.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 8.408579 m,
bearing: 306.168215 deg,
approach rate: -0.530170 m/s,
LOS rate: -0.337018 deg/s,
cmd heading: 304.267661 deg,
new cmd heading: 303.830004 deg.
2025-06-18T18:32:08.898Z,1750271528.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302834 target range: 9.314091 and range: 9.40 m.
2025-06-18T18:32:08.933Z,1750271528.933 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.741941
2025-06-18T18:32:09.185Z,1750271529.185 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.993914
2025-06-18T18:32:09.255Z,1750271529.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:09.258Z,1750271529.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 8.206994 m,
bearing: 306.045622 deg,
approach rate: -0.552904 m/s,
LOS rate: -0.344506 deg/s,
cmd heading: 303.830010 deg,
new cmd heading: 303.453202 deg.
2025-06-18T18:32:09.259Z,1750271529.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296257 target range: 9.314091 and range: 9.40 m.
2025-06-18T18:32:09.441Z,1750271529.441 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.249554
2025-06-18T18:32:09.652Z,1750271529.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:09.655Z,1750271529.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 7.992164 m,
bearing: 305.919226 deg,
approach rate: -0.541139 m/s,
LOS rate: -0.326937 deg/s,
cmd heading: 303.453202 deg,
new cmd heading: 303.063830 deg.
2025-06-18T18:32:09.657Z,1750271529.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289462 target range: 9.314091 and range: 9.40 m.
2025-06-18T18:32:09.689Z,1750271529.689 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.498061
2025-06-18T18:32:09.941Z,1750271529.941 [DAT](INFO): DAT read: Rx Time:18:32:10.5051
2025-06-18T18:32:09.942Z,1750271529.942 [DAT](INFO): Rx dataTimestamp_ set to:1750271529.941642
2025-06-18T18:32:09.943Z,1750271529.943 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.751969
2025-06-18T18:32:10.070Z,1750271530.070 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, -3,
2025-06-18T18:32:10.087Z,1750271530.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:10.090Z,1750271530.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 7.756999 m,
bearing: 305.772811 deg,
approach rate: -0.540546 m/s,
LOS rate: -0.346749 deg/s,
cmd heading: 303.063826 deg,
new cmd heading: 302.611274 deg.
2025-06-18T18:32:10.091Z,1750271530.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281563 target range: 9.314091 and range: 9.40 m.
2025-06-18T18:32:10.193Z,1750271530.193 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.002051
2025-06-18T18:32:10.457Z,1750271530.457 [DAT](INFO): DAT read: 18:32:10.5051 LVL= 29776, 30273, 25650, 32755, AGC= 52, IDX= 420,-0.18,-0.097,-1.525,-0.269,-0.328, PHS= 0.318,-1.150, 0.055, RAW= 140.3, 11.4, CAL= 143.5, 4.7, ROT= 6.5, -4.7
2025-06-18T18:32:10.458Z,1750271530.458 [DAT](INFO): got valid direction response:
18:32:10.5051 LVL= 29776, 30273, 25650, 32755, AGC= 52, IDX= 420,-0.18,-0.097,-1.525,-0.269,-0.328, PHS= 0.318,-1.150, 0.055, RAW= 140.3, 11.4, CAL= 143.5, 4.7, ROT= 6.5, -4.7
2025-06-18T18:32:10.459Z,1750271530.459 [DAT](INFO): DAT read: Bearing 6.5, -4.7 (Local)
2025-06-18T18:32:10.459Z,1750271530.459 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.5, -4.7 (Local)
2025-06-18T18:32:10.461Z,1750271530.461 [DAT](INFO): DAT read: Range 10 to 50 : 7.5 m (Round-trip 10.1 ms) speed 0.4 m/s
2025-06-18T18:32:10.462Z,1750271530.462 [DAT](INFO): DAT read: user:1285>
2025-06-18T18:32:10.462Z,1750271530.462 [DAT](INFO): DAT read: Tx time:18:32:11.5909
2025-06-18T18:32:10.463Z,1750271530.463 [DAT](INFO): Ping request sent.
2025-06-18T18:32:10.463Z,1750271530.463 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:10.463Z,1750271530.463 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-18T18:32:10.464Z,1750271530.464 [DAT](INFO): direction in FSK: [0.990231,0.112823,0.081939]
2025-06-18T18:32:10.464Z,1750271530.464 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:10.465Z,1750271530.465 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:10.484Z,1750271530.484 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:10.484Z,1750271530.484 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:10.487Z,1750271530.487 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.024560
2025-06-18T18:32:10.614Z,1750271530.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.500000 m,
deltaT: 3.277724 s,
deltaX: -1.900000 m,
approachRate: -0.579670 m/s,
rangeRepo size: 4
2025-06-18T18:32:10.625Z,1750271530.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.431456 m,
bearing: 316.738062 deg,
lat: 36.905879 deg,
lon: -122.115781 deg,
deltaT: 3.277724 s,
deltaX: -1.882635 m,
approachRate: -0.574373 m/s,
posRepo size: 4
2025-06-18T18:32:10.627Z,1750271530.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.43 m. 9.31 m.
2025-06-18T18:32:10.634Z,1750271530.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 7.509608 m,
bearing: 305.608848 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.407915 deg/s,
cmd heading: 302.611285 deg,
new cmd heading: 301.967230 deg.
2025-06-18T18:32:10.635Z,1750271530.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.270322 target range: 9.314091 and range: 7.50 m.
2025-06-18T18:32:10.698Z,1750271530.698 [DAT](INFO): DAT read: TxSync time:18:32:11.5901
2025-06-18T18:32:10.699Z,1750271530.699 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.235967
2025-06-18T18:32:10.949Z,1750271530.949 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.486259
2025-06-18T18:32:11.004Z,1750271531.004 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:11.006Z,1750271531.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:11.010Z,1750271531.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 7.262367 m,
bearing: 305.525272 deg,
approach rate: -0.629356 m/s,
LOS rate: -0.219988 deg/s,
cmd heading: 301.967226 deg,
new cmd heading: 301.707963 deg.
2025-06-18T18:32:11.011Z,1750271531.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.265797 target range: 9.314091 and range: 7.50 m.
2025-06-18T18:32:11.201Z,1750271531.201 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.737921
2025-06-18T18:32:11.333Z,1750271531.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:11.335Z,1750271531.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 7.078000 m,
bearing: 305.474394 deg,
approach rate: -0.564698 m/s,
LOS rate: -0.159893 deg/s,
cmd heading: 301.707952 deg,
new cmd heading: 301.551343 deg.
2025-06-18T18:32:11.336Z,1750271531.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.263064 target range: 9.314091 and range: 7.50 m.
2025-06-18T18:32:11.453Z,1750271531.453 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.990080
2025-06-18T18:32:11.706Z,1750271531.706 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.243407
2025-06-18T18:32:11.802Z,1750271531.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:11.809Z,1750271531.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 6.855507 m,
bearing: 305.425269 deg,
approach rate: -0.474067 m/s,
LOS rate: -0.108068 deg/s,
cmd heading: 301.551349 deg,
new cmd heading: 301.399192 deg.
2025-06-18T18:32:11.810Z,1750271531.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.260408 target range: 9.314091 and range: 7.50 m.
2025-06-18T18:32:11.957Z,1750271531.957 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.493989
2025-06-18T18:32:12.161Z,1750271532.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:12.164Z,1750271532.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 6.620693 m,
bearing: 305.375049 deg,
approach rate: -0.653892 m/s,
LOS rate: -0.144808 deg/s,
cmd heading: 301.399200 deg,
new cmd heading: 301.243198 deg.
2025-06-18T18:32:12.165Z,1750271532.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.257686 target range: 9.314091 and range: 7.50 m.
2025-06-18T18:32:12.210Z,1750271532.210 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.746498
2025-06-18T18:32:12.461Z,1750271532.461 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.997983
2025-06-18T18:32:12.545Z,1750271532.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:12.548Z,1750271532.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 6.405800 m,
bearing: 305.338483 deg,
approach rate: -0.559528 m/s,
LOS rate: -0.098403 deg/s,
cmd heading: 301.243198 deg,
new cmd heading: 301.129821 deg.
2025-06-18T18:32:12.549Z,1750271532.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.255707 target range: 9.314091 and range: 7.50 m.
2025-06-18T18:32:12.713Z,1750271532.713 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.250043
2025-06-18T18:32:12.965Z,1750271532.965 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.501917
2025-06-18T18:32:12.980Z,1750271532.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:12.983Z,1750271532.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 6.158952 m,
bearing: 305.319690 deg,
approach rate: -0.567654 m/s,
LOS rate: -0.044948 deg/s,
cmd heading: 301.129817 deg,
new cmd heading: 301.071179 deg.
2025-06-18T18:32:12.985Z,1750271532.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.254683 target range: 9.314091 and range: 7.50 m.
2025-06-18T18:32:13.217Z,1750271533.217 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.754005
2025-06-18T18:32:13.338Z,1750271533.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:13.341Z,1750271533.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:13.343Z,1750271533.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 5.953553 m,
bearing: 305.318715 deg,
approach rate: -0.569112 m/s,
LOS rate: -0.002797 deg/s,
cmd heading: 301.071187 deg,
new cmd heading: 301.068159 deg.
2025-06-18T18:32:13.365Z,1750271533.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.254631 target range: 9.314091 and range: 7.50 m.
2025-06-18T18:32:13.469Z,1750271533.469 [DAT](INFO): DAT read: Rx Time:18:32:14.0026
2025-06-18T18:32:13.469Z,1750271533.469 [DAT](INFO): Rx dataTimestamp_ set to:1750271533.469040
2025-06-18T18:32:13.470Z,1750271533.470 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.007056
2025-06-18T18:32:13.721Z,1750271533.721 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.258325
2025-06-18T18:32:13.752Z,1750271533.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:13.754Z,1750271533.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 5.722071 m,
bearing: 305.334416 deg,
approach rate: -0.563588 m/s,
LOS rate: 0.039776 deg/s,
cmd heading: 301.068154 deg,
new cmd heading: 301.117166 deg.
2025-06-18T18:32:13.755Z,1750271533.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.255486 target range: 9.314091 and range: 7.50 m.
2025-06-18T18:32:13.985Z,1750271533.985 [DAT](INFO): DAT read: 18:32:14.0026 LVL= 25296, 32753, 19602, 32755, AGC= 51, IDX= 410,-0.32,-2.206, 2.466,-2.296,-2.634, PHS= 0.516,-1.136, 0.335, RAW= 144.3, 3.7, CAL= 147.4, -4.9, ROT= 2.6, 4.9
2025-06-18T18:32:13.986Z,1750271533.986 [DAT](INFO): got valid direction response:
18:32:14.0026 LVL= 25296, 32753, 19602, 32755, AGC= 51, IDX= 410,-0.32,-2.206, 2.466,-2.296,-2.634, PHS= 0.516,-1.136, 0.335, RAW= 144.3, 3.7, CAL= 147.4, -4.9, ROT= 2.6, 4.9
2025-06-18T18:32:13.987Z,1750271533.987 [DAT](INFO): DAT read: Bearing 2.6, 4.9 (Local)
2025-06-18T18:32:13.987Z,1750271533.987 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.6, 4.9 (Local)
2025-06-18T18:32:13.989Z,1750271533.989 [DAT](INFO): DAT read: Range 10 to 50 : 5.7 m (Round-trip 7.6 ms) speed 0.4 m/s
2025-06-18T18:32:13.989Z,1750271533.989 [DAT](INFO): DAT read: user:1286>
2025-06-18T18:32:13.990Z,1750271533.990 [DAT](INFO): DAT read: Tx time:18:32:15.0909
2025-06-18T18:32:13.990Z,1750271533.990 [DAT](INFO): Ping request sent.
2025-06-18T18:32:13.990Z,1750271533.990 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:13.991Z,1750271533.991 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-18T18:32:13.000Z,1750271534.000 [DAT](INFO): direction in FSK: [0.995320,0.045197,-0.085417]
2025-06-18T18:32:14.000Z,1750271534.000 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:14.000Z,1750271534.000 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:14.003Z,1750271534.003 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:14.008Z,1750271534.008 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:14.011Z,1750271534.011 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.020670
2025-06-18T18:32:14.219Z,1750271534.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.700000 m,
deltaT: 3.526199 s,
deltaX: -1.800000 m,
approachRate: -0.510465 m/s,
rangeRepo size: 4
2025-06-18T18:32:14.225Z,1750271534.225 [DAT](INFO): DAT read: TxSync time:18:32:15.0901
2025-06-18T18:32:14.226Z,1750271534.226 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.235305
2025-06-18T18:32:14.229Z,1750271534.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.647917 m,
bearing: 307.729187 deg,
lat: 36.905880 deg,
lon: -122.115781 deg,
deltaT: 6.803923 s,
deltaX: -3.666174 m,
approachRate: -0.538832 m/s,
posRepo size: 4
2025-06-18T18:32:14.230Z,1750271534.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.65 m. 9.31 m.
2025-06-18T18:32:14.238Z,1750271534.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 5.457358 m,
bearing: 305.362589 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.407915 deg/s,
cmd heading: 301.117168 deg,
new cmd heading: 300.546046 deg.
2025-06-18T18:32:14.239Z,1750271534.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.245518 target range: 9.314091 and range: 5.70 m.
2025-06-18T18:32:14.477Z,1750271534.477 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.486955
2025-06-18T18:32:14.553Z,1750271534.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:14.572Z,1750271534.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 5.257732 m,
bearing: 305.402747 deg,
approach rate: -0.596310 m/s,
LOS rate: 0.124514 deg/s,
cmd heading: 300.546055 deg,
new cmd heading: 300.671104 deg.
2025-06-18T18:32:14.573Z,1750271534.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.247701 target range: 9.314091 and range: 5.70 m.
2025-06-18T18:32:14.729Z,1750271534.729 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.738331
2025-06-18T18:32:14.981Z,1750271534.981 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.990362
2025-06-18T18:32:15.013Z,1750271535.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:15.015Z,1750271535.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 5.003654 m,
bearing: 305.508609 deg,
approach rate: -0.578634 m/s,
LOS rate: 0.253328 deg/s,
cmd heading: 300.671102 deg,
new cmd heading: 301.004808 deg.
2025-06-18T18:32:15.021Z,1750271535.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.253525 target range: 9.314091 and range: 5.70 m.
2025-06-18T18:32:15.234Z,1750271535.234 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.243622
2025-06-18T18:32:15.374Z,1750271535.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:15.376Z,1750271535.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:15.379Z,1750271535.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 4.788839 m,
bearing: 305.623659 deg,
approach rate: -0.559701 m/s,
LOS rate: 0.313213 deg/s,
cmd heading: 301.004797 deg,
new cmd heading: 301.365428 deg.
2025-06-18T18:32:15.381Z,1750271535.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.259819 target range: 9.314091 and range: 5.70 m.
2025-06-18T18:32:15.486Z,1750271535.486 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.494878
2025-06-18T18:32:15.737Z,1750271535.737 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.746312
2025-06-18T18:32:15.785Z,1750271535.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:15.788Z,1750271535.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 4.547041 m,
bearing: 305.776111 deg,
approach rate: -0.591217 m/s,
LOS rate: 0.392579 deg/s,
cmd heading: 301.365431 deg,
new cmd heading: 301.847096 deg.
2025-06-18T18:32:15.791Z,1750271535.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.268226 target range: 9.314091 and range: 5.70 m.
2025-06-18T18:32:15.989Z,1750271535.989 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.998543
2025-06-18T18:32:16.201Z,1750271536.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:16.222Z,1750271536.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 4.310553 m,
bearing: 305.961169 deg,
approach rate: -0.569448 m/s,
LOS rate: 0.470052 deg/s,
cmd heading: 301.847096 deg,
new cmd heading: 302.432705 deg.
2025-06-18T18:32:16.223Z,1750271536.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278447 target range: 9.314091 and range: 5.70 m.
2025-06-18T18:32:16.241Z,1750271536.241 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.250438
2025-06-18T18:32:16.493Z,1750271536.493 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.502263
2025-06-18T18:32:16.599Z,1750271536.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:16.602Z,1750271536.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 4.086083 m,
bearing: 306.166999 deg,
approach rate: -0.591009 m/s,
LOS rate: 0.571702 deg/s,
cmd heading: 302.432717 deg,
new cmd heading: 303.084098 deg.
2025-06-18T18:32:16.602Z,1750271536.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289815 target range: 9.314091 and range: 5.70 m.
2025-06-18T18:32:16.745Z,1750271536.745 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.754356
2025-06-18T18:32:16.997Z,1750271536.997 [DAT](INFO): DAT read: Rx Time:18:32:17.5000
2025-06-18T18:32:16.997Z,1750271536.997 [DAT](INFO): Rx dataTimestamp_ set to:1750271536.997179
2025-06-18T18:32:16.998Z,1750271536.998 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.007506
2025-06-18T18:32:17.023Z,1750271537.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:17.031Z,1750271537.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 3.844344 m,
bearing: 306.414784 deg,
approach rate: -0.545555 m/s,
LOS rate: 0.594362 deg/s,
cmd heading: 303.084098 deg,
new cmd heading: 303.874146 deg.
2025-06-18T18:32:17.040Z,1750271537.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303604 target range: 9.314091 and range: 5.70 m.
2025-06-18T18:32:17.249Z,1750271537.249 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.258199
2025-06-18T18:32:17.411Z,1750271537.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:17.445Z,1750271537.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:17.447Z,1750271537.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 3.621371 m,
bearing: 306.680283 deg,
approach rate: -0.561498 m/s,
LOS rate: 0.709751 deg/s,
cmd heading: 303.874133 deg,
new cmd heading: 304.719608 deg.
2025-06-18T18:32:17.455Z,1750271537.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318360 target range: 9.314091 and range: 5.70 m.
2025-06-18T18:32:17.509Z,1750271537.509 [DAT](INFO): DAT read: 18:32:17.5001 LVL= 9872, 32753, 20082, 29907, AGC= 47, IDX= 416, 0.02, 2.338, 0.525, 1.349, 1.764, PHS= 0.662,-1.192,-0.418, RAW= 114.6, 11.7, CAL= 123.0, 8.7, ROT= 27.0, -8.7
2025-06-18T18:32:17.510Z,1750271537.510 [DAT](INFO): got valid direction response:
18:32:17.5001 LVL= 9872, 32753, 20082, 29907, AGC= 47, IDX= 416, 0.02, 2.338, 0.525, 1.349, 1.764, PHS= 0.662,-1.192,-0.418, RAW= 114.6, 11.7, CAL= 123.0, 8.7, ROT= 27.0, -8.7
2025-06-18T18:32:17.511Z,1750271537.511 [DAT](INFO): DAT read: Bearing 27.0, -8.7 (Local)
2025-06-18T18:32:17.511Z,1750271537.511 [DAT](INFO): Local bearing/azimuth received:
Bearing 27.0, -8.7 (Local)
2025-06-18T18:32:17.514Z,1750271537.514 [DAT](INFO): DAT read: Range 10 to 50 : 3.7 m (Round-trip 5.0 ms) speed 0.4 m/s
2025-06-18T18:32:17.515Z,1750271537.515 [DAT](INFO): DAT read: user:1287>
2025-06-18T18:32:17.516Z,1750271537.516 [DAT](INFO): DAT read: Tx time:18:32:18.5910
2025-06-18T18:32:17.517Z,1750271537.517 [DAT](INFO): Ping request sent.
2025-06-18T18:32:17.517Z,1750271537.517 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:17.517Z,1750271537.517 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-18T18:32:17.519Z,1750271537.519 [DAT](INFO): direction in FSK: [0.880754,0.448767,0.151261]
2025-06-18T18:32:17.519Z,1750271537.519 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:17.519Z,1750271537.519 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:17.525Z,1750271537.525 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:17.526Z,1750271537.526 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:17.554Z,1750271537.554 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.037189
2025-06-18T18:32:17.753Z,1750271537.753 [DAT](INFO): DAT read: TxSync time:18:32:18.5902
2025-06-18T18:32:17.754Z,1750271537.754 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.237168
2025-06-18T18:32:17.948Z,1750271537.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.700000 m,
deltaT: 3.528866 s,
deltaX: -2.000000 m,
approachRate: -0.566754 m/s,
rangeRepo size: 4
2025-06-18T18:32:17.950Z,1750271537.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.666179 m,
bearing: 329.128740 deg,
lat: 36.905883 deg,
lon: -122.115776 deg,
deltaT: 10.332789 s,
deltaX: -5.647912 m,
approachRate: -0.546601 m/s,
posRepo size: 4
2025-06-18T18:32:17.951Z,1750271537.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.67 m. 9.31 m.
2025-06-18T18:32:17.962Z,1750271537.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 3.302985 m,
bearing: 307.171987 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.407915 deg/s,
cmd heading: 304.719601 deg,
new cmd heading: 304.074606 deg.
2025-06-18T18:32:17.963Z,1750271537.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.307103 target range: 9.314091 and range: 3.70 m.
2025-06-18T18:32:18.006Z,1750271538.006 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.489070
2025-06-18T18:32:18.232Z,1750271538.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:18.235Z,1750271538.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 3.144461 m,
bearing: 307.454120 deg,
approach rate: -0.565114 m/s,
LOS rate: 1.056463 deg/s,
cmd heading: 304.074612 deg,
new cmd heading: 304.963606 deg.
2025-06-18T18:32:18.241Z,1750271538.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322619 target range: 9.314091 and range: 3.70 m.
2025-06-18T18:32:18.257Z,1750271538.257 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.740455
2025-06-18T18:32:18.509Z,1750271538.509 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.992284
2025-06-18T18:32:18.613Z,1750271538.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:18.615Z,1750271538.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 2.920156 m,
bearing: 307.917118 deg,
approach rate: -0.583531 m/s,
LOS rate: 1.296996 deg/s,
cmd heading: 304.963602 deg,
new cmd heading: 306.458931 deg.
2025-06-18T18:32:18.616Z,1750271538.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348717 target range: 9.314091 and range: 3.70 m.
2025-06-18T18:32:18.761Z,1750271538.761 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.244843
2025-06-18T18:32:19.013Z,1750271539.013 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.496301
2025-06-18T18:32:19.041Z,1750271539.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:19.044Z,1750271539.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 2.679090 m,
bearing: 308.476530 deg,
approach rate: -0.561799 m/s,
LOS rate: 1.420982 deg/s,
cmd heading: 306.458922 deg,
new cmd heading: 308.287518 deg.
2025-06-18T18:32:19.045Z,1750271539.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.380632 target range: 9.314091 and range: 3.70 m.
2025-06-18T18:32:19.266Z,1750271539.266 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.749714
2025-06-18T18:32:19.414Z,1750271539.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:19.417Z,1750271539.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:19.419Z,1750271539.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 2.477734 m,
bearing: 309.004216 deg,
approach rate: -0.536214 m/s,
LOS rate: 1.519413 deg/s,
cmd heading: 308.287528 deg,
new cmd heading: 309.998702 deg.
2025-06-18T18:32:19.429Z,1750271539.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410498 target range: 9.314091 and range: 3.70 m.
2025-06-18T18:32:19.517Z,1750271539.517 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.000278
2025-06-18T18:32:19.770Z,1750271539.770 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.253297
2025-06-18T18:32:19.819Z,1750271539.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:19.822Z,1750271539.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 2.243101 m,
bearing: 309.712110 deg,
approach rate: -0.583531 m/s,
LOS rate: 1.944632 deg/s,
cmd heading: 309.998709 deg,
new cmd heading: 312.343163 deg.
2025-06-18T18:32:19.823Z,1750271539.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451416 target range: 9.314091 and range: 3.70 m.
2025-06-18T18:32:20.021Z,1750271540.021 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.504331
2025-06-18T18:32:20.236Z,1750271540.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:20.239Z,1750271540.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 2.014408 m,
bearing: 310.636269 deg,
approach rate: -0.548853 m/s,
LOS rate: 2.469635 deg/s,
cmd heading: 312.343157 deg,
new cmd heading: 315.427273 deg.
2025-06-18T18:32:20.240Z,1750271540.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505244 target range: 9.314091 and range: 3.70 m.
2025-06-18T18:32:20.273Z,1750271540.273 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.756322
2025-06-18T18:32:20.525Z,1750271540.525 [DAT](INFO): DAT read: Rx Time:18:32:20.9976
2025-06-18T18:32:20.525Z,1750271540.525 [DAT](INFO): Rx dataTimestamp_ set to:1750271540.525046
2025-06-18T18:32:20.526Z,1750271540.526 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.009339
2025-06-18T18:32:20.621Z,1750271540.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.31 m. 9.31 m.
2025-06-18T18:32:20.624Z,1750271540.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.314091 m,
nav range: 1.802929 m,
bearing: 311.657907 deg,
approach rate: -0.548198 m/s,
LOS rate: 2.958786 deg/s,
cmd heading: 315.427261 deg,
new cmd heading: 318.847434 deg.
2025-06-18T18:32:20.625Z,1750271540.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.564938 target range: 9.314091 and range: 3.70 m.
2025-06-18T18:32:20.777Z,1750271540.777 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.260332
2025-06-18T18:32:21.030Z,1750271541.030 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (Round-trip 2.5 ms) speed 0.3 m/s
2025-06-18T18:32:21.031Z,1750271541.031 [DAT](INFO): DAT read: user:1288>
2025-06-18T18:32:21.031Z,1750271541.031 [DAT](INFO): DAT read: Tx time:18:32:22.0910
2025-06-18T18:32:21.032Z,1750271541.032 [DAT](INFO): Ping request sent.
2025-06-18T18:32:21.032Z,1750271541.032 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:21.032Z,1750271541.032 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-06-18T18:32:21.032Z,1750271541.032 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:21.033Z,1750271541.033 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:21.034Z,1750271541.034 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.001898
2025-06-18T18:32:21.076Z,1750271541.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.800000 m,
deltaT: 3.526439 s,
deltaX: -1.900000 m,
approachRate: -0.538787 m/s,
rangeRepo size: 4
2025-06-18T18:32:21.077Z,1750271541.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 1.80 m.
2025-06-18T18:32:21.077Z,1750271541.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-18T18:32:21.281Z,1750271541.281 [DAT](INFO): DAT read: TxSync time:18:32:22.0902
2025-06-18T18:32:21.282Z,1750271541.282 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.249823
2025-06-18T18:32:21.431Z,1750271541.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:21.534Z,1750271541.534 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.501667
2025-06-18T18:32:21.785Z,1750271541.785 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.752904
2025-06-18T18:32:22.037Z,1750271542.037 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.005177
2025-06-18T18:32:22.289Z,1750271542.289 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.257063
2025-06-18T18:32:22.541Z,1750271542.541 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.508907
2025-06-18T18:32:22.793Z,1750271542.793 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.760914
2025-06-18T18:32:23.045Z,1750271543.045 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.013030
2025-06-18T18:32:23.297Z,1750271543.297 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.264946
2025-06-18T18:32:23.458Z,1750271543.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:23.550Z,1750271543.550 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.517759
2025-06-18T18:32:23.801Z,1750271543.801 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.768949
2025-06-18T18:32:24.053Z,1750271544.053 [DAT](INFO): DAT read: Rx Time:18:32:24.4972
2025-06-18T18:32:24.053Z,1750271544.053 [DAT](INFO): Rx dataTimestamp_ set to:1750271544.053013
2025-06-18T18:32:24.054Z,1750271544.054 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.021994
2025-06-18T18:32:24.305Z,1750271544.305 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.272845
2025-06-18T18:32:24.563Z,1750271544.563 [DAT](INFO): DAT read: 18:32:24.4972 LVL= 28560, 29169, 16626, 20547, AGC= 41, IDX= 433, 0.20,-0.714,-1.379,-2.915,-0.780, PHS= 0.154,-0.552,-2.138, RAW= 47.5, 23.8, CAL= 43.9, 30.9, ROT= 106.1, -30.9
2025-06-18T18:32:24.564Z,1750271544.564 [DAT](INFO): got valid direction response:
18:32:24.4972 LVL= 28560, 29169, 16626, 20547, AGC= 41, IDX= 433, 0.20,-0.714,-1.379,-2.915,-0.780, PHS= 0.154,-0.552,-2.138, RAW= 47.5, 23.8, CAL= 43.9, 30.9, ROT= 106.1, -30.9
2025-06-18T18:32:24.565Z,1750271544.565 [DAT](INFO): DAT read: Bearing 106.1, -30.9 (Local)
2025-06-18T18:32:24.565Z,1750271544.565 [DAT](INFO): Local bearing/azimuth received:
Bearing 106.1, -30.9 (Local)
2025-06-18T18:32:24.567Z,1750271544.567 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (Round-trip 2.1 ms) speed -0.4 m/s
2025-06-18T18:32:24.567Z,1750271544.567 [DAT](INFO): DAT read: user:1289>
2025-06-18T18:32:24.568Z,1750271544.568 [DAT](INFO): DAT read: Tx time:18:32:25.5910
2025-06-18T18:32:24.568Z,1750271544.568 [DAT](INFO): Ping request sent.
2025-06-18T18:32:24.569Z,1750271544.569 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:24.569Z,1750271544.569 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-18T18:32:24.570Z,1750271544.570 [DAT](INFO): direction in FSK: [-0.237954,0.824411,0.513541]
2025-06-18T18:32:24.570Z,1750271544.570 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:24.570Z,1750271544.570 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:24.591Z,1750271544.591 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:24.591Z,1750271544.591 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:24.595Z,1750271544.595 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.025928
2025-06-18T18:32:24.697Z,1750271544.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.500000 m,
deltaT: 3.527928 s,
deltaX: -0.300000 m,
approachRate: -0.085036 m/s,
rangeRepo size: 4
2025-06-18T18:32:24.699Z,1750271544.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.486286 m,
bearing: 62.571004 deg,
lat: 36.905883 deg,
lon: -122.115774 deg,
deltaT: 17.387156 s,
deltaX: -7.827805 m,
approachRate: -0.450206 m/s,
posRepo size: 4
2025-06-18T18:32:24.811Z,1750271544.811 [DAT](INFO): DAT read: TxSync time:18:32:25.5902
2025-06-18T18:32:24.812Z,1750271544.812 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.243052
2025-06-18T18:32:25.061Z,1750271545.061 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.492278
2025-06-18T18:32:25.313Z,1750271545.313 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.744213
2025-06-18T18:32:25.471Z,1750271545.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:25.566Z,1750271545.566 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.996989
2025-06-18T18:32:25.817Z,1750271545.817 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.248437
2025-06-18T18:32:26.069Z,1750271546.069 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.500260
2025-06-18T18:32:26.321Z,1750271546.321 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.752295
2025-06-18T18:32:26.573Z,1750271546.573 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.004213
2025-06-18T18:32:26.825Z,1750271546.825 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.256284
2025-06-18T18:32:27.078Z,1750271547.078 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.508313
2025-06-18T18:32:27.329Z,1750271547.329 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.760219
2025-06-18T18:32:27.360Z,1750271547.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:32:27.514Z,1750271547.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:27.582Z,1750271547.582 [DAT](INFO): DAT read: Rx Time:18:32:27.9989
2025-06-18T18:32:27.583Z,1750271547.583 [DAT](INFO): Rx dataTimestamp_ set to:1750271547.582378
2025-06-18T18:32:27.584Z,1750271547.584 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.015030
2025-06-18T18:32:27.833Z,1750271547.833 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.264216
2025-06-18T18:32:28.095Z,1750271548.095 [DAT](INFO): DAT read: 18:32:27.9989 LVL= 30448, 31153, 32754, 32755, AGC= 45, IDX= 449, 0.46, 3.077,-2.802, 1.216, 2.810, PHS= 0.356, 0.719,-1.596, RAW= 21.6, 4.9, CAL= 20.8, 6.7, ROT= 129.2, -6.7
2025-06-18T18:32:28.097Z,1750271548.097 [DAT](INFO): got valid direction response:
18:32:27.9989 LVL= 30448, 31153, 32754, 32755, AGC= 45, IDX= 449, 0.46, 3.077,-2.802, 1.216, 2.810, PHS= 0.356, 0.719,-1.596, RAW= 21.6, 4.9, CAL= 20.8, 6.7, ROT= 129.2, -6.7
2025-06-18T18:32:28.098Z,1750271548.098 [DAT](INFO): DAT read: Bearing 129.2, -6.7 (Local)
2025-06-18T18:32:28.098Z,1750271548.098 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.2, -6.7 (Local)
2025-06-18T18:32:28.100Z,1750271548.100 [DAT](INFO): DAT read: Range 10 to 50 : 2.8 m (Round-trip 3.8 ms) speed -0.4 m/s
2025-06-18T18:32:28.101Z,1750271548.101 [DAT](INFO): DAT read: user:1290>
2025-06-18T18:32:28.102Z,1750271548.102 [DAT](INFO): DAT read: Tx time:18:32:29.0910
2025-06-18T18:32:28.102Z,1750271548.102 [DAT](INFO): Ping request sent.
2025-06-18T18:32:28.102Z,1750271548.102 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:28.102Z,1750271548.102 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-18T18:32:28.103Z,1750271548.103 [DAT](INFO): direction in FSK: [-0.627713,0.769652,0.116671]
2025-06-18T18:32:28.103Z,1750271548.103 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:28.107Z,1750271548.107 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:28.112Z,1750271548.112 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:28.113Z,1750271548.113 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:28.135Z,1750271548.135 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.031969
2025-06-18T18:32:28.333Z,1750271548.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.800000 m,
deltaT: 3.528954 s,
deltaX: 1.300000 m,
approachRate: 0.368381 m/s,
rangeRepo size: 4
2025-06-18T18:32:28.335Z,1750271548.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.774405 m,
bearing: 91.259587 deg,
lat: 36.905887 deg,
lon: -122.115772 deg,
deltaT: 3.528954 s,
deltaX: 1.288119 m,
approachRate: 0.365014 m/s,
posRepo size: 4
2025-06-18T18:32:28.337Z,1750271548.337 [DAT](INFO): DAT read: TxSync time:18:32:29.0902
2025-06-18T18:32:28.338Z,1750271548.338 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.235901
2025-06-18T18:32:28.364Z,1750271548.364 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:32:28.589Z,1750271548.589 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.486775
2025-06-18T18:32:28.841Z,1750271548.841 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.738827
2025-06-18T18:32:29.093Z,1750271549.093 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.991095
2025-06-18T18:32:29.345Z,1750271549.345 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.243292
2025-06-18T18:32:29.597Z,1750271549.597 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.495390
2025-06-18T18:32:29.849Z,1750271549.849 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.746878
2025-06-18T18:32:29.917Z,1750271549.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:30.101Z,1750271550.101 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.998816
2025-06-18T18:32:30.353Z,1750271550.353 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.250959
2025-06-18T18:32:30.605Z,1750271550.605 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.502880
2025-06-18T18:32:30.858Z,1750271550.858 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.755547
2025-06-18T18:32:31.109Z,1750271551.109 [DAT](INFO): DAT read: Rx Time:18:32:31.5014
2025-06-18T18:32:31.110Z,1750271551.110 [DAT](INFO): Rx dataTimestamp_ set to:1750271551.109286
2025-06-18T18:32:31.110Z,1750271551.110 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.008158
2025-06-18T18:32:31.361Z,1750271551.361 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.258896
2025-06-18T18:32:31.623Z,1750271551.623 [DAT](INFO): DAT read: 18:32:31.5014 LVL= 22688, 21153, 23682, 32755, AGC= 49, IDX= 443, 0.19, 1.727,-2.961, 0.843, 1.949, PHS=-0.134, 1.420,-1.109, RAW= 352.5, -1.6, CAL= 353.2, -2.9, ROT= 156.8, 2.9
2025-06-18T18:32:31.627Z,1750271551.627 [DAT](INFO): got valid direction response:
18:32:31.5014 LVL= 22688, 21153, 23682, 32755, AGC= 49, IDX= 443, 0.19, 1.727,-2.961, 0.843, 1.949, PHS=-0.134, 1.420,-1.109, RAW= 352.5, -1.6, CAL= 353.2, -2.9, ROT= 156.8, 2.9
2025-06-18T18:32:31.636Z,1750271551.636 [DAT](INFO): DAT read: Bearing 156.8, 2.9 (Local)
2025-06-18T18:32:31.637Z,1750271551.637 [DAT](INFO): Local bearing/azimuth received:
Bearing 156.8, 2.9 (Local)
2025-06-18T18:32:31.638Z,1750271551.638 [DAT](INFO): DAT read: Range 10 to 50 : 4.7 m (Round-trip 6.3 ms) speed -0.6 m/s
2025-06-18T18:32:31.639Z,1750271551.639 [DAT](INFO): DAT read: user:1291>
2025-06-18T18:32:31.648Z,1750271551.648 [DAT](INFO): DAT read: Tx time:18:32:32.5910
2025-06-18T18:32:31.648Z,1750271551.648 [DAT](INFO): Ping request sent.
2025-06-18T18:32:31.649Z,1750271551.649 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:31.649Z,1750271551.649 [DAT](INFO): DAT read: TxSync time:18:32:32.5902
2025-06-18T18:32:31.650Z,1750271551.650 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-18T18:32:31.651Z,1750271551.651 [DAT](INFO): direction in FSK: [-0.917958,0.393437,-0.050593]
2025-06-18T18:32:31.651Z,1750271551.651 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:31.651Z,1750271551.651 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:31.663Z,1750271551.663 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:31.663Z,1750271551.663 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:31.671Z,1750271551.671 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.022210
2025-06-18T18:32:31.866Z,1750271551.866 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.217132
2025-06-18T18:32:31.951Z,1750271551.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.700000 m,
deltaT: 3.527081 s,
deltaX: 1.900000 m,
approachRate: 0.538689 m/s,
rangeRepo size: 4
2025-06-18T18:32:31.954Z,1750271551.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.657037 m,
bearing: 117.601114 deg,
lat: 36.905887 deg,
lon: -122.115772 deg,
deltaT: 3.527081 s,
deltaX: 1.882632 m,
approachRate: 0.533765 m/s,
posRepo size: 4
2025-06-18T18:32:31.954Z,1750271551.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.70 m.
2025-06-18T18:32:32.117Z,1750271552.117 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.468328
2025-06-18T18:32:32.369Z,1750271552.369 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.720054
2025-06-18T18:32:32.386Z,1750271552.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:32.393Z,1750271552.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.70 m.
2025-06-18T18:32:32.621Z,1750271552.621 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.972231
2025-06-18T18:32:32.751Z,1750271552.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.70 m.
2025-06-18T18:32:32.874Z,1750271552.874 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.224701
2025-06-18T18:32:33.128Z,1750271553.128 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.478886
2025-06-18T18:32:33.190Z,1750271553.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.70 m.
2025-06-18T18:32:33.377Z,1750271553.377 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.728854
2025-06-18T18:32:33.542Z,1750271553.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.70 m.
2025-06-18T18:32:33.630Z,1750271553.630 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.981053
2025-06-18T18:32:33.881Z,1750271553.881 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.232644
2025-06-18T18:32:34.133Z,1750271554.133 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.484395
2025-06-18T18:32:34.385Z,1750271554.385 [DAT](INFO): DAT read: Rx Time:18:32:35.0040
2025-06-18T18:32:34.385Z,1750271554.385 [DAT](INFO): Rx dataTimestamp_ set to:1750271554.385187
2025-06-18T18:32:34.386Z,1750271554.386 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.737416
2025-06-18T18:32:34.387Z,1750271554.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.70 m.
2025-06-18T18:32:34.637Z,1750271554.637 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.988090
2025-06-18T18:32:34.755Z,1750271554.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:34.757Z,1750271554.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.70 m.
2025-06-18T18:32:34.891Z,1750271554.891 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.242167
2025-06-18T18:32:35.159Z,1750271555.159 [DAT](INFO): DAT read: 18:32:35.0040 LVL= 32752, 31505, 32754, 32755, AGC= 60, IDX= 454, 0.18,-1.305, 0.430,-1.412,-0.516, PHS=-0.702, 0.992,-0.899, RAW= 335.4, 6.8, CAL= 337.2, 9.6, ROT= 172.8, -9.6
2025-06-18T18:32:35.169Z,1750271555.169 [DAT](INFO): got valid direction response:
18:32:35.0040 LVL= 32752, 31505, 32754, 32755, AGC= 60, IDX= 454, 0.18,-1.305, 0.430,-1.412,-0.516, PHS=-0.702, 0.992,-0.899, RAW= 335.4, 6.8, CAL= 337.2, 9.6, ROT= 172.8, -9.6
2025-06-18T18:32:35.170Z,1750271555.170 [DAT](INFO): DAT read: Bearing 172.8, -9.6 (Local)
2025-06-18T18:32:35.170Z,1750271555.170 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.8, -9.6 (Local)
2025-06-18T18:32:35.176Z,1750271555.176 [DAT](INFO): DAT read: Range 10 to 50 : 6.5 m (Round-trip 8.7 ms) speed -0.4 m/s
2025-06-18T18:32:35.177Z,1750271555.177 [DAT](INFO): DAT read: user:1292>
2025-06-18T18:32:35.178Z,1750271555.178 [DAT](INFO): DAT read: Tx time:18:32:36.0911
2025-06-18T18:32:35.178Z,1750271555.178 [DAT](INFO): Ping request sent.
2025-06-18T18:32:35.178Z,1750271555.178 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:35.179Z,1750271555.179 [DAT](INFO): DAT read: TxSync time:18:32:36.0903
2025-06-18T18:32:35.179Z,1750271555.179 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-18T18:32:35.184Z,1750271555.184 [DAT](INFO): direction in FSK: [-0.978221,0.123578,0.166769]
2025-06-18T18:32:35.185Z,1750271555.185 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:35.185Z,1750271555.185 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:35.190Z,1750271555.190 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:35.190Z,1750271555.190 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:35.198Z,1750271555.198 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.019431
2025-06-18T18:32:35.328Z,1750271555.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.500000 m,
deltaT: 3.528939 s,
deltaX: 1.800000 m,
approachRate: 0.510068 m/s,
rangeRepo size: 4
2025-06-18T18:32:35.330Z,1750271555.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.440577 m,
bearing: 133.973847 deg,
lat: 36.905887 deg,
lon: -122.115772 deg,
deltaT: 3.528939 s,
deltaX: 1.783540 m,
approachRate: 0.505404 m/s,
posRepo size: 4
2025-06-18T18:32:35.330Z,1750271555.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 6.50 m.
2025-06-18T18:32:35.394Z,1750271555.394 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.215107
2025-06-18T18:32:35.645Z,1750271555.645 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.466728
2025-06-18T18:32:35.897Z,1750271555.897 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.719157
2025-06-18T18:32:36.168Z,1750271556.168 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.989666
2025-06-18T18:32:36.401Z,1750271556.401 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.222709
2025-06-18T18:32:36.653Z,1750271556.653 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.475025
2025-06-18T18:32:36.838Z,1750271556.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:36.906Z,1750271556.906 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.727286
2025-06-18T18:32:37.159Z,1750271557.159 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.980672
2025-06-18T18:32:37.409Z,1750271557.409 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.230684
2025-06-18T18:32:37.661Z,1750271557.661 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.482749
2025-06-18T18:32:37.913Z,1750271557.913 [DAT](INFO): DAT read: Rx Time:18:32:38.5063
2025-06-18T18:32:37.914Z,1750271557.914 [DAT](INFO): Rx dataTimestamp_ set to:1750271557.913269
2025-06-18T18:32:37.914Z,1750271557.914 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.735962
2025-06-18T18:32:38.168Z,1750271558.168 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.989253
2025-06-18T18:32:38.420Z,1750271558.420 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.241753
2025-06-18T18:32:38.675Z,1750271558.675 [DAT](INFO): DAT read: 18:32:38.5063 LVL= 32752, 29873, 32754, 32755, AGC= 62, IDX= 447, 0.16,-0.215, 1.401,-0.376, 0.433, PHS=-0.560, 1.015,-0.811, RAW= 337.3, 4.2, CAL= 338.7, 5.7, ROT= 171.3, -5.7
2025-06-18T18:32:38.679Z,1750271558.679 [DAT](INFO): got valid direction response:
18:32:38.5063 LVL= 32752, 29873, 32754, 32755, AGC= 62, IDX= 447, 0.16,-0.215, 1.401,-0.376, 0.433, PHS=-0.560, 1.015,-0.811, RAW= 337.3, 4.2, CAL= 338.7, 5.7, ROT= 171.3, -5.7
2025-06-18T18:32:38.685Z,1750271558.685 [DAT](INFO): DAT read: Bearing 171.3, -5.7 (Local)
2025-06-18T18:32:38.686Z,1750271558.686 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.3, -5.7 (Local)
2025-06-18T18:32:38.687Z,1750271558.687 [DAT](INFO): DAT read: Range 10 to 50 : 8.3 m (Round-trip 11.1 ms) speed -0.1 m/s
2025-06-18T18:32:38.688Z,1750271558.688 [DAT](INFO): DAT read: user:1293>
2025-06-18T18:32:38.689Z,1750271558.689 [DAT](INFO): DAT read: Tx time:18:32:39.5911
2025-06-18T18:32:38.689Z,1750271558.689 [DAT](INFO): Ping request sent.
2025-06-18T18:32:38.690Z,1750271558.690 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:38.690Z,1750271558.690 [DAT](INFO): DAT read: TxSync time:18:32:39.5903
2025-06-18T18:32:38.691Z,1750271558.691 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-18T18:32:38.692Z,1750271558.692 [DAT](INFO): direction in FSK: [-0.983606,0.150513,0.099320]
2025-06-18T18:32:38.692Z,1750271558.692 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:38.693Z,1750271558.693 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:38.695Z,1750271558.695 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:38.696Z,1750271558.696 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:38.699Z,1750271558.699 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.009535
2025-06-18T18:32:38.924Z,1750271558.924 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.234613
2025-06-18T18:32:38.926Z,1750271558.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 3.527014 s,
deltaX: 1.800000 m,
approachRate: 0.510347 m/s,
rangeRepo size: 4
2025-06-18T18:32:38.936Z,1750271558.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.224130 m,
bearing: 132.168151 deg,
lat: 36.905885 deg,
lon: -122.115774 deg,
deltaT: 3.527014 s,
deltaX: 1.783553 m,
approachRate: 0.505683 m/s,
posRepo size: 4
2025-06-18T18:32:38.937Z,1750271558.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 8.30 m. Rolling out.
2025-06-18T18:32:38.937Z,1750271558.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-06-18T18:32:38.962Z,1750271558.962 [DockingStepper](INFO): Changing to mode: 1
2025-06-18T18:32:38.963Z,1750271558.963 [DockingStepper](INFO): Standby mode.
2025-06-18T18:32:39.020Z,1750271559.020 [DockingStepper](INFO): Commanding positive:54586
2025-06-18T18:32:39.176Z,1750271559.176 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.485645
2025-06-18T18:32:39.271Z,1750271559.271 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.10 m/s, pitch -20.00 deg, mass-position 18.47 mm.
2025-06-18T18:32:39.272Z,1750271559.272 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.10 m/s, pitch 20.00 deg, mass-position 18.47 mm.
2025-06-18T18:32:39.291Z,1750271559.291 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-06-18T18:32:39.291Z,1750271559.291 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-18T18:32:39.291Z,1750271559.291 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-06-18T18:32:39.297Z,1750271559.297 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 8.300000 m (mode 5.000000 count ).
2025-06-18T18:32:39.297Z,1750271559.297 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-06-18T18:32:39.297Z,1750271559.297 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-06-18T18:32:39.298Z,1750271559.298 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-06-18T18:32:39.298Z,1750271559.298 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-18T18:32:39.298Z,1750271559.298 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-06-18T18:32:39.299Z,1750271559.299 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 8.300000 m (mode 5.000000 count ).
2025-06-18T18:32:39.299Z,1750271559.299 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-06-18T18:32:39.299Z,1750271559.299 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-06-18T18:32:39.308Z,1750271559.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:32:39.310Z,1750271559.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.22 m.
2025-06-18T18:32:39.319Z,1750271559.319 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-06-18T18:32:39.319Z,1750271559.319 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-18T18:32:39.319Z,1750271559.319 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-06-18T18:32:39.319Z,1750271559.319 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-18T18:32:39.425Z,1750271559.425 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.735329
2025-06-18T18:32:39.677Z,1750271559.677 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.987362
2025-06-18T18:32:39.684Z,1750271559.684 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-06-18T18:32:39.684Z,1750271559.684 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-06-18T18:32:39.685Z,1750271559.685 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-06-18T18:32:39.685Z,1750271559.685 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-06-18T18:32:39.687Z,1750271559.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.22 m.
2025-06-18T18:32:39.929Z,1750271559.929 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.239172
2025-06-18T18:32:40.097Z,1750271560.097 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-06-18T18:32:40.098Z,1750271560.098 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-06-18T18:32:40.098Z,1750271560.098 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-06-18T18:32:40.098Z,1750271560.098 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-06-18T18:32:40.101Z,1750271560.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.22 m.
2025-06-18T18:32:40.185Z,1750271560.185 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.494741
2025-06-18T18:32:40.434Z,1750271560.434 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.743941
2025-06-18T18:32:40.542Z,1750271560.542 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-06-18T18:32:40.542Z,1750271560.542 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-18T18:32:40.542Z,1750271560.542 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-06-18T18:32:40.543Z,1750271560.543 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-18T18:32:40.543Z,1750271560.543 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-06-18T18:32:40.543Z,1750271560.543 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-18T18:32:40.544Z,1750271560.544 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-06-18T18:32:40.544Z,1750271560.544 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-18T18:32:40.546Z,1750271560.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.22 m.
2025-06-18T18:32:40.685Z,1750271560.685 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.995200
2025-06-18T18:32:40.917Z,1750271560.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.22 m.
2025-06-18T18:32:40.937Z,1750271560.937 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.247270
2025-06-18T18:32:41.192Z,1750271561.192 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.501732
2025-06-18T18:32:41.333Z,1750271561.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.22 m.
2025-06-18T18:32:41.441Z,1750271561.441 [DAT](INFO): DAT read: Rx Time:18:32:42.0089
2025-06-18T18:32:41.441Z,1750271561.441 [DAT](INFO): Rx dataTimestamp_ set to:1750271561.441007
2025-06-18T18:32:41.442Z,1750271561.442 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.752239
2025-06-18T18:32:41.694Z,1750271561.694 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.003945
2025-06-18T18:32:41.713Z,1750271561.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.22 m.
2025-06-18T18:32:41.957Z,1750271561.957 [DAT](INFO): DAT read: 18:32:42.0089 LVL= 25456, 26609, 26546, 32755, AGC= 62, IDX= 457, 0.34, 2.349,-2.273, 2.265, 2.897, PHS=-0.460, 1.160,-0.635, RAW= 335.1, -0.8, CAL= 336.6, -1.4, ROT= 173.4, 1.4
2025-06-18T18:32:41.958Z,1750271561.958 [DAT](INFO): got valid direction response:
18:32:42.0089 LVL= 25456, 26609, 26546, 32755, AGC= 62, IDX= 457, 0.34, 2.349,-2.273, 2.265, 2.897, PHS=-0.460, 1.160,-0.635, RAW= 335.1, -0.8, CAL= 336.6, -1.4, ROT= 173.4, 1.4
2025-06-18T18:32:41.959Z,1750271561.959 [DAT](INFO): DAT read: Bearing 173.4, 1.4 (Local)
2025-06-18T18:32:41.960Z,1750271561.960 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.4, 1.4 (Local)
2025-06-18T18:32:41.961Z,1750271561.961 [DAT](INFO): DAT read: Range 10 to 50 : 10.2 m (Round-trip 13.7 ms) speed -1.0 m/s
2025-06-18T18:32:41.962Z,1750271561.962 [DAT](INFO): DAT read: user:1294>
2025-06-18T18:32:41.963Z,1750271561.963 [DAT](INFO): DAT read: Tx time:18:32:43.0911
2025-06-18T18:32:41.963Z,1750271561.963 [DAT](INFO): Ping request sent.
2025-06-18T18:32:41.963Z,1750271561.963 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:41.964Z,1750271561.964 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-18T18:32:41.965Z,1750271561.965 [DAT](INFO): direction in FSK: [-0.993076,0.114903,-0.024432]
2025-06-18T18:32:41.965Z,1750271561.965 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:41.965Z,1750271561.965 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:41.972Z,1750271561.972 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:41.973Z,1750271561.973 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:41.976Z,1750271561.976 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.012732
2025-06-18T18:32:42.172Z,1750271562.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.200000 m,
deltaT: 3.277800 s,
deltaX: 1.900000 m,
approachRate: 0.579657 m/s,
rangeRepo size: 4
2025-06-18T18:32:42.174Z,1750271562.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.106736 m,
bearing: 133.295250 deg,
lat: 36.905885 deg,
lon: -122.115772 deg,
deltaT: 3.277800 s,
deltaX: 1.882607 m,
approachRate: 0.574351 m/s,
posRepo size: 4
2025-06-18T18:32:42.175Z,1750271562.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-18T18:32:42.200Z,1750271562.200 [DAT](INFO): DAT read: TxSync time:18:32:43.0903
2025-06-18T18:32:42.202Z,1750271562.202 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.238742
2025-06-18T18:32:42.449Z,1750271562.449 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.485488
2025-06-18T18:32:42.539Z,1750271562.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-18T18:32:42.701Z,1750271562.701 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.737611
2025-06-18T18:32:42.927Z,1750271562.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-18T18:32:42.953Z,1750271562.953 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.989618
2025-06-18T18:32:43.205Z,1750271563.205 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.241554
2025-06-18T18:32:43.347Z,1750271563.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-18T18:32:43.457Z,1750271563.457 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.493685
2025-06-18T18:32:43.709Z,1750271563.709 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.745633
2025-06-18T18:32:43.759Z,1750271563.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-18T18:32:43.961Z,1750271563.961 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.997943
2025-06-18T18:32:44.199Z,1750271564.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-18T18:32:44.216Z,1750271564.216 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.252049
2025-06-18T18:32:44.465Z,1750271564.465 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.501615
2025-06-18T18:32:44.591Z,1750271564.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-18T18:32:44.717Z,1750271564.717 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.753533
2025-06-18T18:32:44.963Z,1750271564.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-18T18:32:44.969Z,1750271564.969 [DAT](INFO): DAT read: Rx Time:18:32:45.5115
2025-06-18T18:32:44.969Z,1750271564.969 [DAT](INFO): Rx dataTimestamp_ set to:1750271564.969191
2025-06-18T18:32:44.970Z,1750271564.970 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.006787
2025-06-18T18:32:45.223Z,1750271565.223 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.259692
2025-06-18T18:32:45.394Z,1750271565.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-18T18:32:45.484Z,1750271565.484 [DAT](INFO): DAT read: 18:32:45.5115 LVL= 25584, 26177, 25330, 32755, AGC= 62, IDX= 450,-0.43,-1.469, 0.465,-1.579,-0.940, PHS=-0.441, 1.452,-0.642, RAW= 335.0, -3.7, CAL= 336.8, -5.3, ROT= 173.2, 5.3
2025-06-18T18:32:45.486Z,1750271565.486 [DAT](INFO): got valid direction response:
18:32:45.5115 LVL= 25584, 26177, 25330, 32755, AGC= 62, IDX= 450,-0.43,-1.469, 0.465,-1.579,-0.940, PHS=-0.441, 1.452,-0.642, RAW= 335.0, -3.7, CAL= 336.8, -5.3, ROT= 173.2, 5.3
2025-06-18T18:32:45.487Z,1750271565.487 [DAT](INFO): DAT read: Bearing 173.2, 5.3 (Local)
2025-06-18T18:32:45.492Z,1750271565.492 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.2, 5.3 (Local)
2025-06-18T18:32:45.494Z,1750271565.494 [DAT](INFO): DAT read: Range 10 to 50 : 12.1 m (Round-trip 16.2 ms) speed -0.4 m/s
2025-06-18T18:32:45.495Z,1750271565.495 [DAT](INFO): DAT read: user:1295>
2025-06-18T18:32:45.501Z,1750271565.501 [DAT](INFO): DAT read: Tx time:18:32:46.6412
2025-06-18T18:32:45.501Z,1750271565.501 [DAT](INFO): Ping request sent.
2025-06-18T18:32:45.502Z,1750271565.502 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:45.502Z,1750271565.502 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-18T18:32:45.503Z,1750271565.503 [DAT](INFO): direction in FSK: [-0.988720,0.117898,-0.092371]
2025-06-18T18:32:45.509Z,1750271565.509 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:45.509Z,1750271565.509 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:45.525Z,1750271565.525 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:45.526Z,1750271565.526 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:45.535Z,1750271565.535 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.033798
2025-06-18T18:32:45.725Z,1750271565.725 [DAT](INFO): DAT read: TxSync time:18:32:46.6404
2025-06-18T18:32:45.726Z,1750271565.726 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.224263
2025-06-18T18:32:45.773Z,1750271565.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.100000 m,
deltaT: 3.527602 s,
deltaX: 1.900001 m,
approachRate: 0.538610 m/s,
rangeRepo size: 4
2025-06-18T18:32:45.775Z,1750271565.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.989375 m,
bearing: 133.201282 deg,
lat: 36.905885 deg,
lon: -122.115772 deg,
deltaT: 3.527602 s,
deltaX: 1.882639 m,
approachRate: 0.533688 m/s,
posRepo size: 4
2025-06-18T18:32:45.775Z,1750271565.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.99 m.
2025-06-18T18:32:45.977Z,1750271565.977 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.475971
2025-06-18T18:32:46.156Z,1750271566.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.99 m.
2025-06-18T18:32:46.231Z,1750271566.231 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.729486
2025-06-18T18:32:46.481Z,1750271566.481 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.979392
2025-06-18T18:32:46.581Z,1750271566.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.99 m.
2025-06-18T18:32:46.733Z,1750271566.733 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.231364
2025-06-18T18:32:46.958Z,1750271566.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.99 m.
2025-06-18T18:32:46.985Z,1750271566.985 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.483609
2025-06-18T18:32:47.237Z,1750271567.237 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.735408
2025-06-18T18:32:47.405Z,1750271567.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.99 m.
2025-06-18T18:32:47.490Z,1750271567.490 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.988360
2025-06-18T18:32:47.741Z,1750271567.741 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.239702
2025-06-18T18:32:47.790Z,1750271567.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.99 m.
2025-06-18T18:32:47.997Z,1750271567.997 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.494815
2025-06-18T18:32:48.181Z,1750271568.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.99 m.
2025-06-18T18:32:48.246Z,1750271568.246 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.744237
2025-06-18T18:32:48.497Z,1750271568.497 [DAT](INFO): DAT read: Rx Time:18:32:49.0635
2025-06-18T18:32:48.497Z,1750271568.497 [DAT](INFO): Rx dataTimestamp_ set to:1750271568.496975
2025-06-18T18:32:48.498Z,1750271568.498 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.996394
2025-06-18T18:32:48.608Z,1750271568.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.99 m.
2025-06-18T18:32:48.749Z,1750271568.749 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.247400
2025-06-18T18:32:49.015Z,1750271569.015 [DAT](INFO): DAT read: 18:32:49.0635 LVL= 24816, 24417, 22114, 32755, AGC= 62, IDX= 439, 0.24,-1.849, 0.073,-1.922,-1.396, PHS=-0.365, 1.516,-0.529, RAW= 334.1, -6.4, CAL= 336.3, -8.8, ROT= 173.7, 8.8
2025-06-18T18:32:49.017Z,1750271569.017 [DAT](INFO): got valid direction response:
18:32:49.0635 LVL= 24816, 24417, 22114, 32755, AGC= 62, IDX= 439, 0.24,-1.849, 0.073,-1.922,-1.396, PHS=-0.365, 1.516,-0.529, RAW= 334.1, -6.4, CAL= 336.3, -8.8, ROT= 173.7, 8.8
2025-06-18T18:32:49.018Z,1750271569.018 [DAT](INFO): DAT read: Bearing 173.7, 8.8 (Local)
2025-06-18T18:32:49.019Z,1750271569.019 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.7, 8.8 (Local)
2025-06-18T18:32:49.020Z,1750271569.020 [DAT](INFO): DAT read: Range 10 to 50 : 13.6 m (Round-trip 18.2 ms) speed -0.4 m/s
2025-06-18T18:32:49.021Z,1750271569.021 [DAT](INFO): DAT read: user:1296>
2025-06-18T18:32:49.021Z,1750271569.021 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-18T18:32:49.023Z,1750271569.023 [DAT](INFO): direction in FSK: [-0.982260,0.108443,-0.152986]
2025-06-18T18:32:49.024Z,1750271569.024 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:49.034Z,1750271569.034 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.532618
2025-06-18T18:32:49.057Z,1750271569.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.600000 m,
deltaT: 3.527980 s,
deltaX: 1.500000 m,
approachRate: 0.425172 m/s,
rangeRepo size: 4
2025-06-18T18:32:49.059Z,1750271569.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.475663 m,
bearing: 133.206275 deg,
lat: 36.905885 deg,
lon: -122.115772 deg,
deltaT: 3.527980 s,
deltaX: 1.486288 m,
approachRate: 0.421286 m/s,
posRepo size: 4
2025-06-18T18:32:49.059Z,1750271569.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.48 m.
2025-06-18T18:32:49.253Z,1750271569.253 [DAT](INFO): DAT read: Tx time:18:32:50.1912
2025-06-18T18:32:49.254Z,1750271569.254 [DAT](INFO): Ping request sent.
2025-06-18T18:32:49.254Z,1750271569.254 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:49.254Z,1750271569.254 [DAT](INFO): DAT read: TxSync time:18:32:50.1904
2025-06-18T18:32:49.255Z,1750271569.255 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:49.255Z,1750271569.255 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.001590
2025-06-18T18:32:49.443Z,1750271569.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.48 m.
2025-06-18T18:32:49.505Z,1750271569.505 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.251274
2025-06-18T18:32:49.757Z,1750271569.757 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.503061
2025-06-18T18:32:49.837Z,1750271569.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.48 m.
2025-06-18T18:32:50.009Z,1750271570.009 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.755018
2025-06-18T18:32:50.212Z,1750271570.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.48 m.
2025-06-18T18:32:50.262Z,1750271570.262 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.007783
2025-06-18T18:32:50.513Z,1750271570.513 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.258935
2025-06-18T18:32:50.629Z,1750271570.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.48 m.
2025-06-18T18:32:50.766Z,1750271570.766 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.511937
2025-06-18T18:32:51.002Z,1750271571.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.48 m.
2025-06-18T18:32:51.017Z,1750271571.017 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.763139
2025-06-18T18:32:51.269Z,1750271571.269 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.014981
2025-06-18T18:32:51.442Z,1750271571.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.48 m.
2025-06-18T18:32:51.521Z,1750271571.521 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.267421
2025-06-18T18:32:51.773Z,1750271571.773 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.519019
2025-06-18T18:32:51.807Z,1750271571.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.48 m.
2025-06-18T18:32:52.025Z,1750271572.025 [DAT](INFO): DAT read: Rx Time:18:32:52.6152
2025-06-18T18:32:52.026Z,1750271572.026 [DAT](INFO): Rx dataTimestamp_ set to:1750271572.025390
2025-06-18T18:32:52.027Z,1750271572.027 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.772786
2025-06-18T18:32:52.217Z,1750271572.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.48 m.
2025-06-18T18:32:52.278Z,1750271572.278 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.023839
2025-06-18T18:32:52.532Z,1750271572.532 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.277534
2025-06-18T18:32:52.635Z,1750271572.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.48 m.
2025-06-18T18:32:52.787Z,1750271572.787 [DAT](INFO): DAT read: 18:32:52.6152 LVL= 25952, 22481, 23874, 32755, AGC= 62, IDX= 456,-0.31, 2.015,-2.257, 1.935, 2.497, PHS=-0.393, 1.576,-0.565, RAW= 334.1, -6.1, CAL= 336.3, -8.4, ROT= 173.7, 8.4
2025-06-18T18:32:52.788Z,1750271572.788 [DAT](INFO): got valid direction response:
18:32:52.6152 LVL= 25952, 22481, 23874, 32755, AGC= 62, IDX= 456,-0.31, 2.015,-2.257, 1.935, 2.497, PHS=-0.393, 1.576,-0.565, RAW= 334.1, -6.1, CAL= 336.3, -8.4, ROT= 173.7, 8.4
2025-06-18T18:32:52.789Z,1750271572.789 [DAT](INFO): DAT read: Bearing 173.7, 8.4 (Local)
2025-06-18T18:32:52.790Z,1750271572.790 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.7, 8.4 (Local)
2025-06-18T18:32:52.791Z,1750271572.791 [DAT](INFO): DAT read: Range 10 to 50 : 14.9 m (Round-trip 19.9 ms) speed -0.4 m/s
2025-06-18T18:32:52.793Z,1750271572.793 [DAT](INFO): DAT read: user:1297>
2025-06-18T18:32:52.793Z,1750271572.793 [DAT](INFO): DAT read: Tx time:18:32:53.7412
2025-06-18T18:32:52.794Z,1750271572.794 [DAT](INFO): Ping request sent.
2025-06-18T18:32:52.794Z,1750271572.794 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:52.794Z,1750271572.794 [DAT](INFO): DAT read: TxSync time:18:32:53.7404
2025-06-18T18:32:52.795Z,1750271572.795 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-18T18:32:52.796Z,1750271572.796 [DAT](INFO): direction in FSK: [-0.983298,0.108557,-0.146083]
2025-06-18T18:32:52.796Z,1750271572.796 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:52.797Z,1750271572.797 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:52.812Z,1750271572.812 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:52.812Z,1750271572.812 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:52.815Z,1750271572.815 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.021537
2025-06-18T18:32:53.033Z,1750271573.033 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.239496
2025-06-18T18:32:53.048Z,1750271573.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.900000 m,
deltaT: 3.778715 s,
deltaX: 1.299999 m,
approachRate: 0.344032 m/s,
rangeRepo size: 4
2025-06-18T18:32:53.050Z,1750271573.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.763779 m,
bearing: 133.158995 deg,
lat: 36.905885 deg,
lon: -122.115769 deg,
deltaT: 3.778715 s,
deltaX: 1.288116 m,
approachRate: 0.340887 m/s,
posRepo size: 4
2025-06-18T18:32:53.051Z,1750271573.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.76 m.
2025-06-18T18:32:53.285Z,1750271573.285 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.491025
2025-06-18T18:32:53.497Z,1750271573.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.76 m.
2025-06-18T18:32:53.537Z,1750271573.537 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.743099
2025-06-18T18:32:53.789Z,1750271573.789 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.994987
2025-06-18T18:32:53.841Z,1750271573.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.76 m.
2025-06-18T18:32:54.045Z,1750271574.045 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.250454
2025-06-18T18:32:54.261Z,1750271574.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.76 m.
2025-06-18T18:32:54.293Z,1750271574.293 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.499607
2025-06-18T18:32:54.546Z,1750271574.546 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.752144
2025-06-18T18:32:54.654Z,1750271574.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.76 m.
2025-06-18T18:32:54.798Z,1750271574.798 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.003761
2025-06-18T18:32:55.049Z,1750271575.049 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.255090
2025-06-18T18:32:55.050Z,1750271575.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.76 m.
2025-06-18T18:32:55.301Z,1750271575.301 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.506985
2025-06-18T18:32:55.521Z,1750271575.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.76 m.
2025-06-18T18:32:55.553Z,1750271575.553 [DAT](INFO): DAT read: Rx Time:18:32:56.1665
2025-06-18T18:32:55.554Z,1750271575.554 [DAT](INFO): Rx dataTimestamp_ set to:1750271575.553222
2025-06-18T18:32:55.554Z,1750271575.554 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.760281
2025-06-18T18:32:55.805Z,1750271575.805 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.010964
2025-06-18T18:32:55.859Z,1750271575.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.76 m.
2025-06-18T18:32:56.060Z,1750271576.060 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.265608
2025-06-18T18:32:56.260Z,1750271576.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.76 m.
2025-06-18T18:32:56.321Z,1750271576.321 [DAT](INFO): DAT read: 18:32:56.1665 LVL= 25328, 21457, 22258, 32531, AGC= 64, IDX= 452, 0.44,-1.918, 0.008,-1.922,-1.447, PHS=-0.383, 1.502,-0.478, RAW= 332.4, -6.7, CAL= 334.8, -9.2, ROT= 175.2, 9.2
2025-06-18T18:32:56.323Z,1750271576.323 [DAT](INFO): got valid direction response:
18:32:56.1665 LVL= 25328, 21457, 22258, 32531, AGC= 64, IDX= 452, 0.44,-1.918, 0.008,-1.922,-1.447, PHS=-0.383, 1.502,-0.478, RAW= 332.4, -6.7, CAL= 334.8, -9.2, ROT= 175.2, 9.2
2025-06-18T18:32:56.324Z,1750271576.324 [DAT](INFO): DAT read: Bearing 175.2, 9.2 (Local)
2025-06-18T18:32:56.325Z,1750271576.325 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.2, 9.2 (Local)
2025-06-18T18:32:56.327Z,1750271576.327 [DAT](INFO): DAT read: Range 10 to 50 : 15.7 m (Round-trip 21.0 ms) speed -0.4 m/s
2025-06-18T18:32:56.345Z,1750271576.345 [DAT](INFO): DAT read: user:1298>
2025-06-18T18:32:56.346Z,1750271576.346 [DAT](INFO): DAT read: Tx time:18:32:57.2913
2025-06-18T18:32:56.347Z,1750271576.347 [DAT](INFO): Ping request sent.
2025-06-18T18:32:56.347Z,1750271576.347 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:56.360Z,1750271576.360 [DAT](INFO): DAT read: TxSync time:18:32:57.2905
2025-06-18T18:32:56.360Z,1750271576.360 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-18T18:32:56.361Z,1750271576.361 [DAT](INFO): direction in FSK: [-0.983674,0.082602,-0.159881]
2025-06-18T18:32:56.362Z,1750271576.362 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:56.362Z,1750271576.362 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:56.376Z,1750271576.376 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:56.376Z,1750271576.376 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:56.384Z,1750271576.384 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.037408
2025-06-18T18:32:56.561Z,1750271576.561 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.213873
2025-06-18T18:32:56.701Z,1750271576.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.700000 m,
deltaT: 3.529804 s,
deltaX: 0.800000 m,
approachRate: 0.226642 m/s,
rangeRepo size: 4
2025-06-18T18:32:56.703Z,1750271576.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.556447 m,
bearing: 133.768042 deg,
lat: 36.905885 deg,
lon: -122.115767 deg,
deltaT: 3.529804 s,
deltaX: 0.792668 m,
approachRate: 0.224564 m/s,
posRepo size: 4
2025-06-18T18:32:56.703Z,1750271576.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.56 m.
2025-06-18T18:32:56.814Z,1750271576.814 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.466184
2025-06-18T18:32:57.058Z,1750271577.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.56 m.
2025-06-18T18:32:57.065Z,1750271577.065 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.717907
2025-06-18T18:32:57.317Z,1750271577.317 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.969668
2025-06-18T18:32:57.569Z,1750271577.569 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.222074
2025-06-18T18:32:57.615Z,1750271577.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.56 m.
2025-06-18T18:32:57.825Z,1750271577.825 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.477101
2025-06-18T18:32:57.926Z,1750271577.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.56 m.
2025-06-18T18:32:58.073Z,1750271578.073 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.725758
2025-06-18T18:32:58.300Z,1750271578.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.56 m.
2025-06-18T18:32:58.338Z,1750271578.338 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.990524
2025-06-18T18:32:58.486Z,1750271578.486 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:32:58.590Z,1750271578.590 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.242472
2025-06-18T18:32:58.734Z,1750271578.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.56 m.
2025-06-18T18:32:58.841Z,1750271578.841 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.493710
2025-06-18T18:32:59.093Z,1750271579.093 [DAT](INFO): DAT read: Rx Time:18:32:59.7178
2025-06-18T18:32:59.094Z,1750271579.094 [DAT](INFO): Rx dataTimestamp_ set to:1750271579.093658
2025-06-18T18:32:59.094Z,1750271579.094 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.747457
2025-06-18T18:32:59.173Z,1750271579.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.56 m.
2025-06-18T18:32:59.345Z,1750271579.345 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.997772
2025-06-18T18:32:59.489Z,1750271579.489 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:32:59.568Z,1750271579.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.56 m.
2025-06-18T18:32:59.597Z,1750271579.597 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.249784
2025-06-18T18:32:59.855Z,1750271579.855 [DAT](INFO): DAT read: 18:32:59.7178 LVL= 25840, 24417, 21570, 32755, AGC= 64, IDX= 434, 0.04, 0.943, 2.993, 0.992, 1.510, PHS=-0.479, 1.530,-0.521, RAW= 331.0, -5.3, CAL= 333.4, -7.3, ROT= 176.6, 7.3
2025-06-18T18:32:59.856Z,1750271579.856 [DAT](INFO): got valid direction response:
18:32:59.7178 LVL= 25840, 24417, 21570, 32755, AGC= 64, IDX= 434, 0.04, 0.943, 2.993, 0.992, 1.510, PHS=-0.479, 1.530,-0.521, RAW= 331.0, -5.3, CAL= 333.4, -7.3, ROT= 176.6, 7.3
2025-06-18T18:32:59.857Z,1750271579.857 [DAT](INFO): DAT read: Bearing 176.6, 7.3 (Local)
2025-06-18T18:32:59.857Z,1750271579.857 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.6, 7.3 (Local)
2025-06-18T18:32:59.859Z,1750271579.859 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (Round-trip 22.4 ms) speed -0.3 m/s
2025-06-18T18:32:59.860Z,1750271579.860 [DAT](INFO): DAT read: user:1299>
2025-06-18T18:32:59.861Z,1750271579.861 [DAT](INFO): DAT read: Tx time:18:33:00.8413
2025-06-18T18:32:59.862Z,1750271579.862 [DAT](INFO): Ping request sent.
2025-06-18T18:32:59.862Z,1750271579.862 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:32:59.862Z,1750271579.862 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-18T18:32:59.864Z,1750271579.864 [DAT](INFO): direction in FSK: [-0.990149,0.058826,-0.127065]
2025-06-18T18:32:59.865Z,1750271579.865 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:59.866Z,1750271579.866 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:59.877Z,1750271579.877 [DAT](INFO): publishing transmit ping time
2025-06-18T18:32:59.878Z,1750271579.878 [DAT](INFO): publishing direction and range info
2025-06-18T18:32:59.882Z,1750271579.882 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.020513
2025-06-18T18:32:59.971Z,1750271579.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.799999 m,
deltaT: 3.538264 s,
deltaX: 1.099999 m,
approachRate: 0.310887 m/s,
rangeRepo size: 4
2025-06-18T18:32:59.978Z,1750271579.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.646391 m,
bearing: 134.993833 deg,
lat: 36.905885 deg,
lon: -122.115767 deg,
deltaT: 3.538264 s,
deltaX: 1.089944 m,
approachRate: 0.308045 m/s,
posRepo size: 4
2025-06-18T18:32:59.979Z,1750271579.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.65 m.
2025-06-18T18:33:00.101Z,1750271580.101 [DAT](INFO): DAT read: TxSync time:18:33:00.8405
2025-06-18T18:33:00.102Z,1750271580.102 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.240581
2025-06-18T18:33:00.353Z,1750271580.353 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.491215
2025-06-18T18:33:00.362Z,1750271580.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.65 m.
2025-06-18T18:33:00.605Z,1750271580.605 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.743143
2025-06-18T18:33:00.780Z,1750271580.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.65 m.
2025-06-18T18:33:00.858Z,1750271580.858 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.995869
2025-06-18T18:33:01.109Z,1750271581.109 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.247092
2025-06-18T18:33:01.155Z,1750271581.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.65 m.
2025-06-18T18:33:01.361Z,1750271581.361 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.499418
2025-06-18T18:33:01.610Z,1750271581.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.65 m.
2025-06-18T18:33:01.613Z,1750271581.613 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.751289
2025-06-18T18:33:01.865Z,1750271581.865 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.003715
2025-06-18T18:33:01.967Z,1750271581.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.65 m.
2025-06-18T18:33:02.117Z,1750271582.117 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.255107
2025-06-18T18:33:02.369Z,1750271582.369 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.507283
2025-06-18T18:33:02.378Z,1750271582.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.65 m.
2025-06-18T18:33:02.621Z,1750271582.621 [DAT](INFO): DAT read: Rx Time:18:33:03.2692
2025-06-18T18:33:02.621Z,1750271582.621 [DAT](INFO): Rx dataTimestamp_ set to:1750271582.621112
2025-06-18T18:33:02.622Z,1750271582.622 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.760269
2025-06-18T18:33:02.807Z,1750271582.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.65 m.
2025-06-18T18:33:02.873Z,1750271582.873 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.011747
2025-06-18T18:33:03.125Z,1750271583.125 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.263230
2025-06-18T18:33:03.251Z,1750271583.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.65 m.
2025-06-18T18:33:03.384Z,1750271583.384 [DAT](INFO): DAT read: 18:33:03.2692 LVL= 25488, 27633, 23922, 32755, AGC= 63, IDX= 432,-0.12, 0.256, 2.362, 0.326, 0.843, PHS=-0.499, 1.565,-0.521, RAW= 330.5, -5.3, CAL= 332.9, -7.4, ROT= 177.1, 7.4
2025-06-18T18:33:03.385Z,1750271583.385 [DAT](INFO): got valid direction response:
18:33:03.2692 LVL= 25488, 27633, 23922, 32755, AGC= 63, IDX= 432,-0.12, 0.256, 2.362, 0.326, 0.843, PHS=-0.499, 1.565,-0.521, RAW= 330.5, -5.3, CAL= 332.9, -7.4, ROT= 177.1, 7.4
2025-06-18T18:33:03.386Z,1750271583.386 [DAT](INFO): DAT read: Bearing 177.1, 7.4 (Local)
2025-06-18T18:33:03.386Z,1750271583.386 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.1, 7.4 (Local)
2025-06-18T18:33:03.387Z,1750271583.387 [DAT](INFO): DAT read: Range 10 to 50 : 17.8 m (Round-trip 23.8 ms) speed -0.1 m/s
2025-06-18T18:33:03.388Z,1750271583.388 [DAT](INFO): DAT read: user:1300>
2025-06-18T18:33:03.391Z,1750271583.391 [DAT](INFO): DAT read: Tx time:18:33:04.3913
2025-06-18T18:33:03.394Z,1750271583.394 [DAT](INFO): Ping request sent.
2025-06-18T18:33:03.394Z,1750271583.394 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:03.395Z,1750271583.395 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-18T18:33:03.396Z,1750271583.396 [DAT](INFO): direction in FSK: [-0.990401,0.050172,-0.128796]
2025-06-18T18:33:03.396Z,1750271583.396 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:03.397Z,1750271583.397 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:03.400Z,1750271583.400 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:03.400Z,1750271583.400 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:03.403Z,1750271583.403 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.009828
2025-06-18T18:33:03.629Z,1750271583.629 [DAT](INFO): DAT read: TxSync time:18:33:04.3905
2025-06-18T18:33:03.630Z,1750271583.630 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.236365
2025-06-18T18:33:03.706Z,1750271583.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.799999 m,
deltaT: 3.528248 s,
deltaX: 1.000000 m,
approachRate: 0.283427 m/s,
rangeRepo size: 4
2025-06-18T18:33:03.712Z,1750271583.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.637186 m,
bearing: 135.131334 deg,
lat: 36.905885 deg,
lon: -122.115766 deg,
deltaT: 3.528248 s,
deltaX: 0.990795 m,
approachRate: 0.280818 m/s,
posRepo size: 4
2025-06-18T18:33:03.713Z,1750271583.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.64 m.
2025-06-18T18:33:03.882Z,1750271583.882 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.487836
2025-06-18T18:33:04.047Z,1750271584.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.64 m.
2025-06-18T18:33:04.133Z,1750271584.133 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.739785
2025-06-18T18:33:04.385Z,1750271584.385 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.991387
2025-06-18T18:33:04.479Z,1750271584.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.64 m.
2025-06-18T18:33:04.637Z,1750271584.637 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.243406
2025-06-18T18:33:04.889Z,1750271584.889 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.496019
2025-06-18T18:33:04.912Z,1750271584.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.64 m.
2025-06-18T18:33:05.141Z,1750271585.141 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.747380
2025-06-18T18:33:05.261Z,1750271585.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.64 m.
2025-06-18T18:33:05.393Z,1750271585.393 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.999451
2025-06-18T18:33:05.645Z,1750271585.645 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.251319
2025-06-18T18:33:05.692Z,1750271585.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.64 m.
2025-06-18T18:33:05.897Z,1750271585.897 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.503705
2025-06-18T18:33:06.087Z,1750271586.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.64 m.
2025-06-18T18:33:06.149Z,1750271586.149 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.755532
2025-06-18T18:33:06.401Z,1750271586.401 [DAT](INFO): DAT read: Rx Time:18:33:06.8202
2025-06-18T18:33:06.401Z,1750271586.401 [DAT](INFO): Rx dataTimestamp_ set to:1750271586.401008
2025-06-18T18:33:06.402Z,1750271586.402 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.008434
2025-06-18T18:33:06.494Z,1750271586.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.64 m.
2025-06-18T18:33:06.653Z,1750271586.653 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.259497
2025-06-18T18:33:06.911Z,1750271586.911 [DAT](INFO): DAT read: 18:33:06.8202 LVL= 29936, 26001, 27474, 32755, AGC= 64, IDX= 441,-0.18,-0.481, 1.525,-0.446, 0.056, PHS=-0.449, 1.517,-0.505, RAW= 331.4, -5.7, CAL= 333.8, -7.9, ROT= 176.2, 7.9
2025-06-18T18:33:06.912Z,1750271586.912 [DAT](INFO): got valid direction response:
18:33:06.8202 LVL= 29936, 26001, 27474, 32755, AGC= 64, IDX= 441,-0.18,-0.481, 1.525,-0.446, 0.056, PHS=-0.449, 1.517,-0.505, RAW= 331.4, -5.7, CAL= 333.8, -7.9, ROT= 176.2, 7.9
2025-06-18T18:33:06.913Z,1750271586.913 [DAT](INFO): DAT read: Bearing 176.2, 7.9 (Local)
2025-06-18T18:33:06.913Z,1750271586.913 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.2, 7.9 (Local)
2025-06-18T18:33:06.915Z,1750271586.915 [DAT](INFO): DAT read: Range 10 to 50 : 18.5 m (Round-trip 24.7 ms) speed 0.0 m/s
2025-06-18T18:33:06.915Z,1750271586.915 [DAT](INFO): DAT read: user:1301>
2025-06-18T18:33:06.916Z,1750271586.916 [DAT](INFO): DAT read: Tx time:18:33:07.9414
2025-06-18T18:33:06.917Z,1750271586.917 [DAT](INFO): Ping request sent.
2025-06-18T18:33:06.917Z,1750271586.917 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:06.917Z,1750271586.917 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-06-18T18:33:06.918Z,1750271586.918 [DAT](INFO): direction in FSK: [-0.988332,0.065645,-0.137445]
2025-06-18T18:33:06.918Z,1750271586.918 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:06.919Z,1750271586.919 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:06.926Z,1750271586.926 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:06.926Z,1750271586.926 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:06.930Z,1750271586.930 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.012826
2025-06-18T18:33:06.995Z,1750271586.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 3.527577 s,
deltaX: 0.700001 m,
approachRate: 0.198437 m/s,
rangeRepo size: 4
2025-06-18T18:33:07.010Z,1750271587.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.330788 m,
bearing: 134.346601 deg,
lat: 36.905886 deg,
lon: -122.115765 deg,
deltaT: 3.527577 s,
deltaX: 0.693602 m,
approachRate: 0.196623 m/s,
posRepo size: 4
2025-06-18T18:33:07.010Z,1750271587.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-18T18:33:07.157Z,1750271587.157 [DAT](INFO): DAT read: TxSync time:18:33:07.9406
2025-06-18T18:33:07.158Z,1750271587.158 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.241137
2025-06-18T18:33:07.294Z,1750271587.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-18T18:33:07.409Z,1750271587.409 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.491956
2025-06-18T18:33:07.667Z,1750271587.667 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.750002
2025-06-18T18:33:07.739Z,1750271587.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-18T18:33:07.921Z,1750271587.921 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.003977
2025-06-18T18:33:08.117Z,1750271588.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-18T18:33:08.174Z,1750271588.174 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.257217
2025-06-18T18:33:08.425Z,1750271588.425 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.508025
2025-06-18T18:33:08.553Z,1750271588.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-18T18:33:08.677Z,1750271588.677 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.760299
2025-06-18T18:33:08.929Z,1750271588.929 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.012335
2025-06-18T18:33:08.947Z,1750271588.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-18T18:33:09.181Z,1750271589.181 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.264068
2025-06-18T18:33:09.316Z,1750271589.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-18T18:33:09.437Z,1750271589.437 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.520206
2025-06-18T18:33:09.685Z,1750271589.685 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.768064
2025-06-18T18:33:09.799Z,1750271589.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-18T18:33:09.937Z,1750271589.937 [DAT](INFO): DAT read: Rx Time:18:33:10.3708
2025-06-18T18:33:09.938Z,1750271589.938 [DAT](INFO): Rx dataTimestamp_ set to:1750271589.937246
2025-06-18T18:33:09.938Z,1750271589.938 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.021303
2025-06-18T18:33:10.129Z,1750271590.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-18T18:33:10.190Z,1750271590.190 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.272719
2025-06-18T18:33:10.447Z,1750271590.447 [DAT](INFO): DAT read: 18:33:10.3708 LVL= 29888, 25153, 28594, 32755, AGC= 65, IDX= 448, 0.34, 1.812,-2.559, 1.840, 2.301, PHS=-0.401, 1.469,-0.465, RAW= 331.7, -6.4, CAL= 334.1, -8.8, ROT= 175.9, 8.8
2025-06-18T18:33:10.448Z,1750271590.448 [DAT](INFO): got valid direction response:
18:33:10.3708 LVL= 29888, 25153, 28594, 32755, AGC= 65, IDX= 448, 0.34, 1.812,-2.559, 1.840, 2.301, PHS=-0.401, 1.469,-0.465, RAW= 331.7, -6.4, CAL= 334.1, -8.8, ROT= 175.9, 8.8
2025-06-18T18:33:10.449Z,1750271590.449 [DAT](INFO): DAT read: Bearing 175.9, 8.8 (Local)
2025-06-18T18:33:10.450Z,1750271590.450 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.9, 8.8 (Local)
2025-06-18T18:33:10.451Z,1750271590.451 [DAT](INFO): DAT read: Range 10 to 50 : 18.9 m (Round-trip 25.3 ms) speed -0.1 m/s
2025-06-18T18:33:10.452Z,1750271590.452 [DAT](INFO): DAT read: user:1302>
2025-06-18T18:33:10.453Z,1750271590.453 [DAT](INFO): DAT read: Tx time:18:33:11.4914
2025-06-18T18:33:10.453Z,1750271590.453 [DAT](INFO): Ping request sent.
2025-06-18T18:33:10.453Z,1750271590.453 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:10.453Z,1750271590.453 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-18T18:33:10.454Z,1750271590.454 [DAT](INFO): direction in FSK: [-0.985699,0.070656,-0.152986]
2025-06-18T18:33:10.455Z,1750271590.455 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:10.455Z,1750271590.455 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:10.458Z,1750271590.458 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:10.458Z,1750271590.458 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:10.462Z,1750271590.462 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.008549
2025-06-18T18:33:10.693Z,1750271590.693 [DAT](INFO): DAT read: TxSync time:18:33:11.4906
2025-06-18T18:33:10.694Z,1750271590.694 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.240658
2025-06-18T18:33:10.825Z,1750271590.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.900000 m,
deltaT: 3.536031 s,
deltaX: 0.400000 m,
approachRate: 0.113121 m/s,
rangeRepo size: 4
2025-06-18T18:33:10.827Z,1750271590.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.727207 m,
bearing: 134.123435 deg,
lat: 36.905886 deg,
lon: -122.115765 deg,
deltaT: 3.536031 s,
deltaX: 0.396420 m,
approachRate: 0.112109 m/s,
posRepo size: 4
2025-06-18T18:33:10.827Z,1750271590.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:33:10.945Z,1750271590.945 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.491706
2025-06-18T18:33:11.089Z,1750271591.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:33:11.198Z,1750271591.198 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.744514
2025-06-18T18:33:11.449Z,1750271591.449 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.995728
2025-06-18T18:33:11.530Z,1750271591.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:33:11.702Z,1750271591.702 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.248876
2025-06-18T18:33:11.953Z,1750271591.953 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.499991
2025-06-18T18:33:11.959Z,1750271591.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:33:12.205Z,1750271592.205 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.751703
2025-06-18T18:33:12.309Z,1750271592.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:33:12.457Z,1750271592.457 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.003627
2025-06-18T18:33:12.716Z,1750271592.716 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.262452
2025-06-18T18:33:12.747Z,1750271592.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:33:12.974Z,1750271592.974 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.520378
2025-06-18T18:33:13.102Z,1750271593.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:33:13.225Z,1750271593.225 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.771564
2025-06-18T18:33:13.477Z,1750271593.477 [DAT](INFO): DAT read: Rx Time:18:33:13.9218
2025-06-18T18:33:13.478Z,1750271593.478 [DAT](INFO): Rx dataTimestamp_ set to:1750271593.477353
2025-06-18T18:33:13.478Z,1750271593.478 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.025072
2025-06-18T18:33:13.535Z,1750271593.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:33:13.733Z,1750271593.733 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.279348
2025-06-18T18:33:13.942Z,1750271593.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:33:13.990Z,1750271593.990 [DAT](INFO): DAT read: 18:33:13.9218 LVL= 26320, 24721, 23026, 32755, AGC= 63, IDX= 442,-0.20,-1.620, 0.433,-1.551,-1.050, PHS=-0.482, 1.530,-0.503, RAW= 330.5, -5.4, CAL= 332.9, -7.5, ROT= 177.1, 7.5
2025-06-18T18:33:13.991Z,1750271593.991 [DAT](INFO): got valid direction response:
18:33:13.9218 LVL= 26320, 24721, 23026, 32755, AGC= 63, IDX= 442,-0.20,-1.620, 0.433,-1.551,-1.050, PHS=-0.482, 1.530,-0.503, RAW= 330.5, -5.4, CAL= 332.9, -7.5, ROT= 177.1, 7.5
2025-06-18T18:33:13.993Z,1750271593.993 [DAT](INFO): DAT read: Bearing 177.1, 7.5 (Local)
2025-06-18T18:33:13.993Z,1750271593.993 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.1, 7.5 (Local)
2025-06-18T18:33:13.995Z,1750271593.995 [DAT](INFO): DAT read: Range 10 to 50 : 19.7 m (Round-trip 26.3 ms) speed -0.2 m/s
2025-06-18T18:33:13.997Z,1750271593.997 [DAT](INFO): DAT read: user:1303>
2025-06-18T18:33:13.998Z,1750271593.998 [DAT](INFO): DAT read: Tx time:18:33:15.0414
2025-06-18T18:33:13.998Z,1750271593.998 [DAT](INFO): Ping request sent.
2025-06-18T18:33:13.998Z,1750271593.998 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:13.999Z,1750271593.999 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-06-18T18:33:14.000Z,1750271594.000 [DAT](INFO): direction in FSK: [-0.990175,0.050160,-0.130526]
2025-06-18T18:33:14.001Z,1750271594.001 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:14.001Z,1750271594.001 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:14.004Z,1750271594.004 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:14.004Z,1750271594.004 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:14.007Z,1750271594.007 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.009264
2025-06-18T18:33:14.234Z,1750271594.234 [DAT](INFO): DAT read: TxSync time:18:33:15.0406
2025-06-18T18:33:14.234Z,1750271594.234 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.236246
2025-06-18T18:33:14.335Z,1750271594.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.700001 m,
deltaT: 3.540368 s,
deltaX: 0.800001 m,
approachRate: 0.225966 m/s,
rangeRepo size: 4
2025-06-18T18:33:14.337Z,1750271594.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.519827 m,
bearing: 135.960118 deg,
lat: 36.905885 deg,
lon: -122.115765 deg,
deltaT: 3.540368 s,
deltaX: 0.792620 m,
approachRate: 0.223881 m/s,
posRepo size: 4
2025-06-18T18:33:14.338Z,1750271594.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.52 m.
2025-06-18T18:33:14.485Z,1750271594.485 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.486622
2025-06-18T18:33:14.737Z,1750271594.737 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.738675
2025-06-18T18:33:14.788Z,1750271594.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.52 m.
2025-06-18T18:33:14.989Z,1750271594.989 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.990580
2025-06-18T18:33:15.120Z,1750271595.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.52 m.
2025-06-18T18:33:15.241Z,1750271595.241 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.242651
2025-06-18T18:33:15.493Z,1750271595.493 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.494557
2025-06-18T18:33:15.535Z,1750271595.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.52 m.
2025-06-18T18:33:15.749Z,1750271595.749 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.750585
2025-06-18T18:33:15.960Z,1750271595.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.52 m.
2025-06-18T18:33:15.998Z,1750271595.998 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.999369
2025-06-18T18:33:16.249Z,1750271596.249 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.250625
2025-06-18T18:33:16.358Z,1750271596.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.52 m.
2025-06-18T18:33:16.501Z,1750271596.501 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.502530
2025-06-18T18:33:16.755Z,1750271596.755 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.756653
2025-06-18T18:33:16.801Z,1750271596.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.52 m.
2025-06-18T18:33:17.008Z,1750271597.008 [DAT](INFO): DAT read: Rx Time:18:33:17.4726
2025-06-18T18:33:17.009Z,1750271597.009 [DAT](INFO): Rx dataTimestamp_ set to:1750271597.008617
2025-06-18T18:33:17.009Z,1750271597.009 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.011316
2025-06-18T18:33:17.148Z,1750271597.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.52 m.
2025-06-18T18:33:17.257Z,1750271597.257 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.258630
2025-06-18T18:33:17.525Z,1750271597.525 [DAT](INFO): DAT read: 18:33:17.4727 LVL= 29008, 24897, 27586, 32755, AGC= 64, IDX= 434,-0.12, 0.418, 2.362, 0.482, 0.940, PHS=-0.434, 1.469,-0.461, RAW= 330.7, -6.1, CAL= 333.2, -8.4, ROT= 176.8, 8.4
2025-06-18T18:33:17.526Z,1750271597.526 [DAT](INFO): got valid direction response:
18:33:17.4727 LVL= 29008, 24897, 27586, 32755, AGC= 64, IDX= 434,-0.12, 0.418, 2.362, 0.482, 0.940, PHS=-0.434, 1.469,-0.461, RAW= 330.7, -6.1, CAL= 333.2, -8.4, ROT= 176.8, 8.4
2025-06-18T18:33:17.527Z,1750271597.527 [DAT](INFO): DAT read: Bearing 176.8, 8.4 (Local)
2025-06-18T18:33:17.533Z,1750271597.533 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.8, 8.4 (Local)
2025-06-18T18:33:17.534Z,1750271597.534 [DAT](INFO): DAT read: Range 10 to 50 : 20.3 m (Round-trip 27.1 ms) speed 0.0 m/s
2025-06-18T18:33:17.535Z,1750271597.535 [DAT](INFO): DAT read: user:1304>
2025-06-18T18:33:17.536Z,1750271597.536 [DAT](INFO): DAT read: Tx time:18:33:18.5915
2025-06-18T18:33:17.536Z,1750271597.536 [DAT](INFO): Ping request sent.
2025-06-18T18:33:17.537Z,1750271597.537 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:17.537Z,1750271597.537 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-06-18T18:33:17.538Z,1750271597.538 [DAT](INFO): direction in FSK: [-0.987730,0.055223,-0.146083]
2025-06-18T18:33:17.538Z,1750271597.538 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:17.538Z,1750271597.538 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:17.562Z,1750271597.562 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:17.562Z,1750271597.562 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:17.574Z,1750271597.574 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.036990
2025-06-18T18:33:17.638Z,1750271597.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.299999 m,
deltaT: 3.527632 s,
deltaX: 0.599998 m,
approachRate: 0.170085 m/s,
rangeRepo size: 4
2025-06-18T18:33:17.648Z,1750271597.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.114338 m,
bearing: 135.380272 deg,
lat: 36.905886 deg,
lon: -122.115764 deg,
deltaT: 3.527632 s,
deltaX: 0.594511 m,
approachRate: 0.168530 m/s,
posRepo size: 4
2025-06-18T18:33:17.648Z,1750271597.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.11 m.
2025-06-18T18:33:17.764Z,1750271597.764 [DAT](INFO): DAT read: TxSync time:18:33:18.5907
2025-06-18T18:33:17.766Z,1750271597.766 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.229365
2025-06-18T18:33:17.995Z,1750271597.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.11 m.
2025-06-18T18:33:18.013Z,1750271598.013 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.476378
2025-06-18T18:33:18.267Z,1750271598.267 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.730590
2025-06-18T18:33:18.354Z,1750271598.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.11 m.
2025-06-18T18:33:18.521Z,1750271598.521 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.984204
2025-06-18T18:33:18.775Z,1750271598.775 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.238273
2025-06-18T18:33:18.829Z,1750271598.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.11 m.
2025-06-18T18:33:19.026Z,1750271599.026 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.489027
2025-06-18T18:33:19.172Z,1750271599.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.11 m.
2025-06-18T18:33:19.277Z,1750271599.277 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.740200
2025-06-18T18:33:19.529Z,1750271599.529 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.992228
2025-06-18T18:33:19.581Z,1750271599.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.11 m.
2025-06-18T18:33:19.783Z,1750271599.783 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.246059
2025-06-18T18:33:19.973Z,1750271599.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.11 m.
2025-06-18T18:33:20.033Z,1750271600.033 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.496712
2025-06-18T18:33:20.285Z,1750271600.285 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.748216
2025-06-18T18:33:20.385Z,1750271600.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.11 m.
2025-06-18T18:33:20.537Z,1750271600.537 [DAT](INFO): DAT read: Rx Time:18:33:21.0232
2025-06-18T18:33:20.537Z,1750271600.537 [DAT](INFO): Rx dataTimestamp_ set to:1750271600.537072
2025-06-18T18:33:20.538Z,1750271600.538 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.001353
2025-06-18T18:33:20.791Z,1750271600.791 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.254156
2025-06-18T18:33:20.905Z,1750271600.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.11 m.
2025-06-18T18:33:21.048Z,1750271601.048 [DAT](INFO): DAT read: 18:33:21.0232 LVL= 24928, 24497, 22898, 32755, AGC= 66, IDX= 439, 0.30,-1.674, 0.259,-1.596,-1.159, PHS=-0.426, 1.465,-0.440, RAW= 330.3, -6.4, CAL= 332.9, -8.8, ROT= 177.1, 8.8
2025-06-18T18:33:21.050Z,1750271601.050 [DAT](INFO): got valid direction response:
18:33:21.0232 LVL= 24928, 24497, 22898, 32755, AGC= 66, IDX= 439, 0.30,-1.674, 0.259,-1.596,-1.159, PHS=-0.426, 1.465,-0.440, RAW= 330.3, -6.4, CAL= 332.9, -8.8, ROT= 177.1, 8.8
2025-06-18T18:33:21.051Z,1750271601.051 [DAT](INFO): DAT read: Bearing 177.1, 8.8 (Local)
2025-06-18T18:33:21.052Z,1750271601.052 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.1, 8.8 (Local)
2025-06-18T18:33:21.054Z,1750271601.054 [DAT](INFO): DAT read: Range 10 to 50 : 20.7 m (Round-trip 27.6 ms) speed 0.0 m/s
2025-06-18T18:33:21.055Z,1750271601.055 [DAT](INFO): DAT read: user:1305>
2025-06-18T18:33:21.056Z,1750271601.056 [DAT](INFO): DAT read: Tx time:18:33:22.1415
2025-06-18T18:33:21.056Z,1750271601.056 [DAT](INFO): Ping request sent.
2025-06-18T18:33:21.056Z,1750271601.056 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:21.057Z,1750271601.057 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-06-18T18:33:21.058Z,1750271601.058 [DAT](INFO): direction in FSK: [-0.986963,0.049997,-0.152986]
2025-06-18T18:33:21.058Z,1750271601.058 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:21.058Z,1750271601.058 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:21.062Z,1750271601.062 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:21.062Z,1750271601.062 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:21.066Z,1750271601.066 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.009097
2025-06-18T18:33:21.257Z,1750271601.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.700001 m,
deltaT: 3.531984 s,
deltaX: 0.400002 m,
approachRate: 0.113251 m/s,
rangeRepo size: 4
2025-06-18T18:33:21.259Z,1750271601.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.510710 m,
bearing: 135.601627 deg,
lat: 36.905886 deg,
lon: -122.115764 deg,
deltaT: 3.531984 s,
deltaX: 0.396372 m,
approachRate: 0.112224 m/s,
posRepo size: 4
2025-06-18T18:33:21.264Z,1750271601.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:33:21.293Z,1750271601.293 [DAT](INFO): DAT read: TxSync time:18:33:22.1407
2025-06-18T18:33:21.294Z,1750271601.294 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.237395
2025-06-18T18:33:21.545Z,1750271601.545 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.488268
2025-06-18T18:33:21.646Z,1750271601.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:33:21.800Z,1750271601.800 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.742892
2025-06-18T18:33:22.033Z,1750271602.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:33:22.049Z,1750271602.049 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.992401
2025-06-18T18:33:22.301Z,1750271602.301 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.244367
2025-06-18T18:33:22.423Z,1750271602.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:33:22.553Z,1750271602.553 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.496542
2025-06-18T18:33:22.807Z,1750271602.807 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.750368
2025-06-18T18:33:22.915Z,1750271602.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:33:23.057Z,1750271603.057 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.000224
2025-06-18T18:33:23.221Z,1750271603.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:33:23.309Z,1750271603.309 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.252285
2025-06-18T18:33:23.561Z,1750271603.561 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.504376
2025-06-18T18:33:23.630Z,1750271603.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:33:23.815Z,1750271603.815 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.758499
2025-06-18T18:33:24.065Z,1750271604.065 [DAT](INFO): DAT read: Rx Time:18:33:24.5739
2025-06-18T18:33:24.065Z,1750271604.065 [DAT](INFO): Rx dataTimestamp_ set to:1750271604.065061
2025-06-18T18:33:24.066Z,1750271604.066 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.009421
2025-06-18T18:33:24.146Z,1750271604.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:33:24.317Z,1750271604.317 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.260560
2025-06-18T18:33:24.535Z,1750271604.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:33:24.575Z,1750271604.575 [DAT](INFO): DAT read: 18:33:24.5739 LVL= 27088, 18033, 21746, 32755, AGC= 64, IDX= 446,-0.25, 0.842, 2.824, 0.883, 1.355, PHS=-0.425, 1.516,-0.476, RAW= 331.3, -6.3, CAL= 333.7, -8.7, ROT= 176.3, 8.7
2025-06-18T18:33:24.577Z,1750271604.577 [DAT](INFO): got valid direction response:
18:33:24.5739 LVL= 27088, 18033, 21746, 32755, AGC= 64, IDX= 446,-0.25, 0.842, 2.824, 0.883, 1.355, PHS=-0.425, 1.516,-0.476, RAW= 331.3, -6.3, CAL= 333.7, -8.7, ROT= 176.3, 8.7
2025-06-18T18:33:24.578Z,1750271604.578 [DAT](INFO): DAT read: Bearing 176.3, 8.7 (Local)
2025-06-18T18:33:24.579Z,1750271604.579 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.3, 8.7 (Local)
2025-06-18T18:33:24.581Z,1750271604.581 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m (Round-trip 28.3 ms) speed -0.1 m/s
2025-06-18T18:33:24.582Z,1750271604.582 [DAT](INFO): DAT read: user:1306>
2025-06-18T18:33:24.583Z,1750271604.583 [DAT](INFO): DAT read: Tx time:18:33:25.6915
2025-06-18T18:33:24.583Z,1750271604.583 [DAT](INFO): Ping request sent.
2025-06-18T18:33:24.583Z,1750271604.583 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:24.585Z,1750271604.585 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-06-18T18:33:24.587Z,1750271604.587 [DAT](INFO): direction in FSK: [-0.986434,0.063790,-0.151261]
2025-06-18T18:33:24.587Z,1750271604.587 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:24.587Z,1750271604.587 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:24.597Z,1750271604.597 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:24.597Z,1750271604.597 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:24.614Z,1750271604.614 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.031015
2025-06-18T18:33:24.825Z,1750271604.825 [DAT](INFO): DAT read: TxSync time:18:33:25.6907
2025-06-18T18:33:24.831Z,1750271604.831 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.244151
2025-06-18T18:33:24.970Z,1750271604.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.200001 m,
deltaT: 3.528086 s,
deltaX: 0.500000 m,
approachRate: 0.141720 m/s,
rangeRepo size: 4
2025-06-18T18:33:24.973Z,1750271604.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.006170 m,
bearing: 134.790707 deg,
lat: 36.905886 deg,
lon: -122.115764 deg,
deltaT: 3.528086 s,
deltaX: 0.495461 m,
approachRate: 0.140433 m/s,
posRepo size: 4
2025-06-18T18:33:24.973Z,1750271604.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.01 m.
2025-06-18T18:33:25.077Z,1750271605.077 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.493782
2025-06-18T18:33:25.329Z,1750271605.329 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.745429
2025-06-18T18:33:25.340Z,1750271605.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.01 m.
2025-06-18T18:33:25.584Z,1750271605.584 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.000621
2025-06-18T18:33:25.655Z,1750271605.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.01 m.
2025-06-18T18:33:25.837Z,1750271605.837 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.253591
2025-06-18T18:33:26.081Z,1750271606.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.01 m.
2025-06-18T18:33:26.089Z,1750271606.089 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.505596
2025-06-18T18:33:26.341Z,1750271606.341 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.757481
2025-06-18T18:33:26.452Z,1750271606.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.01 m.
2025-06-18T18:33:26.593Z,1750271606.593 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.009553
2025-06-18T18:33:26.847Z,1750271606.847 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.263754
2025-06-18T18:33:26.927Z,1750271606.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.01 m.
2025-06-18T18:33:27.097Z,1750271607.097 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.513462
2025-06-18T18:33:27.321Z,1750271607.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.01 m.
2025-06-18T18:33:27.352Z,1750271607.352 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.768272
2025-06-18T18:33:27.601Z,1750271607.601 [DAT](INFO): DAT read: Rx Time:18:33:28.1244
2025-06-18T18:33:27.601Z,1750271607.601 [DAT](INFO): Rx dataTimestamp_ set to:1750271607.600962
2025-06-18T18:33:27.602Z,1750271607.602 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.018528
2025-06-18T18:33:27.664Z,1750271607.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.01 m.
2025-06-18T18:33:27.855Z,1750271607.855 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.271937
2025-06-18T18:33:28.111Z,1750271608.111 [DAT](INFO): DAT read: 18:33:28.1244 LVL= 25312, 29361, 25586, 32755, AGC= 65, IDX= 435, 0.27, 0.805, 2.770, 0.878, 1.332, PHS=-0.439, 1.485,-0.456, RAW= 330.4, -6.2, CAL= 332.9, -8.5, ROT= 177.1, 8.5
2025-06-18T18:33:28.112Z,1750271608.112 [DAT](INFO): got valid direction response:
18:33:28.1244 LVL= 25312, 29361, 25586, 32755, AGC= 65, IDX= 435, 0.27, 0.805, 2.770, 0.878, 1.332, PHS=-0.439, 1.485,-0.456, RAW= 330.4, -6.2, CAL= 332.9, -8.5, ROT= 177.1, 8.5
2025-06-18T18:33:28.113Z,1750271608.113 [DAT](INFO): DAT read: Bearing 177.1, 8.5 (Local)
2025-06-18T18:33:28.113Z,1750271608.113 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.1, 8.5 (Local)
2025-06-18T18:33:28.115Z,1750271608.115 [DAT](INFO): DAT read: Range 10 to 50 : 21.6 m (Round-trip 28.8 ms) speed 0.0 m/s
2025-06-18T18:33:28.116Z,1750271608.116 [DAT](INFO): DAT read: user:1307>
2025-06-18T18:33:28.116Z,1750271608.116 [DAT](INFO): DAT read: Tx time:18:33:29.2415
2025-06-18T18:33:28.117Z,1750271608.117 [DAT](INFO): Ping request sent.
2025-06-18T18:33:28.117Z,1750271608.117 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:28.117Z,1750271608.117 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-06-18T18:33:28.118Z,1750271608.118 [DAT](INFO): direction in FSK: [-0.987749,0.050037,-0.147809]
2025-06-18T18:33:28.118Z,1750271608.118 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:28.119Z,1750271608.119 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:28.126Z,1750271608.126 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:28.126Z,1750271608.126 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:28.134Z,1750271608.134 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.016778
2025-06-18T18:33:28.186Z,1750271608.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.600000 m,
deltaT: 3.536014 s,
deltaX: 0.400000 m,
approachRate: 0.113122 m/s,
rangeRepo size: 4
2025-06-18T18:33:28.213Z,1750271608.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.402514 m,
bearing: 135.807676 deg,
lat: 36.905885 deg,
lon: -122.115763 deg,
deltaT: 3.536014 s,
deltaX: 0.396343 m,
approachRate: 0.112088 m/s,
posRepo size: 4
2025-06-18T18:33:28.213Z,1750271608.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:33:28.357Z,1750271608.357 [DAT](INFO): DAT read: TxSync time:18:33:29.2407
2025-06-18T18:33:28.358Z,1750271608.358 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.241419
2025-06-18T18:33:28.496Z,1750271608.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:33:28.609Z,1750271608.609 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.492314
2025-06-18T18:33:28.861Z,1750271608.861 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.744293
2025-06-18T18:33:28.950Z,1750271608.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:33:29.113Z,1750271609.113 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.995951
2025-06-18T18:33:29.305Z,1750271609.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:33:29.365Z,1750271609.365 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.248095
2025-06-18T18:33:29.617Z,1750271609.617 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.500014
2025-06-18T18:33:29.624Z,1750271609.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:33:29.710Z,1750271609.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:33:29.869Z,1750271609.869 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.752567
2025-06-18T18:33:30.121Z,1750271610.121 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.004082
2025-06-18T18:33:30.131Z,1750271610.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:33:30.373Z,1750271610.373 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.256053
2025-06-18T18:33:30.494Z,1750271610.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:33:30.629Z,1750271610.629 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:33:30.631Z,1750271610.631 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.514293
2025-06-18T18:33:30.878Z,1750271610.878 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.760735
2025-06-18T18:33:30.977Z,1750271610.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:33:31.129Z,1750271611.129 [DAT](INFO): DAT read: Rx Time:18:33:31.6748
2025-06-18T18:33:31.129Z,1750271611.129 [DAT](INFO): Rx dataTimestamp_ set to:1750271611.129089
2025-06-18T18:33:31.130Z,1750271611.130 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.013120
2025-06-18T18:33:31.326Z,1750271611.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:33:31.381Z,1750271611.381 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.264173
2025-06-18T18:33:31.639Z,1750271611.639 [DAT](INFO): DAT read: 18:33:31.6748 LVL= 30832, 25009, 24946, 32755, AGC= 67, IDX= 439,-0.04, 2.731,-1.606, 2.832,-3.048, PHS=-0.416, 1.489,-0.406, RAW= 329.7, -7.1, CAL= 332.4, -9.7, ROT= 177.6, 9.7
2025-06-18T18:33:31.640Z,1750271611.640 [DAT](INFO): got valid direction response:
18:33:31.6748 LVL= 30832, 25009, 24946, 32755, AGC= 67, IDX= 439,-0.04, 2.731,-1.606, 2.832,-3.048, PHS=-0.416, 1.489,-0.406, RAW= 329.7, -7.1, CAL= 332.4, -9.7, ROT= 177.6, 9.7
2025-06-18T18:33:31.641Z,1750271611.641 [DAT](INFO): DAT read: Bearing 177.6, 9.7 (Local)
2025-06-18T18:33:31.641Z,1750271611.641 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.6, 9.7 (Local)
2025-06-18T18:33:31.643Z,1750271611.643 [DAT](INFO): DAT read: Range 10 to 50 : 21.8 m (Round-trip 29.1 ms) speed 0.0 m/s
2025-06-18T18:33:31.643Z,1750271611.643 [DAT](INFO): DAT read: user:1308>
2025-06-18T18:33:31.644Z,1750271611.644 [DAT](INFO): DAT read: Tx time:18:33:32.7915
2025-06-18T18:33:31.644Z,1750271611.644 [DAT](INFO): Ping request sent.
2025-06-18T18:33:31.645Z,1750271611.645 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:31.645Z,1750271611.645 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-06-18T18:33:31.646Z,1750271611.646 [DAT](INFO): direction in FSK: [-0.984839,0.041277,-0.168489]
2025-06-18T18:33:31.646Z,1750271611.646 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:31.646Z,1750271611.646 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:31.658Z,1750271611.658 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:31.658Z,1750271611.658 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:31.661Z,1750271611.661 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.016603
2025-06-18T18:33:31.746Z,1750271611.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.799999 m,
deltaT: 3.527978 s,
deltaX: 0.199999 m,
approachRate: 0.056689 m/s,
rangeRepo size: 4
2025-06-18T18:33:31.752Z,1750271611.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.600718 m,
bearing: 135.988347 deg,
lat: 36.905886 deg,
lon: -122.115763 deg,
deltaT: 3.527978 s,
deltaX: 0.198204 m,
approachRate: 0.056181 m/s,
posRepo size: 4
2025-06-18T18:33:31.753Z,1750271611.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.60 m.
2025-06-18T18:33:31.886Z,1750271611.886 [DAT](INFO): DAT read: TxSync time:18:33:32.7907
2025-06-18T18:33:31.887Z,1750271611.887 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.242305
2025-06-18T18:33:32.137Z,1750271612.137 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.492242
2025-06-18T18:33:32.153Z,1750271612.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.60 m.
2025-06-18T18:33:32.389Z,1750271612.389 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.744497
2025-06-18T18:33:32.514Z,1750271612.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.60 m.
2025-06-18T18:33:32.641Z,1750271612.641 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.996264
2025-06-18T18:33:32.898Z,1750271612.898 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.253006
2025-06-18T18:33:33.004Z,1750271613.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.60 m.
2025-06-18T18:33:33.149Z,1750271613.149 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.504224
2025-06-18T18:33:33.346Z,1750271613.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.60 m.
2025-06-18T18:33:33.402Z,1750271613.402 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.756899
2025-06-18T18:33:33.653Z,1750271613.653 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.008184
2025-06-18T18:33:33.733Z,1750271613.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.60 m.
2025-06-18T18:33:33.905Z,1750271613.905 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.260554
2025-06-18T18:33:34.151Z,1750271614.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.60 m.
2025-06-18T18:33:34.157Z,1750271614.157 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.512305
2025-06-18T18:33:34.409Z,1750271614.409 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.764177
2025-06-18T18:33:34.543Z,1750271614.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.60 m.
2025-06-18T18:33:34.661Z,1750271614.661 [DAT](INFO): DAT read: Rx Time:18:33:35.2253
2025-06-18T18:33:34.661Z,1750271614.661 [DAT](INFO): Rx dataTimestamp_ set to:1750271614.661000
2025-06-18T18:33:34.662Z,1750271614.662 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.017247
2025-06-18T18:33:34.913Z,1750271614.913 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.268254
2025-06-18T18:33:34.955Z,1750271614.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.60 m.
2025-06-18T18:33:35.177Z,1750271615.177 [DAT](INFO): DAT read: 18:33:35.2253 LVL= 26656, 21409, 21586, 32755, AGC= 65, IDX= 443, 0.49,-1.888, 0.166,-1.782,-1.327, PHS=-0.473, 1.540,-0.458, RAW= 329.6, -6.1, CAL= 332.2, -8.5, ROT= 177.8, 8.5
2025-06-18T18:33:35.178Z,1750271615.178 [DAT](INFO): got valid direction response:
18:33:35.2253 LVL= 26656, 21409, 21586, 32755, AGC= 65, IDX= 443, 0.49,-1.888, 0.166,-1.782,-1.327, PHS=-0.473, 1.540,-0.458, RAW= 329.6, -6.1, CAL= 332.2, -8.5, ROT= 177.8, 8.5
2025-06-18T18:33:35.179Z,1750271615.179 [DAT](INFO): DAT read: Bearing 177.8, 8.5 (Local)
2025-06-18T18:33:35.179Z,1750271615.179 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.8, 8.5 (Local)
2025-06-18T18:33:35.181Z,1750271615.181 [DAT](INFO): DAT read: Range 10 to 50 : 22.2 m (Round-trip 29.6 ms) speed 0.0 m/s
2025-06-18T18:33:35.181Z,1750271615.181 [DAT](INFO): DAT read: user:1309>
2025-06-18T18:33:35.182Z,1750271615.182 [DAT](INFO): DAT read: Tx time:18:33:36.3416
2025-06-18T18:33:35.182Z,1750271615.182 [DAT](INFO): Ping request sent.
2025-06-18T18:33:35.183Z,1750271615.183 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:35.183Z,1750271615.183 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-06-18T18:33:35.184Z,1750271615.184 [DAT](INFO): direction in FSK: [-0.988287,0.037966,-0.147809]
2025-06-18T18:33:35.184Z,1750271615.184 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:35.185Z,1750271615.185 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:35.192Z,1750271615.192 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:35.193Z,1750271615.193 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:35.196Z,1750271615.196 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.013313
2025-06-18T18:33:35.417Z,1750271615.417 [DAT](INFO): DAT read: TxSync time:18:33:36.3408
2025-06-18T18:33:35.418Z,1750271615.418 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.235434
2025-06-18T18:33:35.423Z,1750271615.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.200001 m,
deltaT: 3.534055 s,
deltaX: 0.400002 m,
approachRate: 0.113185 m/s,
rangeRepo size: 4
2025-06-18T18:33:35.429Z,1750271615.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.997049 m,
bearing: 136.299870 deg,
lat: 36.905885 deg,
lon: -122.115763 deg,
deltaT: 3.534055 s,
deltaX: 0.396332 m,
approachRate: 0.112146 m/s,
posRepo size: 4
2025-06-18T18:33:35.430Z,1750271615.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:33:35.669Z,1750271615.669 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.486135
2025-06-18T18:33:35.751Z,1750271615.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:33:35.921Z,1750271615.921 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.738102
2025-06-18T18:33:36.173Z,1750271616.173 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.990575
2025-06-18T18:33:36.184Z,1750271616.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:33:36.425Z,1750271616.425 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.242200
2025-06-18T18:33:36.581Z,1750271616.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:33:36.677Z,1750271616.677 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.494553
2025-06-18T18:33:36.931Z,1750271616.931 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.748129
2025-06-18T18:33:36.972Z,1750271616.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:33:37.185Z,1750271617.185 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.002293
2025-06-18T18:33:37.437Z,1750271617.437 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.254200
2025-06-18T18:33:37.478Z,1750271617.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:33:37.689Z,1750271617.689 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.506393
2025-06-18T18:33:37.796Z,1750271617.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:33:37.941Z,1750271617.941 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.758129
2025-06-18T18:33:38.193Z,1750271618.193 [DAT](INFO): DAT read: Rx Time:18:33:38.7758
2025-06-18T18:33:38.194Z,1750271618.194 [DAT](INFO): Rx dataTimestamp_ set to:1750271618.193238
2025-06-18T18:33:38.194Z,1750271618.194 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.011428
2025-06-18T18:33:38.214Z,1750271618.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:33:38.445Z,1750271618.445 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.262417
2025-06-18T18:33:38.600Z,1750271618.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:33:38.724Z,1750271618.724 [DAT](INFO): DAT read: 18:33:38.7758 LVL= 28816, 22609, 23794, 32755, AGC= 67, IDX= 449,-0.40, 2.187,-2.119, 2.217, 2.664, PHS=-0.389, 1.547,-0.450, RAW= 331.5, -7.3, CAL= 334.1, -10.0, ROT= 175.9, 10.0
2025-06-18T18:33:38.725Z,1750271618.725 [DAT](INFO): got valid direction response:
18:33:38.7758 LVL= 28816, 22609, 23794, 32755, AGC= 67, IDX= 449,-0.40, 2.187,-2.119, 2.217, 2.664, PHS=-0.389, 1.547,-0.450, RAW= 331.5, -7.3, CAL= 334.1, -10.0, ROT= 175.9, 10.0
2025-06-18T18:33:38.726Z,1750271618.726 [DAT](INFO): DAT read: Bearing 175.9, 10.0 (Local)
2025-06-18T18:33:38.727Z,1750271618.727 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.9, 10.0 (Local)
2025-06-18T18:33:38.732Z,1750271618.732 [DAT](INFO): DAT read: Range 10 to 50 : 22.5 m (Round-trip 30.1 ms) speed 0.0 m/s
2025-06-18T18:33:38.733Z,1750271618.733 [DAT](INFO): DAT read: user:1310>
2025-06-18T18:33:38.734Z,1750271618.734 [DAT](INFO): DAT read: Tx time:18:33:39.8916
2025-06-18T18:33:38.734Z,1750271618.734 [DAT](INFO): Ping request sent.
2025-06-18T18:33:38.734Z,1750271618.734 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:38.735Z,1750271618.735 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-06-18T18:33:38.744Z,1750271618.744 [DAT](INFO): direction in FSK: [-0.982287,0.070411,-0.173648]
2025-06-18T18:33:38.745Z,1750271618.745 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:38.745Z,1750271618.745 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:38.756Z,1750271618.756 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:38.757Z,1750271618.757 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:38.768Z,1750271618.768 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.033642
2025-06-18T18:33:38.949Z,1750271618.949 [DAT](INFO): DAT read: TxSync time:18:33:39.8908
2025-06-18T18:33:38.950Z,1750271618.950 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.215253
2025-06-18T18:33:39.015Z,1750271619.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.500000 m,
deltaT: 3.531892 s,
deltaX: 0.299999 m,
approachRate: 0.084940 m/s,
rangeRepo size: 4
2025-06-18T18:33:39.038Z,1750271619.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.294369 m,
bearing: 134.259516 deg,
lat: 36.905886 deg,
lon: -122.115762 deg,
deltaT: 3.531892 s,
deltaX: 0.297319 m,
approachRate: 0.084181 m/s,
posRepo size: 4
2025-06-18T18:33:39.039Z,1750271619.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m.
2025-06-18T18:33:39.201Z,1750271619.201 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.466452
2025-06-18T18:33:39.405Z,1750271619.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:33:39.407Z,1750271619.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m.
2025-06-18T18:33:39.453Z,1750271619.453 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.718752
2025-06-18T18:33:39.707Z,1750271619.707 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.972706
2025-06-18T18:33:39.798Z,1750271619.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m.
2025-06-18T18:33:39.957Z,1750271619.957 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.222298
2025-06-18T18:33:40.209Z,1750271620.209 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.474523
2025-06-18T18:33:40.236Z,1750271620.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m.
2025-06-18T18:33:40.461Z,1750271620.461 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.727011
2025-06-18T18:33:40.595Z,1750271620.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m.
2025-06-18T18:33:40.713Z,1750271620.713 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.978316
2025-06-18T18:33:40.965Z,1750271620.965 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.230356
2025-06-18T18:33:41.003Z,1750271621.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m.
2025-06-18T18:33:41.217Z,1750271621.217 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.482344
2025-06-18T18:33:41.439Z,1750271621.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m.
2025-06-18T18:33:41.469Z,1750271621.469 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.734698
2025-06-18T18:33:41.721Z,1750271621.721 [DAT](INFO): DAT read: Rx Time:18:33:42.3261
2025-06-18T18:33:41.722Z,1750271621.722 [DAT](INFO): Rx dataTimestamp_ set to:1750271621.721489
2025-06-18T18:33:41.722Z,1750271621.722 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.987919
2025-06-18T18:33:41.818Z,1750271621.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m.
2025-06-18T18:33:41.973Z,1750271621.973 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.238339
2025-06-18T18:33:42.231Z,1750271622.231 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.496077
2025-06-18T18:33:42.310Z,1750271622.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m.
2025-06-18T18:33:42.483Z,1750271622.483 [DAT](INFO): DAT read: 18:33:42.3261 LVL= 30016, 27345, 24418, 32755, AGC= 65, IDX= 452,-0.04,-2.932,-1.057,-2.935,-2.500, PHS=-0.344, 1.491,-0.437, RAW= 332.5, -7.6, CAL= 335.0, -10.4, ROT= 175.0, 10.4
2025-06-18T18:33:42.484Z,1750271622.484 [DAT](INFO): got valid direction response:
18:33:42.3261 LVL= 30016, 27345, 24418, 32755, AGC= 65, IDX= 452,-0.04,-2.932,-1.057,-2.935,-2.500, PHS=-0.344, 1.491,-0.437, RAW= 332.5, -7.6, CAL= 335.0, -10.4, ROT= 175.0, 10.4
2025-06-18T18:33:42.485Z,1750271622.485 [DAT](INFO): DAT read: Bearing 175.0, 10.4 (Local)
2025-06-18T18:33:42.485Z,1750271622.485 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.0, 10.4 (Local)
2025-06-18T18:33:42.487Z,1750271622.487 [DAT](INFO): DAT read: Range 10 to 50 : 22.8 m (Round-trip 30.4 ms) speed 0.0 m/s
2025-06-18T18:33:42.488Z,1750271622.488 [DAT](INFO): DAT read: user:1311>
2025-06-18T18:33:42.489Z,1750271622.489 [DAT](INFO): DAT read: Tx time:18:33:43.4416
2025-06-18T18:33:42.489Z,1750271622.489 [DAT](INFO): Ping request sent.
2025-06-18T18:33:42.489Z,1750271622.489 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:42.490Z,1750271622.490 [DAT](INFO): DAT read: TxSync time:18:33:43.4408
2025-06-18T18:33:42.490Z,1750271622.490 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-06-18T18:33:42.491Z,1750271622.491 [DAT](INFO): direction in FSK: [-0.979829,0.085724,-0.180519]
2025-06-18T18:33:42.491Z,1750271622.491 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:42.492Z,1750271622.492 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:42.495Z,1750271622.495 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:42.495Z,1750271622.495 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:42.498Z,1750271622.498 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.009261
2025-06-18T18:33:42.647Z,1750271622.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.799999 m,
deltaT: 3.777940 s,
deltaX: 0.299999 m,
approachRate: 0.079408 m/s,
rangeRepo size: 4
2025-06-18T18:33:42.653Z,1750271622.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.591589 m,
bearing: 133.603933 deg,
lat: 36.905886 deg,
lon: -122.115762 deg,
deltaT: 3.777940 s,
deltaX: 0.297220 m,
approachRate: 0.078673 m/s,
posRepo size: 4
2025-06-18T18:33:42.654Z,1750271622.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:42.729Z,1750271622.729 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.239688
2025-06-18T18:33:42.981Z,1750271622.981 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.491626
2025-06-18T18:33:43.017Z,1750271623.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:43.233Z,1750271623.233 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.743657
2025-06-18T18:33:43.440Z,1750271623.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:43.485Z,1750271623.485 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.995761
2025-06-18T18:33:43.737Z,1750271623.737 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.247905
2025-06-18T18:33:43.833Z,1750271623.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:43.989Z,1750271623.989 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.499771
2025-06-18T18:33:44.241Z,1750271624.241 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.751718
2025-06-18T18:33:44.259Z,1750271624.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:44.493Z,1750271624.493 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.003677
2025-06-18T18:33:44.639Z,1750271624.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:44.745Z,1750271624.745 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.255711
2025-06-18T18:33:44.997Z,1750271624.997 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.507656
2025-06-18T18:33:45.059Z,1750271625.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:45.249Z,1750271625.249 [DAT](INFO): DAT read: Rx Time:18:33:45.8763
2025-06-18T18:33:45.249Z,1750271625.249 [DAT](INFO): Rx dataTimestamp_ set to:1750271625.248968
2025-06-18T18:33:45.250Z,1750271625.250 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.760672
2025-06-18T18:33:45.467Z,1750271625.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:45.501Z,1750271625.501 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.011654
2025-06-18T18:33:45.753Z,1750271625.753 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.263655
2025-06-18T18:33:45.867Z,1750271625.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:46.011Z,1750271626.011 [DAT](INFO): DAT read: 18:33:45.8763 LVL= 21552, 16817, 23682, 30819, AGC= 63, IDX= 437, 0.29,-0.289, 1.774,-0.209, 0.232, PHS=-0.433, 1.589,-0.444, RAW= 330.3, -7.1, CAL= 332.9, -9.7, ROT= 177.1, 9.7
2025-06-18T18:33:46.012Z,1750271626.012 [DAT](INFO): got valid direction response:
18:33:45.8763 LVL= 21552, 16817, 23682, 30819, AGC= 63, IDX= 437, 0.29,-0.289, 1.774,-0.209, 0.232, PHS=-0.433, 1.589,-0.444, RAW= 330.3, -7.1, CAL= 332.9, -9.7, ROT= 177.1, 9.7
2025-06-18T18:33:46.013Z,1750271626.013 [DAT](INFO): DAT read: Bearing 177.1, 9.7 (Local)
2025-06-18T18:33:46.013Z,1750271626.013 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.1, 9.7 (Local)
2025-06-18T18:33:46.015Z,1750271626.015 [DAT](INFO): DAT read: Range 10 to 50 : 22.8 m (Round-trip 30.5 ms) speed 0.0 m/s
2025-06-18T18:33:46.016Z,1750271626.016 [DAT](INFO): DAT read: user:1312>
2025-06-18T18:33:46.022Z,1750271626.022 [DAT](INFO): DAT read: Tx time:18:33:46.9916
2025-06-18T18:33:46.022Z,1750271626.022 [DAT](INFO): Ping request sent.
2025-06-18T18:33:46.022Z,1750271626.022 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:46.023Z,1750271626.023 [DAT](INFO): DAT read: TxSync time:18:33:46.9909
2025-06-18T18:33:46.024Z,1750271626.024 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-18T18:33:46.025Z,1750271626.025 [DAT](INFO): direction in FSK: [-0.984441,0.049870,-0.168489]
2025-06-18T18:33:46.025Z,1750271626.025 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:46.025Z,1750271626.025 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:46.028Z,1750271626.028 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:46.029Z,1750271626.029 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:46.034Z,1750271626.034 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.011159
2025-06-18T18:33:46.257Z,1750271626.257 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.234543
2025-06-18T18:33:46.325Z,1750271626.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.799999 m,
deltaT: 3.528307 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:33:46.327Z,1750271626.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.591568 m,
bearing: 135.823125 deg,
lat: 36.905889 deg,
lon: -122.115762 deg,
deltaT: 3.528307 s,
deltaX: -0.000021 m,
approachRate: -0.000006 m/s,
posRepo size: 4
2025-06-18T18:33:46.327Z,1750271626.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:46.509Z,1750271626.509 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.486550
2025-06-18T18:33:46.661Z,1750271626.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:46.761Z,1750271626.761 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.738339
2025-06-18T18:33:47.013Z,1750271627.013 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.990431
2025-06-18T18:33:47.062Z,1750271627.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:47.265Z,1750271627.265 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.242476
2025-06-18T18:33:47.484Z,1750271627.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:47.518Z,1750271627.518 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.494973
2025-06-18T18:33:47.769Z,1750271627.769 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.746478
2025-06-18T18:33:47.894Z,1750271627.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:48.021Z,1750271628.021 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.998332
2025-06-18T18:33:48.273Z,1750271628.273 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.250733
2025-06-18T18:33:48.318Z,1750271628.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:48.526Z,1750271628.526 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.503096
2025-06-18T18:33:48.688Z,1750271628.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:48.777Z,1750271628.777 [DAT](INFO): DAT read: Rx Time:18:33:49.4267
2025-06-18T18:33:48.778Z,1750271628.778 [DAT](INFO): Rx dataTimestamp_ set to:1750271628.777669
2025-06-18T18:33:48.779Z,1750271628.779 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.756200
2025-06-18T18:33:49.029Z,1750271629.029 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.006394
2025-06-18T18:33:49.088Z,1750271629.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:49.281Z,1750271629.281 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.259021
2025-06-18T18:33:49.506Z,1750271629.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:49.534Z,1750271629.534 [DAT](INFO): DAT read: Range 10 to 50 : 23.1 m (Round-trip 30.9 ms) speed 0.0 m/s
2025-06-18T18:33:49.535Z,1750271629.535 [DAT](INFO): DAT read: user:1313>
2025-06-18T18:33:49.536Z,1750271629.536 [DAT](INFO): DAT read: Tx time:18:33:50.5416
2025-06-18T18:33:49.537Z,1750271629.537 [DAT](INFO): Ping request sent.
2025-06-18T18:33:49.537Z,1750271629.537 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:49.537Z,1750271629.537 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-06-18T18:33:49.538Z,1750271629.538 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:49.538Z,1750271629.538 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:49.540Z,1750271629.540 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.002887
2025-06-18T18:33:49.785Z,1750271629.785 [DAT](INFO): DAT read: TxSync time:18:33:50.5409
2025-06-18T18:33:49.786Z,1750271629.786 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.249172
2025-06-18T18:33:49.904Z,1750271629.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.100000 m,
deltaT: 3.527681 s,
deltaX: 0.300001 m,
approachRate: 0.085042 m/s,
rangeRepo size: 4
2025-06-18T18:33:49.905Z,1750271629.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:50.037Z,1750271630.037 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.500115
2025-06-18T18:33:50.289Z,1750271630.289 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.752095
2025-06-18T18:33:50.345Z,1750271630.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:50.542Z,1750271630.542 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.004916
2025-06-18T18:33:50.709Z,1750271630.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:50.793Z,1750271630.793 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.256057
2025-06-18T18:33:51.045Z,1750271631.045 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.508102
2025-06-18T18:33:51.179Z,1750271631.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:51.297Z,1750271631.297 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.760042
2025-06-18T18:33:51.527Z,1750271631.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:51.549Z,1750271631.549 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.012230
2025-06-18T18:33:51.801Z,1750271631.801 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.263895
2025-06-18T18:33:51.933Z,1750271631.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:52.053Z,1750271632.053 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.515998
2025-06-18T18:33:52.305Z,1750271632.305 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.768144
2025-06-18T18:33:52.392Z,1750271632.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:52.558Z,1750271632.558 [DAT](INFO): DAT read: Rx Time:18:33:52.9770
2025-06-18T18:33:52.558Z,1750271632.558 [DAT](INFO): Rx dataTimestamp_ set to:1750271632.557950
2025-06-18T18:33:52.559Z,1750271632.559 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.021994
2025-06-18T18:33:52.805Z,1750271632.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:33:52.809Z,1750271632.809 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.272093
2025-06-18T18:33:53.067Z,1750271633.067 [DAT](INFO): DAT read: 18:33:52.9770 LVL= 26688, 21921, 24914, 32755, AGC= 65, IDX= 444, 0.07,-0.813, 1.337,-0.756,-0.278, PHS=-0.447, 1.663,-0.481, RAW= 330.8, -7.0, CAL= 333.4, -9.6, ROT= 176.6, 9.6
2025-06-18T18:33:53.068Z,1750271633.068 [DAT](INFO): got valid direction response:
18:33:52.9770 LVL= 26688, 21921, 24914, 32755, AGC= 65, IDX= 444, 0.07,-0.813, 1.337,-0.756,-0.278, PHS=-0.447, 1.663,-0.481, RAW= 330.8, -7.0, CAL= 333.4, -9.6, ROT= 176.6, 9.6
2025-06-18T18:33:53.069Z,1750271633.069 [DAT](INFO): DAT read: Bearing 176.6, 9.6 (Local)
2025-06-18T18:33:53.069Z,1750271633.069 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.6, 9.6 (Local)
2025-06-18T18:33:53.071Z,1750271633.071 [DAT](INFO): DAT read: Range 10 to 50 : 23.4 m (Round-trip 31.2 ms) speed 0.0 m/s
2025-06-18T18:33:53.071Z,1750271633.071 [DAT](INFO): DAT read: user:1314>
2025-06-18T18:33:53.072Z,1750271633.072 [DAT](INFO): DAT read: Tx time:18:33:54.0916
2025-06-18T18:33:53.072Z,1750271633.072 [DAT](INFO): Ping request sent.
2025-06-18T18:33:53.072Z,1750271633.072 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:53.073Z,1750271633.073 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-18T18:33:53.074Z,1750271633.074 [DAT](INFO): direction in FSK: [-0.984261,0.058476,-0.166769]
2025-06-18T18:33:53.074Z,1750271633.074 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:53.074Z,1750271633.074 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:53.077Z,1750271633.077 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:53.078Z,1750271633.078 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:53.081Z,1750271633.081 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.008495
2025-06-18T18:33:53.313Z,1750271633.313 [DAT](INFO): DAT read: TxSync time:18:33:54.0909
2025-06-18T18:33:53.314Z,1750271633.314 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.241318
2025-06-18T18:33:53.323Z,1750271633.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.400000 m,
deltaT: 3.528037 s,
deltaX: 0.299999 m,
approachRate: 0.085033 m/s,
rangeRepo size: 4
2025-06-18T18:33:53.329Z,1750271633.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.186157 m,
bearing: 134.908997 deg,
lat: 36.905891 deg,
lon: -122.115758 deg,
deltaT: 7.055718 s,
deltaX: 0.594589 m,
approachRate: 0.084271 m/s,
posRepo size: 4
2025-06-18T18:33:53.330Z,1750271633.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:33:53.565Z,1750271633.565 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.492640
2025-06-18T18:33:53.644Z,1750271633.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:33:53.817Z,1750271633.817 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.744340
2025-06-18T18:33:54.015Z,1750271634.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:33:54.069Z,1750271634.069 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.996164
2025-06-18T18:33:54.325Z,1750271634.325 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.252220
2025-06-18T18:33:54.427Z,1750271634.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:33:54.573Z,1750271634.573 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.500296
2025-06-18T18:33:54.805Z,1750271634.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:33:54.825Z,1750271634.825 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.752667
2025-06-18T18:33:55.077Z,1750271635.077 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.004555
2025-06-18T18:33:55.220Z,1750271635.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:33:55.329Z,1750271635.329 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.256419
2025-06-18T18:33:55.581Z,1750271635.581 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.508249
2025-06-18T18:33:55.677Z,1750271635.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:33:55.834Z,1750271635.834 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.761236
2025-06-18T18:33:56.080Z,1750271636.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:33:56.085Z,1750271636.085 [DAT](INFO): DAT read: Rx Time:18:33:56.5274
2025-06-18T18:33:56.085Z,1750271636.085 [DAT](INFO): Rx dataTimestamp_ set to:1750271636.085208
2025-06-18T18:33:56.086Z,1750271636.086 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.013553
2025-06-18T18:33:56.339Z,1750271636.339 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.265721
2025-06-18T18:33:56.529Z,1750271636.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:33:56.600Z,1750271636.600 [DAT](INFO): DAT read: 18:33:56.5274 LVL= 24080, 22641, 19890, 32755, AGC= 66, IDX= 447, 0.24, 3.003,-1.277, 3.071,-2.796, PHS=-0.396, 1.566,-0.418, RAW= 330.6, -7.7, CAL= 333.2, -10.5, ROT= 176.8, 10.5
2025-06-18T18:33:56.601Z,1750271636.601 [DAT](INFO): got valid direction response:
18:33:56.5274 LVL= 24080, 22641, 19890, 32755, AGC= 66, IDX= 447, 0.24, 3.003,-1.277, 3.071,-2.796, PHS=-0.396, 1.566,-0.418, RAW= 330.6, -7.7, CAL= 333.2, -10.5, ROT= 176.8, 10.5
2025-06-18T18:33:56.602Z,1750271636.602 [DAT](INFO): DAT read: Bearing 176.8, 10.5 (Local)
2025-06-18T18:33:56.602Z,1750271636.602 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.8, 10.5 (Local)
2025-06-18T18:33:56.604Z,1750271636.604 [DAT](INFO): DAT read: Range 10 to 50 : 23.6 m (Round-trip 31.5 ms) speed 0.0 m/s
2025-06-18T18:33:56.605Z,1750271636.605 [DAT](INFO): DAT read: user:1315>
2025-06-18T18:33:56.606Z,1750271636.606 [DAT](INFO): DAT read: Tx time:18:33:57.6417
2025-06-18T18:33:56.606Z,1750271636.606 [DAT](INFO): Ping request sent.
2025-06-18T18:33:56.606Z,1750271636.606 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:33:56.606Z,1750271636.606 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-18T18:33:56.607Z,1750271636.607 [DAT](INFO): direction in FSK: [-0.981722,0.054887,-0.182236]
2025-06-18T18:33:56.608Z,1750271636.608 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:56.608Z,1750271636.608 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:56.611Z,1750271636.611 [DAT](INFO): publishing transmit ping time
2025-06-18T18:33:56.611Z,1750271636.611 [DAT](INFO): publishing direction and range info
2025-06-18T18:33:56.619Z,1750271636.619 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.012665
2025-06-18T18:33:56.841Z,1750271636.841 [DAT](INFO): DAT read: TxSync time:18:33:57.6410
2025-06-18T18:33:56.842Z,1750271636.842 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.235748
2025-06-18T18:33:56.942Z,1750271636.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.600000 m,
deltaT: 3.529531 s,
deltaX: 0.200001 m,
approachRate: 0.056665 m/s,
rangeRepo size: 4
2025-06-18T18:33:56.944Z,1750271636.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.384205 m,
bearing: 134.875658 deg,
lat: 36.905891 deg,
lon: -122.115758 deg,
deltaT: 3.529531 s,
deltaX: 0.198048 m,
approachRate: 0.056112 m/s,
posRepo size: 4
2025-06-18T18:33:56.945Z,1750271636.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:33:57.093Z,1750271637.093 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.486615
2025-06-18T18:33:57.349Z,1750271637.349 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.742486
2025-06-18T18:33:57.420Z,1750271637.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:33:57.602Z,1750271637.602 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.995996
2025-06-18T18:33:57.839Z,1750271637.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:33:57.853Z,1750271637.853 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.246672
2025-06-18T18:33:58.105Z,1750271638.105 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.498951
2025-06-18T18:33:58.242Z,1750271638.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:33:58.359Z,1750271638.359 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.752864
2025-06-18T18:33:58.609Z,1750271638.609 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.002520
2025-06-18T18:33:58.677Z,1750271638.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:33:58.862Z,1750271638.862 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.255375
2025-06-18T18:33:59.062Z,1750271639.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:33:59.114Z,1750271639.114 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.507326
2025-06-18T18:33:59.367Z,1750271639.367 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.760816
2025-06-18T18:33:59.491Z,1750271639.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:33:59.617Z,1750271639.617 [DAT](INFO): DAT read: Rx Time:18:34:00.0776
2025-06-18T18:33:59.618Z,1750271639.618 [DAT](INFO): Rx dataTimestamp_ set to:1750271639.617246
2025-06-18T18:33:59.618Z,1750271639.618 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.011890
2025-06-18T18:33:59.870Z,1750271639.870 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.263561
2025-06-18T18:34:00.023Z,1750271640.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.38 m.
2025-06-18T18:34:00.127Z,1750271640.127 [DAT](INFO): DAT read: 18:34:00.0776 LVL= 32752, 29905, 30834, 32755, AGC= 66, IDX= 449, 0.20,-1.880, 0.053,-1.805,-1.414, PHS=-0.378, 1.514,-0.394, RAW= 330.4, -7.9, CAL= 333.1, -10.7, ROT= 176.9, 10.7
2025-06-18T18:34:00.128Z,1750271640.128 [DAT](INFO): got valid direction response:
18:34:00.0776 LVL= 32752, 29905, 30834, 32755, AGC= 66, IDX= 449, 0.20,-1.880, 0.053,-1.805,-1.414, PHS=-0.378, 1.514,-0.394, RAW= 330.4, -7.9, CAL= 333.1, -10.7, ROT= 176.9, 10.7
2025-06-18T18:34:00.129Z,1750271640.129 [DAT](INFO): DAT read: Bearing 176.9, 10.7 (Local)
2025-06-18T18:34:00.129Z,1750271640.129 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.9, 10.7 (Local)
2025-06-18T18:34:00.131Z,1750271640.131 [DAT](INFO): DAT read: Range 10 to 50 : 23.7 m (Round-trip 31.7 ms) speed -0.1 m/s
2025-06-18T18:34:00.131Z,1750271640.131 [DAT](INFO): DAT read: user:1316>
2025-06-18T18:34:00.132Z,1750271640.132 [DAT](INFO): DAT read: Tx time:18:34:01.1917
2025-06-18T18:34:00.133Z,1750271640.133 [DAT](INFO): Ping request sent.
2025-06-18T18:34:00.133Z,1750271640.133 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:34:00.133Z,1750271640.133 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-18T18:34:00.134Z,1750271640.134 [DAT](INFO): direction in FSK: [-0.981175,0.053139,-0.185667]
2025-06-18T18:34:00.134Z,1750271640.134 [DAT](INFO): publishing transmit ping time
2025-06-18T18:34:00.135Z,1750271640.135 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:00.138Z,1750271640.138 [DAT](INFO): publishing transmit ping time
2025-06-18T18:34:00.138Z,1750271640.138 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:00.154Z,1750271640.154 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.020741
2025-06-18T18:34:00.377Z,1750271640.377 [DAT](INFO): DAT read: TxSync time:18:34:01.1910
2025-06-18T18:34:00.379Z,1750271640.379 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.245664
2025-06-18T18:34:00.491Z,1750271640.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.700001 m,
deltaT: 3.530452 s,
deltaX: 0.100000 m,
approachRate: 0.028325 m/s,
rangeRepo size: 4
2025-06-18T18:34:00.494Z,1750271640.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.483286 m,
bearing: 135.144784 deg,
lat: 36.905891 deg,
lon: -122.115758 deg,
deltaT: 3.530452 s,
deltaX: 0.099081 m,
approachRate: 0.028065 m/s,
posRepo size: 4
2025-06-18T18:34:00.494Z,1750271640.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:00.627Z,1750271640.627 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.493876
2025-06-18T18:34:00.772Z,1750271640.772 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:34:00.837Z,1750271640.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:00.878Z,1750271640.878 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.744709
2025-06-18T18:34:01.129Z,1750271641.129 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.995945
2025-06-18T18:34:01.240Z,1750271641.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:01.383Z,1750271641.383 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.250158
2025-06-18T18:34:01.633Z,1750271641.633 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.500004
2025-06-18T18:34:01.671Z,1750271641.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:01.776Z,1750271641.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:34:01.886Z,1750271641.886 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.752789
2025-06-18T18:34:02.045Z,1750271642.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:02.137Z,1750271642.137 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.004198
2025-06-18T18:34:02.391Z,1750271642.391 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.257939
2025-06-18T18:34:02.493Z,1750271642.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:02.641Z,1750271642.641 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.508060
2025-06-18T18:34:02.894Z,1750271642.894 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.760742
2025-06-18T18:34:02.905Z,1750271642.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:03.146Z,1750271643.146 [DAT](INFO): DAT read: Rx Time:18:34:03.6276
2025-06-18T18:34:03.146Z,1750271643.146 [DAT](INFO): Rx dataTimestamp_ set to:1750271643.145884
2025-06-18T18:34:03.147Z,1750271643.147 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.013873
2025-06-18T18:34:03.310Z,1750271643.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:03.400Z,1750271643.400 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.266391
2025-06-18T18:34:03.655Z,1750271643.655 [DAT](INFO): DAT read: 18:34:03.6276 LVL= 24816, 19249, 20658, 32563, AGC= 64, IDX= 433, 0.01, 2.021,-2.327, 2.074, 2.467, PHS=-0.358, 1.536,-0.396, RAW= 331.0, -8.2, CAL= 333.7, -11.2, ROT= 176.3, 11.2
2025-06-18T18:34:03.656Z,1750271643.656 [DAT](INFO): got valid direction response:
18:34:03.6276 LVL= 24816, 19249, 20658, 32563, AGC= 64, IDX= 433, 0.01, 2.021,-2.327, 2.074, 2.467, PHS=-0.358, 1.536,-0.396, RAW= 331.0, -8.2, CAL= 333.7, -11.2, ROT= 176.3, 11.2
2025-06-18T18:34:03.657Z,1750271643.657 [DAT](INFO): DAT read: Bearing 176.3, 11.2 (Local)
2025-06-18T18:34:03.657Z,1750271643.657 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.3, 11.2 (Local)
2025-06-18T18:34:03.659Z,1750271643.659 [DAT](INFO): DAT read: Range 10 to 50 : 23.7 m (Round-trip 31.7 ms) speed 0.0 m/s
2025-06-18T18:34:03.660Z,1750271643.660 [DAT](INFO): DAT read: user:1317>
2025-06-18T18:34:03.660Z,1750271643.660 [DAT](INFO): DAT read: Tx time:18:34:04.7417
2025-06-18T18:34:03.661Z,1750271643.661 [DAT](INFO): Ping request sent.
2025-06-18T18:34:03.661Z,1750271643.661 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:34:03.661Z,1750271643.661 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-18T18:34:03.662Z,1750271643.662 [DAT](INFO): direction in FSK: [-0.978910,0.063303,-0.194234]
2025-06-18T18:34:03.662Z,1750271643.662 [DAT](INFO): publishing transmit ping time
2025-06-18T18:34:03.663Z,1750271643.663 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:03.678Z,1750271643.678 [DAT](INFO): publishing transmit ping time
2025-06-18T18:34:03.678Z,1750271643.678 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:03.682Z,1750271643.682 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.020758
2025-06-18T18:34:03.839Z,1750271643.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.700001 m,
deltaT: 3.528145 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:03.858Z,1750271643.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.483383 m,
bearing: 134.641973 deg,
lat: 36.905891 deg,
lon: -122.115758 deg,
deltaT: 3.528145 s,
deltaX: 0.000097 m,
approachRate: 0.000028 m/s,
posRepo size: 4
2025-06-18T18:34:03.858Z,1750271643.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:03.901Z,1750271643.901 [DAT](INFO): DAT read: TxSync time:18:34:04.7410
2025-06-18T18:34:03.902Z,1750271643.902 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.240948
2025-06-18T18:34:04.153Z,1750271644.153 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.492163
2025-06-18T18:34:04.282Z,1750271644.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:04.406Z,1750271644.406 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.744654
2025-06-18T18:34:04.657Z,1750271644.657 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.996225
2025-06-18T18:34:04.768Z,1750271644.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:04.909Z,1750271644.909 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.247914
2025-06-18T18:34:05.161Z,1750271645.161 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.500061
2025-06-18T18:34:05.200Z,1750271645.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:05.415Z,1750271645.415 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.753958
2025-06-18T18:34:05.665Z,1750271645.665 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.004241
2025-06-18T18:34:05.670Z,1750271645.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:05.917Z,1750271645.917 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.256213
2025-06-18T18:34:06.041Z,1750271646.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:34:06.170Z,1750271646.170 [DAT](INFO): DAT read: Rx Time:18:34:06.9029
2025-06-18T18:34:06.171Z,1750271646.171 [DAT](INFO): Rx dataTimestamp_ set to:1750271646.170517
2025-06-18T18:34:06.174Z,1750271646.174 [DAT](INFO): DAT read: Bearing 175.4, 9.2 (Local)
2025-06-18T18:34:06.175Z,1750271646.175 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.4, 9.2 (Local)
2025-06-18T18:34:06.178Z,1750271646.178 [DAT](INFO): DAT read: Range 10 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0
2025-06-18T18:34:06.183Z,1750271646.183 [DAT](INFO): DAT read: 18:34:06.9029 LVL= 23200, 31201, 24562, 32755, AGC= 66, IDX= 195, 0.12,-0.826, 1.171,-0.824,-0.337, PHS=-0.401, 1.555,-0.490, RAW= 332.2, -6.7, CAL= 334.6, -9.2, ROT= 175.4, 9.2
2025-06-18T18:34:06.184Z,1750271646.184 [DAT](INFO): got valid direction response:
18:34:06.9029 LVL= 23200, 31201, 24562, 32755, AGC= 66, IDX= 195, 0.12,-0.826, 1.171,-0.824,-0.337, PHS=-0.401, 1.555,-0.490, RAW= 332.2, -6.7, CAL= 334.6, -9.2, ROT= 175.4, 9.2
2025-06-18T18:34:06.185Z,1750271646.185 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-18T18:34:06.186Z,1750271646.186 [DAT](INFO): direction in FSK: [-0.983957,0.079167,-0.159881]
2025-06-18T18:34:06.186Z,1750271646.186 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:06.190Z,1750271646.190 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.528854
2025-06-18T18:34:06.425Z,1750271646.425 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.763434
2025-06-18T18:34:06.602Z,1750271646.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.000000 m,
deltaT: 2.522153 s,
deltaX: 0.299999 m,
approachRate: 0.118946 m/s,
rangeRepo size: 4
2025-06-18T18:34:06.611Z,1750271646.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.780628 m,
bearing: 134.382799 deg,
lat: 36.905891 deg,
lon: -122.115758 deg,
deltaT: 2.522153 s,
deltaX: 0.297245 m,
approachRate: 0.117854 m/s,
posRepo size: 4
2025-06-18T18:34:06.613Z,1750271646.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:34:06.673Z,1750271646.673 [DAT](INFO): DAT read: Rx Time:18:34:07.4029
2025-06-18T18:34:06.674Z,1750271646.674 [DAT](INFO): Rx dataTimestamp_ set to:1750271646.673646
2025-06-18T18:34:06.675Z,1750271646.675 [DAT](INFO): DAT read: Bearing 175.4, 8.9 (Local)
2025-06-18T18:34:06.676Z,1750271646.676 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.4, 8.9 (Local)
2025-06-18T18:34:06.678Z,1750271646.678 [DAT](INFO): DAT read: Range 10 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0
2025-06-18T18:34:06.683Z,1750271646.683 [DAT](INFO): DAT read: 18:34:07.4029 LVL= 27120, 22433, 26594, 32755, AGC= 66, IDX= 499,-0.42, 1.735,-2.540, 1.735, 2.234, PHS=-0.411, 1.557,-0.502, RAW= 332.2, -6.4, CAL= 334.6, -8.9, ROT= 175.4, 8.9
2025-06-18T18:34:06.684Z,1750271646.684 [DAT](INFO): got valid direction response:
18:34:07.4029 LVL= 27120, 22433, 26594, 32755, AGC= 66, IDX= 499,-0.42, 1.735,-2.540, 1.735, 2.234, PHS=-0.411, 1.557,-0.502, RAW= 332.2, -6.4, CAL= 334.6, -8.9, ROT= 175.4, 8.9
2025-06-18T18:34:06.684Z,1750271646.684 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-18T18:34:06.685Z,1750271646.685 [DAT](INFO): direction in FSK: [-0.984778,0.079233,-0.154710]
2025-06-18T18:34:06.685Z,1750271646.685 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:06.689Z,1750271646.689 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.027946
2025-06-18T18:34:06.925Z,1750271646.925 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.263986
2025-06-18T18:34:07.071Z,1750271647.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.000000 m,
deltaT: 0.503129 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:07.074Z,1750271647.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.780628 m,
bearing: 134.488432 deg,
lat: 36.905892 deg,
lon: -122.115757 deg,
deltaT: 0.503129 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:34:07.074Z,1750271647.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:34:07.178Z,1750271647.178 [DAT](INFO): DAT read: Rx Time:18:34:07.9030
2025-06-18T18:34:07.179Z,1750271647.179 [DAT](INFO): Rx dataTimestamp_ set to:1750271647.178556
2025-06-18T18:34:07.181Z,1750271647.181 [DAT](INFO): DAT read: Bearing 175.1, 8.8 (Local)
2025-06-18T18:34:07.181Z,1750271647.181 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.1, 8.8 (Local)
2025-06-18T18:34:07.185Z,1750271647.185 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1
2025-06-18T18:34:07.189Z,1750271647.189 [DAT](INFO): DAT read: 18:34:07.9030 LVL= 23536, 22817, 24466, 32755, AGC= 65, IDX= 500,-0.07,-2.716,-0.745,-2.728,-2.227, PHS=-0.401, 1.529,-0.504, RAW= 332.6, -6.4, CAL= 334.9, -8.8, ROT= 175.1, 8.8
2025-06-18T18:34:07.190Z,1750271647.190 [DAT](INFO): got valid direction response:
18:34:07.9030 LVL= 23536, 22817, 24466, 32755, AGC= 65, IDX= 500,-0.07,-2.716,-0.745,-2.728,-2.227, PHS=-0.401, 1.529,-0.504, RAW= 332.6, -6.4, CAL= 334.9, -8.8, ROT= 175.1, 8.8
2025-06-18T18:34:07.191Z,1750271647.191 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-18T18:34:07.193Z,1750271647.193 [DAT](INFO): direction in FSK: [-0.984617,0.084411,-0.152986]
2025-06-18T18:34:07.193Z,1750271647.193 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:07.197Z,1750271647.197 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.535867
2025-06-18T18:34:07.429Z,1750271647.429 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.768246
2025-06-18T18:34:07.681Z,1750271647.681 [DAT](INFO): DAT read: Rx Time:18:34:08.4029
2025-06-18T18:34:07.682Z,1750271647.682 [DAT](INFO): Rx dataTimestamp_ set to:1750271647.681687
2025-06-18T18:34:07.683Z,1750271647.683 [DAT](INFO): DAT read: Bearing 175.2, 9.3 (Local)
2025-06-18T18:34:07.684Z,1750271647.684 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.2, 9.3 (Local)
2025-06-18T18:34:07.687Z,1750271647.687 [DAT](INFO): DAT read: Range 10 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0
2025-06-18T18:34:07.691Z,1750271647.691 [DAT](INFO): DAT read: 18:34:08.4029 LVL= 23408, 22849, 23714, 32755, AGC= 66, IDX= 499, 0.23,-2.694,-0.689,-2.702,-2.209, PHS=-0.397, 1.568,-0.496, RAW= 332.4, -6.8, CAL= 334.8, -9.3, ROT= 175.2, 9.3
2025-06-18T18:34:07.693Z,1750271647.693 [DAT](INFO): got valid direction response:
18:34:08.4029 LVL= 23408, 22849, 23714, 32755, AGC= 66, IDX= 499, 0.23,-2.694,-0.689,-2.702,-2.209, PHS=-0.397, 1.568,-0.496, RAW= 332.4, -6.8, CAL= 334.8, -9.3, ROT= 175.2, 9.3
2025-06-18T18:34:07.693Z,1750271647.693 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-06-18T18:34:07.694Z,1750271647.694 [DAT](INFO): direction in FSK: [-0.983395,0.082578,-0.161604]
2025-06-18T18:34:07.694Z,1750271647.694 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:07.698Z,1750271647.698 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=4.036778
2025-06-18T18:34:07.699Z,1750271647.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.504910 s,
deltaX: 0.200001 m,
approachRate: 0.396112 m/s,
rangeRepo size: 4
2025-06-18T18:34:07.705Z,1750271647.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.978827 m,
bearing: 134.257408 deg,
lat: 36.905892 deg,
lon: -122.115755 deg,
deltaT: 0.504910 s,
deltaX: 0.198198 m,
approachRate: 0.392542 m/s,
posRepo size: 4
2025-06-18T18:34:07.706Z,1750271647.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.98 m.
2025-06-18T18:34:07.933Z,1750271647.933 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=4.272462
2025-06-18T18:34:08.186Z,1750271648.186 [DAT](INFO): DAT read: Rx Time:18:34:08.9031
2025-06-18T18:34:08.186Z,1750271648.186 [DAT](INFO): Rx dataTimestamp_ set to:1750271648.185761
2025-06-18T18:34:08.187Z,1750271648.187 [DAT](INFO): DAT read: Bearing 175.6, 8.8 (Local)
2025-06-18T18:34:08.188Z,1750271648.188 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.6, 8.8 (Local)
2025-06-18T18:34:08.190Z,1750271648.190 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:08.195Z,1750271648.195 [DAT](INFO): DAT read: 18:34:08.9031 LVL= 26096, 24561, 24690, 32755, AGC= 66, IDX= 501,-0.40,-2.405,-0.386,-2.398,-1.898, PHS=-0.419, 1.559,-0.503, RAW= 332.1, -6.4, CAL= 334.4, -8.8, ROT= 175.6, 8.8
2025-06-18T18:34:08.196Z,1750271648.196 [DAT](INFO): got valid direction response:
18:34:08.9031 LVL= 26096, 24561, 24690, 32755, AGC= 66, IDX= 501,-0.40,-2.405,-0.386,-2.398,-1.898, PHS=-0.419, 1.559,-0.503, RAW= 332.1, -6.4, CAL= 334.4, -8.8, ROT= 175.6, 8.8
2025-06-18T18:34:08.197Z,1750271648.197 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-18T18:34:08.198Z,1750271648.198 [DAT](INFO): direction in FSK: [-0.985316,0.075816,-0.152986]
2025-06-18T18:34:08.198Z,1750271648.198 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:08.206Z,1750271648.206 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=4.545281
2025-06-18T18:34:08.208Z,1750271648.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 1.007205 s,
deltaX: 0.099998 m,
approachRate: 0.099283 m/s,
rangeRepo size: 4
2025-06-18T18:34:08.210Z,1750271648.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.780655 m,
bearing: 134.318968 deg,
lat: 36.905892 deg,
lon: -122.115755 deg,
deltaT: 0.503131 s,
deltaX: -0.198172 m,
approachRate: -0.393877 m/s,
posRepo size: 4
2025-06-18T18:34:08.211Z,1750271648.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:34:08.438Z,1750271648.438 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=4.776925
2025-06-18T18:34:08.687Z,1750271648.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:34:08.690Z,1750271648.690 [DAT](INFO): DAT read: Rx Time:18:34:09.4030
2025-06-18T18:34:08.690Z,1750271648.690 [DAT](INFO): Rx dataTimestamp_ set to:1750271648.689722
2025-06-18T18:34:08.691Z,1750271648.691 [DAT](INFO): DAT read: Bearing 174.6, 8.2 (Local)
2025-06-18T18:34:08.692Z,1750271648.692 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.6, 8.2 (Local)
2025-06-18T18:34:08.694Z,1750271648.694 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed 0.1
2025-06-18T18:34:08.699Z,1750271648.699 [DAT](INFO): DAT read: 18:34:09.4030 LVL= 25008, 22897, 24770, 32755, AGC= 66, IDX= 500,-0.12, 3.040,-1.275, 3.004,-2.749, PHS=-0.405, 1.521,-0.533, RAW= 333.2, -5.9, CAL= 335.4, -8.2, ROT= 174.6, 8.2
2025-06-18T18:34:08.700Z,1750271648.700 [DAT](INFO): got valid direction response:
18:34:09.4030 LVL= 25008, 22897, 24770, 32755, AGC= 66, IDX= 500,-0.12, 3.040,-1.275, 3.004,-2.749, PHS=-0.405, 1.521,-0.533, RAW= 333.2, -5.9, CAL= 335.4, -8.2, ROT= 174.6, 8.2
2025-06-18T18:34:08.700Z,1750271648.700 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-18T18:34:08.701Z,1750271648.701 [DAT](INFO): direction in FSK: [-0.985384,0.093146,-0.142629]
2025-06-18T18:34:08.701Z,1750271648.701 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:08.726Z,1750271648.726 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=5.065484
2025-06-18T18:34:08.941Z,1750271648.941 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=5.280261
2025-06-18T18:34:09.046Z,1750271649.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.503961 s,
deltaX: -0.099998 m,
approachRate: -0.198425 m/s,
rangeRepo size: 4
2025-06-18T18:34:09.052Z,1750271649.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.978832 m,
bearing: 134.164332 deg,
lat: 36.905892 deg,
lon: -122.115754 deg,
deltaT: 1.008035 s,
deltaX: 0.198177 m,
approachRate: 0.196598 m/s,
posRepo size: 4
2025-06-18T18:34:09.053Z,1750271649.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.98 m.
2025-06-18T18:34:09.194Z,1750271649.194 [DAT](INFO): DAT read: Rx Time:18:34:09.9030
2025-06-18T18:34:09.194Z,1750271649.194 [DAT](INFO): Rx dataTimestamp_ set to:1750271649.193714
2025-06-18T18:34:09.195Z,1750271649.195 [DAT](INFO): DAT read: Bearing 174.9, 8.5 (Local)
2025-06-18T18:34:09.196Z,1750271649.196 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.9, 8.5 (Local)
2025-06-18T18:34:09.198Z,1750271649.198 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0
2025-06-18T18:34:09.203Z,1750271649.203 [DAT](INFO): DAT read: 18:34:09.9030 LVL= 25328, 19953, 21074, 32755, AGC= 66, IDX= 500,-0.00,-0.665, 1.315,-0.686,-0.172, PHS=-0.405, 1.534,-0.517, RAW= 332.8, -6.2, CAL= 335.1, -8.5, ROT= 174.9, 8.5
2025-06-18T18:34:09.204Z,1750271649.204 [DAT](INFO): got valid direction response:
18:34:09.9030 LVL= 25328, 19953, 21074, 32755, AGC= 66, IDX= 500,-0.00,-0.665, 1.315,-0.686,-0.172, PHS=-0.405, 1.534,-0.517, RAW= 332.8, -6.2, CAL= 335.1, -8.5, ROT= 174.9, 8.5
2025-06-18T18:34:09.204Z,1750271649.204 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-18T18:34:09.205Z,1750271649.205 [DAT](INFO): direction in FSK: [-0.985100,0.087918,-0.147809]
2025-06-18T18:34:09.206Z,1750271649.206 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:09.214Z,1750271649.214 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=5.552768
2025-06-18T18:34:09.445Z,1750271649.445 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=5.783957
2025-06-18T18:34:09.484Z,1750271649.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.503992 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:09.495Z,1750271649.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.978842 m,
bearing: 134.481675 deg,
lat: 36.905892 deg,
lon: -122.115753 deg,
deltaT: 0.503992 s,
deltaX: 0.000010 m,
approachRate: 0.000019 m/s,
posRepo size: 4
2025-06-18T18:34:09.501Z,1750271649.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.98 m.
2025-06-18T18:34:09.697Z,1750271649.697 [DAT](INFO): DAT read: Rx Time:18:34:10.4029
2025-06-18T18:34:09.699Z,1750271649.699 [DAT](INFO): Rx dataTimestamp_ set to:1750271649.697643
2025-06-18T18:34:09.707Z,1750271649.707 [DAT](INFO): DAT read: Bearing 174.5, 8.6 (Local)
2025-06-18T18:34:09.707Z,1750271649.707 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.5, 8.6 (Local)
2025-06-18T18:34:09.727Z,1750271649.727 [DAT](INFO): DAT read: Range 10 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0
2025-06-18T18:34:09.746Z,1750271649.746 [DAT](INFO): DAT read: 18:34:10.4029 LVL= 27504, 19665, 27394, 32755, AGC= 67, IDX= 499, 0.13,-0.409, 1.603,-0.452, 0.081, PHS=-0.402, 1.569,-0.536, RAW= 333.3, -6.2, CAL= 335.5, -8.6, ROT= 174.5, 8.6
2025-06-18T18:34:09.747Z,1750271649.747 [DAT](INFO): got valid direction response:
18:34:10.4029 LVL= 27504, 19665, 27394, 32755, AGC= 67, IDX= 499, 0.13,-0.409, 1.603,-0.452, 0.081, PHS=-0.402, 1.569,-0.536, RAW= 333.3, -6.2, CAL= 335.5, -8.6, ROT= 174.5, 8.6
2025-06-18T18:34:09.748Z,1750271649.748 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-18T18:34:09.749Z,1750271649.749 [DAT](INFO): direction in FSK: [-0.984204,0.094768,-0.149535]
2025-06-18T18:34:09.749Z,1750271649.749 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:09.753Z,1750271649.753 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=6.091853
2025-06-18T18:34:09.937Z,1750271649.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.000000 m,
deltaT: 0.503929 s,
deltaX: -0.200001 m,
approachRate: -0.396883 m/s,
rangeRepo size: 4
2025-06-18T18:34:09.939Z,1750271649.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.780668 m,
bearing: 134.152832 deg,
lat: 36.905892 deg,
lon: -122.115754 deg,
deltaT: 0.503929 s,
deltaX: -0.198174 m,
approachRate: -0.393257 m/s,
posRepo size: 4
2025-06-18T18:34:09.944Z,1750271649.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:34:09.949Z,1750271649.949 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=6.288013
2025-06-18T18:34:10.201Z,1750271650.201 [DAT](INFO): DAT read: Rx Time:18:34:10.9030
2025-06-18T18:34:10.202Z,1750271650.202 [DAT](INFO): Rx dataTimestamp_ set to:1750271650.201673
2025-06-18T18:34:10.203Z,1750271650.203 [DAT](INFO): DAT read: Bearing 173.3, 9.9 (Local)
2025-06-18T18:34:10.204Z,1750271650.204 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.3, 9.9 (Local)
2025-06-18T18:34:10.206Z,1750271650.206 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0
2025-06-18T18:34:10.211Z,1750271650.211 [DAT](INFO): DAT read: 18:34:10.9030 LVL= 29392, 23025, 26994, 32755, AGC= 66, IDX= 500, 0.30, 1.864,-2.491, 1.781, 2.286, PHS=-0.334, 1.553,-0.508, RAW= 334.4, -7.2, CAL= 336.7, -9.9, ROT= 173.3, 9.9
2025-06-18T18:34:10.216Z,1750271650.216 [DAT](INFO): got valid direction response:
18:34:10.9030 LVL= 29392, 23025, 26994, 32755, AGC= 66, IDX= 500, 0.30, 1.864,-2.491, 1.781, 2.286, PHS=-0.334, 1.553,-0.508, RAW= 334.4, -7.2, CAL= 336.7, -9.9, ROT= 173.3, 9.9
2025-06-18T18:34:10.216Z,1750271650.216 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-06-18T18:34:10.217Z,1750271650.217 [DAT](INFO): direction in FSK: [-0.978382,0.114933,-0.171929]
2025-06-18T18:34:10.218Z,1750271650.218 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:10.221Z,1750271650.221 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=6.560284
2025-06-18T18:34:10.305Z,1750271650.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.504030 s,
deltaX: 0.200001 m,
approachRate: 0.396803 m/s,
rangeRepo size: 4
2025-06-18T18:34:10.307Z,1750271650.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.978842 m,
bearing: 132.814313 deg,
lat: 36.905892 deg,
lon: -122.115753 deg,
deltaT: 0.504030 s,
deltaX: 0.198174 m,
approachRate: 0.393178 m/s,
posRepo size: 4
2025-06-18T18:34:10.307Z,1750271650.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.98 m.
2025-06-18T18:34:10.454Z,1750271650.454 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=6.793324
2025-06-18T18:34:10.705Z,1750271650.705 [DAT](INFO): DAT read: Rx Time:18:34:11.4030
2025-06-18T18:34:10.706Z,1750271650.706 [DAT](INFO): Rx dataTimestamp_ set to:1750271650.705650
2025-06-18T18:34:10.707Z,1750271650.707 [DAT](INFO): DAT read: Bearing 173.4, 9.5 (Local)
2025-06-18T18:34:10.708Z,1750271650.708 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.4, 9.5 (Local)
2025-06-18T18:34:10.710Z,1750271650.710 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0
2025-06-18T18:34:10.715Z,1750271650.715 [DAT](INFO): DAT read: 18:34:11.4030 LVL= 30960, 21937, 27698, 32755, AGC= 65, IDX= 500,-0.45,-0.767, 1.148,-0.850,-0.337, PHS=-0.343, 1.532,-0.517, RAW= 334.4, -6.9, CAL= 336.6, -9.5, ROT= 173.4, 9.5
2025-06-18T18:34:10.716Z,1750271650.716 [DAT](INFO): got valid direction response:
18:34:11.4030 LVL= 30960, 21937, 27698, 32755, AGC= 65, IDX= 500,-0.45,-0.767, 1.148,-0.850,-0.337, PHS=-0.343, 1.532,-0.517, RAW= 334.4, -6.9, CAL= 336.6, -9.5, ROT= 173.4, 9.5
2025-06-18T18:34:10.716Z,1750271650.716 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-06-18T18:34:10.717Z,1750271650.717 [DAT](INFO): direction in FSK: [-0.979749,0.113361,-0.165048]
2025-06-18T18:34:10.717Z,1750271650.717 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:10.725Z,1750271650.725 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=7.064152
2025-06-18T18:34:10.769Z,1750271650.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.503977 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:10.771Z,1750271650.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.978828 m,
bearing: 133.076252 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 0.503977 s,
deltaX: -0.000013 m,
approachRate: -0.000026 m/s,
posRepo size: 4
2025-06-18T18:34:10.771Z,1750271650.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.98 m.
2025-06-18T18:34:10.957Z,1750271650.957 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=7.296168
2025-06-18T18:34:11.082Z,1750271651.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.98 m.
2025-06-18T18:34:11.210Z,1750271651.210 [DAT](INFO): DAT read: Rx Time:18:34:11.9031
2025-06-18T18:34:11.211Z,1750271651.211 [DAT](INFO): Rx dataTimestamp_ set to:1750271651.210603
2025-06-18T18:34:11.212Z,1750271651.212 [DAT](INFO): DAT read: Bearing 173.7, 8.9 (Local)
2025-06-18T18:34:11.213Z,1750271651.213 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.7, 8.9 (Local)
2025-06-18T18:34:11.215Z,1750271651.215 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:11.225Z,1750271651.225 [DAT](INFO): DAT read: 18:34:11.9031 LVL= 22736, 20193, 22738, 32755, AGC= 64, IDX= 501,-0.21,-1.123, 0.797,-1.192,-0.670, PHS=-0.364, 1.514,-0.524, RAW= 334.0, -6.4, CAL= 336.3, -8.9, ROT= 173.7, 8.9
2025-06-18T18:34:11.226Z,1750271651.226 [DAT](INFO): got valid direction response:
18:34:11.9031 LVL= 22736, 20193, 22738, 32755, AGC= 64, IDX= 501,-0.21,-1.123, 0.797,-1.192,-0.670, PHS=-0.364, 1.514,-0.524, RAW= 334.0, -6.4, CAL= 336.3, -8.9, ROT= 173.7, 8.9
2025-06-18T18:34:11.227Z,1750271651.227 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-06-18T18:34:11.228Z,1750271651.228 [DAT](INFO): direction in FSK: [-0.981994,0.108413,-0.154710]
2025-06-18T18:34:11.229Z,1750271651.229 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:11.257Z,1750271651.257 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=7.595956
2025-06-18T18:34:11.461Z,1750271651.461 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=7.799950
2025-06-18T18:34:11.577Z,1750271651.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.504953 s,
deltaX: 0.099998 m,
approachRate: 0.198035 m/s,
rangeRepo size: 4
2025-06-18T18:34:11.579Z,1750271651.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077919 m,
bearing: 133.671078 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.504953 s,
deltaX: 0.099091 m,
approachRate: 0.196237 m/s,
posRepo size: 4
2025-06-18T18:34:11.588Z,1750271651.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:11.713Z,1750271651.713 [DAT](INFO): DAT read: Rx Time:18:34:12.4030
2025-06-18T18:34:11.714Z,1750271651.714 [DAT](INFO): Rx dataTimestamp_ set to:1750271651.713655
2025-06-18T18:34:11.715Z,1750271651.715 [DAT](INFO): DAT read: Bearing 173.2, 8.8 (Local)
2025-06-18T18:34:11.716Z,1750271651.716 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.2, 8.8 (Local)
2025-06-18T18:34:11.718Z,1750271651.718 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0
2025-06-18T18:34:11.723Z,1750271651.723 [DAT](INFO): DAT read: 18:34:12.4030 LVL= 30592, 25201, 30194, 32755, AGC= 64, IDX= 500,-0.18,-2.195,-0.307,-2.286,-1.757, PHS=-0.350, 1.496,-0.533, RAW= 334.7, -6.4, CAL= 336.8, -8.8, ROT= 173.2, 8.8
2025-06-18T18:34:11.725Z,1750271651.725 [DAT](INFO): got valid direction response:
18:34:12.4030 LVL= 30592, 25201, 30194, 32755, AGC= 64, IDX= 500,-0.18,-2.195,-0.307,-2.286,-1.757, PHS=-0.350, 1.496,-0.533, RAW= 334.7, -6.4, CAL= 336.8, -8.8, ROT= 173.2, 8.8
2025-06-18T18:34:11.725Z,1750271651.725 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-06-18T18:34:11.726Z,1750271651.726 [DAT](INFO): direction in FSK: [-0.981277,0.117010,-0.152986]
2025-06-18T18:34:11.727Z,1750271651.727 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:11.738Z,1750271651.738 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=8.077545
2025-06-18T18:34:11.965Z,1750271651.965 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=8.303955
2025-06-18T18:34:12.094Z,1750271652.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.503052 s,
deltaX: -0.099998 m,
approachRate: -0.198784 m/s,
rangeRepo size: 4
2025-06-18T18:34:12.102Z,1750271652.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.978834 m,
bearing: 133.292808 deg,
lat: 36.905896 deg,
lon: -122.115750 deg,
deltaT: 0.503052 s,
deltaX: -0.099085 m,
approachRate: -0.196967 m/s,
posRepo size: 4
2025-06-18T18:34:12.108Z,1750271652.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.98 m.
2025-06-18T18:34:12.218Z,1750271652.218 [DAT](INFO): DAT read: Rx Time:18:34:12.9031
2025-06-18T18:34:12.219Z,1750271652.219 [DAT](INFO): Rx dataTimestamp_ set to:1750271652.218606
2025-06-18T18:34:12.221Z,1750271652.221 [DAT](INFO): DAT read: Bearing 173.4, 8.7 (Local)
2025-06-18T18:34:12.221Z,1750271652.221 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.4, 8.7 (Local)
2025-06-18T18:34:12.225Z,1750271652.225 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1
2025-06-18T18:34:12.231Z,1750271652.231 [DAT](INFO): DAT read: 18:34:12.9031 LVL= 26864, 24657, 25970, 32755, AGC= 66, IDX= 501,-0.15,-0.770, 1.156,-0.857,-0.318, PHS=-0.364, 1.522,-0.541, RAW= 334.5, -6.3, CAL= 336.6, -8.7, ROT= 173.4, 8.7
2025-06-18T18:34:12.233Z,1750271652.233 [DAT](INFO): got valid direction response:
18:34:12.9031 LVL= 26864, 24657, 25970, 32755, AGC= 66, IDX= 501,-0.15,-0.770, 1.156,-0.857,-0.318, PHS=-0.364, 1.522,-0.541, RAW= 334.5, -6.3, CAL= 336.6, -8.7, ROT= 173.4, 8.7
2025-06-18T18:34:12.233Z,1750271652.233 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-06-18T18:34:12.234Z,1750271652.234 [DAT](INFO): direction in FSK: [-0.981943,0.113615,-0.151261]
2025-06-18T18:34:12.234Z,1750271652.234 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:12.238Z,1750271652.238 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=8.577070
2025-06-18T18:34:12.469Z,1750271652.469 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=8.808041
2025-06-18T18:34:12.488Z,1750271652.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.504951 s,
deltaX: 0.099998 m,
approachRate: 0.198036 m/s,
rangeRepo size: 4
2025-06-18T18:34:12.495Z,1750271652.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077930 m,
bearing: 133.608650 deg,
lat: 36.905896 deg,
lon: -122.115750 deg,
deltaT: 0.504951 s,
deltaX: 0.099096 m,
approachRate: 0.196249 m/s,
posRepo size: 4
2025-06-18T18:34:12.495Z,1750271652.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:12.721Z,1750271652.721 [DAT](INFO): DAT read: Rx Time:18:34:13.4030
2025-06-18T18:34:12.722Z,1750271652.722 [DAT](INFO): Rx dataTimestamp_ set to:1750271652.721610
2025-06-18T18:34:12.723Z,1750271652.723 [DAT](INFO): DAT read: Bearing 173.4, 8.6 (Local)
2025-06-18T18:34:12.723Z,1750271652.723 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.4, 8.6 (Local)
2025-06-18T18:34:12.726Z,1750271652.726 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1
2025-06-18T18:34:12.730Z,1750271652.730 [DAT](INFO): DAT read: 18:34:13.4030 LVL= 29008, 18929, 25442, 32755, AGC= 66, IDX= 500,-0.15,-1.929,-0.003,-2.014,-1.475, PHS=-0.366, 1.519,-0.541, RAW= 334.4, -6.2, CAL= 336.6, -8.6, ROT= 173.4, 8.6
2025-06-18T18:34:12.731Z,1750271652.731 [DAT](INFO): got valid direction response:
18:34:13.4030 LVL= 29008, 18929, 25442, 32755, AGC= 66, IDX= 500,-0.15,-1.929,-0.003,-2.014,-1.475, PHS=-0.366, 1.519,-0.541, RAW= 334.4, -6.2, CAL= 336.6, -8.6, ROT= 173.4, 8.6
2025-06-18T18:34:12.732Z,1750271652.732 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-18T18:34:12.733Z,1750271652.733 [DAT](INFO): direction in FSK: [-0.982204,0.113645,-0.149535]
2025-06-18T18:34:12.733Z,1750271652.733 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:12.737Z,1750271652.737 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=9.075799
2025-06-18T18:34:12.943Z,1750271652.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.503004 s,
deltaX: -0.099998 m,
approachRate: -0.198803 m/s,
rangeRepo size: 4
2025-06-18T18:34:12.953Z,1750271652.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.978846 m,
bearing: 133.726362 deg,
lat: 36.905895 deg,
lon: -122.115750 deg,
deltaT: 0.503004 s,
deltaX: -0.099085 m,
approachRate: -0.196986 m/s,
posRepo size: 4
2025-06-18T18:34:12.954Z,1750271652.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.98 m.
2025-06-18T18:34:12.973Z,1750271652.973 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=9.312008
2025-06-18T18:34:13.225Z,1750271653.225 [DAT](INFO): DAT read: Rx Time:18:34:13.9032
2025-06-18T18:34:13.226Z,1750271653.226 [DAT](INFO): Rx dataTimestamp_ set to:1750271653.225667
2025-06-18T18:34:13.227Z,1750271653.227 [DAT](INFO): DAT read: Bearing 173.4, 8.7 (Local)
2025-06-18T18:34:13.228Z,1750271653.228 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.4, 8.7 (Local)
2025-06-18T18:34:13.230Z,1750271653.230 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:13.235Z,1750271653.235 [DAT](INFO): DAT read: 18:34:13.9032 LVL= 27792, 19265, 24562, 32755, AGC= 65, IDX= 501,-0.21,-0.401, 1.513,-0.484, 0.048, PHS=-0.362, 1.512,-0.536, RAW= 334.4, -6.3, CAL= 336.6, -8.7, ROT= 173.4, 8.7
2025-06-18T18:34:13.236Z,1750271653.236 [DAT](INFO): got valid direction response:
18:34:13.9032 LVL= 27792, 19265, 24562, 32755, AGC= 65, IDX= 501,-0.21,-0.401, 1.513,-0.484, 0.048, PHS=-0.362, 1.512,-0.536, RAW= 334.4, -6.3, CAL= 336.6, -8.7, ROT= 173.4, 8.7
2025-06-18T18:34:13.236Z,1750271653.236 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-18T18:34:13.237Z,1750271653.237 [DAT](INFO): direction in FSK: [-0.981943,0.113615,-0.151261]
2025-06-18T18:34:13.237Z,1750271653.237 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:13.245Z,1750271653.245 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=9.584402
2025-06-18T18:34:13.318Z,1750271653.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504057 s,
deltaX: 0.299999 m,
approachRate: 0.595169 m/s,
rangeRepo size: 4
2025-06-18T18:34:13.329Z,1750271653.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276102 m,
bearing: 133.781873 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.504057 s,
deltaX: 0.297256 m,
approachRate: 0.589728 m/s,
posRepo size: 4
2025-06-18T18:34:13.329Z,1750271653.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:13.477Z,1750271653.477 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=9.816098
2025-06-18T18:34:13.707Z,1750271653.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:13.729Z,1750271653.729 [DAT](INFO): DAT read: Rx Time:18:34:14.4031
2025-06-18T18:34:13.730Z,1750271653.730 [DAT](INFO): Rx dataTimestamp_ set to:1750271653.729546
2025-06-18T18:34:13.731Z,1750271653.731 [DAT](INFO): DAT read: Bearing 173.4, 7.4 (Local)
2025-06-18T18:34:13.731Z,1750271653.731 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.4, 7.4 (Local)
2025-06-18T18:34:13.734Z,1750271653.734 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:13.743Z,1750271653.743 [DAT](INFO): DAT read: 18:34:14.4031 LVL= 27808, 17889, 24466, 32755, AGC= 65, IDX= 500,-0.28,-1.262, 0.633,-1.351,-0.786, PHS=-0.388, 1.466,-0.568, RAW= 334.6, -5.3, CAL= 336.6, -7.4, ROT= 173.4, 7.4
2025-06-18T18:34:13.748Z,1750271653.748 [DAT](INFO): got valid direction response:
18:34:14.4031 LVL= 27808, 17889, 24466, 32755, AGC= 65, IDX= 500,-0.28,-1.262, 0.633,-1.351,-0.786, PHS=-0.388, 1.466,-0.568, RAW= 334.6, -5.3, CAL= 336.6, -7.4, ROT= 173.4, 7.4
2025-06-18T18:34:13.748Z,1750271653.748 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-06-18T18:34:13.749Z,1750271653.749 [DAT](INFO): direction in FSK: [-0.985099,0.113980,-0.128796]
2025-06-18T18:34:13.750Z,1750271653.750 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:13.757Z,1750271653.757 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=10.096548
2025-06-18T18:34:13.981Z,1750271653.981 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=10.319929
2025-06-18T18:34:14.074Z,1750271654.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.503879 s,
deltaX: -0.200001 m,
approachRate: -0.396922 m/s,
rangeRepo size: 4
2025-06-18T18:34:14.076Z,1750271654.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077925 m,
bearing: 134.180270 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.503879 s,
deltaX: -0.198177 m,
approachRate: -0.393303 m/s,
posRepo size: 4
2025-06-18T18:34:14.077Z,1750271654.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:14.234Z,1750271654.234 [DAT](INFO): DAT read: Rx Time:18:34:14.9032
2025-06-18T18:34:14.234Z,1750271654.234 [DAT](INFO): Rx dataTimestamp_ set to:1750271654.233743
2025-06-18T18:34:14.235Z,1750271654.235 [DAT](INFO): DAT read: Bearing 173.1, 7.3 (Local)
2025-06-18T18:34:14.236Z,1750271654.236 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.1, 7.3 (Local)
2025-06-18T18:34:14.238Z,1750271654.238 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:14.243Z,1750271654.243 [DAT](INFO): DAT read: 18:34:14.9032 LVL= 31200, 19345, 29682, 32755, AGC= 67, IDX= 501,-0.38, 0.870, 2.779, 0.765, 1.346, PHS=-0.387, 1.481,-0.583, RAW= 334.9, -5.2, CAL= 336.9, -7.3, ROT= 173.1, 7.3
2025-06-18T18:34:14.244Z,1750271654.244 [DAT](INFO): got valid direction response:
18:34:14.9032 LVL= 31200, 19345, 29682, 32755, AGC= 67, IDX= 501,-0.38, 0.870, 2.779, 0.765, 1.346, PHS=-0.387, 1.481,-0.583, RAW= 334.9, -5.2, CAL= 336.9, -7.3, ROT= 173.1, 7.3
2025-06-18T18:34:14.245Z,1750271654.245 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-18T18:34:14.246Z,1750271654.246 [DAT](INFO): direction in FSK: [-0.984711,0.119163,-0.127065]
2025-06-18T18:34:14.246Z,1750271654.246 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:14.249Z,1750271654.249 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=10.588397
2025-06-18T18:34:14.475Z,1750271654.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504197 s,
deltaX: 0.200001 m,
approachRate: 0.396672 m/s,
rangeRepo size: 4
2025-06-18T18:34:14.477Z,1750271654.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276073 m,
bearing: 134.059200 deg,
lat: 36.905893 deg,
lon: -122.115750 deg,
deltaT: 0.504197 s,
deltaX: 0.198149 m,
approachRate: 0.392999 m/s,
posRepo size: 4
2025-06-18T18:34:14.478Z,1750271654.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:14.485Z,1750271654.485 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=10.824004
2025-06-18T18:34:14.737Z,1750271654.737 [DAT](INFO): DAT read: Rx Time:18:34:15.4031
2025-06-18T18:34:14.738Z,1750271654.738 [DAT](INFO): Rx dataTimestamp_ set to:1750271654.737581
2025-06-18T18:34:14.739Z,1750271654.739 [DAT](INFO): DAT read: Bearing 172.8, 7.8 (Local)
2025-06-18T18:34:14.739Z,1750271654.739 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.8, 7.8 (Local)
2025-06-18T18:34:14.742Z,1750271654.742 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:14.751Z,1750271654.751 [DAT](INFO): DAT read: 18:34:15.4031 LVL= 30512, 19313, 27442, 32755, AGC= 66, IDX= 499, 0.49, 1.316,-3.062, 1.203, 1.774, PHS=-0.370, 1.495,-0.573, RAW= 335.1, -5.6, CAL= 337.2, -7.8, ROT= 172.8, 7.8
2025-06-18T18:34:14.752Z,1750271654.752 [DAT](INFO): got valid direction response:
18:34:15.4031 LVL= 30512, 19313, 27442, 32755, AGC= 66, IDX= 499, 0.49, 1.316,-3.062, 1.203, 1.774, PHS=-0.370, 1.495,-0.573, RAW= 335.1, -5.6, CAL= 337.2, -7.8, ROT= 172.8, 7.8
2025-06-18T18:34:14.753Z,1750271654.753 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-06-18T18:34:14.754Z,1750271654.754 [DAT](INFO): direction in FSK: [-0.982936,0.124174,-0.135716]
2025-06-18T18:34:14.754Z,1750271654.754 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:14.758Z,1750271654.758 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=11.096652
2025-06-18T18:34:14.957Z,1750271654.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.503838 s,
deltaX: -0.200001 m,
approachRate: -0.396955 m/s,
rangeRepo size: 4
2025-06-18T18:34:14.959Z,1750271654.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077900 m,
bearing: 133.744382 deg,
lat: 36.905893 deg,
lon: -122.115750 deg,
deltaT: 0.503838 s,
deltaX: -0.198174 m,
approachRate: -0.393328 m/s,
posRepo size: 4
2025-06-18T18:34:14.960Z,1750271654.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:14.989Z,1750271654.989 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=11.328261
2025-06-18T18:34:15.241Z,1750271655.241 [DAT](INFO): DAT read: Rx Time:18:34:15.9031
2025-06-18T18:34:15.242Z,1750271655.242 [DAT](INFO): Rx dataTimestamp_ set to:1750271655.241659
2025-06-18T18:34:15.243Z,1750271655.243 [DAT](INFO): DAT read: Bearing 172.7, 8.6 (Local)
2025-06-18T18:34:15.244Z,1750271655.244 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.7, 8.6 (Local)
2025-06-18T18:34:15.246Z,1750271655.246 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:15.251Z,1750271655.251 [DAT](INFO): DAT read: 18:34:15.9031 LVL= 32496, 25521, 30194, 32755, AGC= 64, IDX= 499, 0.50, 1.180, 3.079, 1.066, 1.617, PHS=-0.348, 1.509,-0.554, RAW= 335.2, -6.2, CAL= 337.3, -8.6, ROT= 172.7, 8.6
2025-06-18T18:34:15.252Z,1750271655.252 [DAT](INFO): got valid direction response:
18:34:15.9031 LVL= 32496, 25521, 30194, 32755, AGC= 64, IDX= 499, 0.50, 1.180, 3.079, 1.066, 1.617, PHS=-0.348, 1.509,-0.554, RAW= 335.2, -6.2, CAL= 337.3, -8.6, ROT= 172.7, 8.6
2025-06-18T18:34:15.252Z,1750271655.252 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-18T18:34:15.253Z,1750271655.253 [DAT](INFO): direction in FSK: [-0.980742,0.125636,-0.149535]
2025-06-18T18:34:15.253Z,1750271655.253 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:15.269Z,1750271655.269 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=11.608366
2025-06-18T18:34:15.358Z,1750271655.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.504078 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:15.364Z,1750271655.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077900 m,
bearing: 133.569850 deg,
lat: 36.905893 deg,
lon: -122.115749 deg,
deltaT: 0.504078 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:34:15.365Z,1750271655.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:15.493Z,1750271655.493 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=11.832344
2025-06-18T18:34:15.689Z,1750271655.689 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -9 +6680.39, -37.68, 7.22, 0.00
2025-06-18T18:34:15.729Z,1750271655.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:15.748Z,1750271655.748 [DAT](INFO): DAT read: Rx Time:18:34:16.4030
2025-06-18T18:34:15.749Z,1750271655.749 [DAT](INFO): Rx dataTimestamp_ set to:1750271655.748836
2025-06-18T18:34:15.751Z,1750271655.751 [DAT](INFO): DAT read: Bearing 172.9, 8.6 (Local)
2025-06-18T18:34:15.752Z,1750271655.752 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.9, 8.6 (Local)
2025-06-18T18:34:15.755Z,1750271655.755 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0
2025-06-18T18:34:15.763Z,1750271655.763 [DAT](INFO): DAT read: 18:34:16.4030 LVL= 32752, 22481, 32754, 32755, AGC= 65, IDX= 499,-0.48,-1.408, 0.489,-1.515,-0.968, PHS=-0.352, 1.505,-0.550, RAW= 335.0, -6.2, CAL= 337.1, -8.6, ROT= 172.9, 8.6
2025-06-18T18:34:15.765Z,1750271655.765 [DAT](INFO): got valid direction response:
18:34:16.4030 LVL= 32752, 22481, 32754, 32755, AGC= 65, IDX= 499,-0.48,-1.408, 0.489,-1.515,-0.968, PHS=-0.352, 1.505,-0.550, RAW= 335.0, -6.2, CAL= 337.1, -8.6, ROT= 172.9, 8.6
2025-06-18T18:34:15.765Z,1750271655.765 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-06-18T18:34:15.767Z,1750271655.767 [DAT](INFO): direction in FSK: [-0.981175,0.122212,-0.149535]
2025-06-18T18:34:15.767Z,1750271655.767 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:15.775Z,1750271655.775 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=12.113870
2025-06-18T18:34:15.997Z,1750271655.997 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=12.335787
2025-06-18T18:34:16.197Z,1750271656.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.507177 s,
deltaX: -0.099998 m,
approachRate: -0.197167 m/s,
rangeRepo size: 4
2025-06-18T18:34:16.199Z,1750271656.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.978813 m,
bearing: 133.897819 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.507177 s,
deltaX: -0.099087 m,
approachRate: -0.195369 m/s,
posRepo size: 4
2025-06-18T18:34:16.216Z,1750271656.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.98 m.
2025-06-18T18:34:16.250Z,1750271656.250 [DAT](INFO): DAT read: Rx Time:18:34:16.9031
2025-06-18T18:34:16.250Z,1750271656.250 [DAT](INFO): Rx dataTimestamp_ set to:1750271656.250056
2025-06-18T18:34:16.252Z,1750271656.252 [DAT](INFO): DAT read: Bearing 172.6, 8.3 (Local)
2025-06-18T18:34:16.253Z,1750271656.253 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.6, 8.3 (Local)
2025-06-18T18:34:16.255Z,1750271656.255 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:16.262Z,1750271656.262 [DAT](INFO): DAT read: 18:34:16.9031 LVL= 30704, 22465, 28722, 32755, AGC= 66, IDX= 500,-0.43,-0.556, 1.315,-0.675,-0.121, PHS=-0.347, 1.483,-0.557, RAW= 335.4, -6.0, CAL= 337.4, -8.3, ROT= 172.6, 8.3
2025-06-18T18:34:16.263Z,1750271656.263 [DAT](INFO): got valid direction response:
18:34:16.9031 LVL= 30704, 22465, 28722, 32755, AGC= 66, IDX= 500,-0.43,-0.556, 1.315,-0.675,-0.121, PHS=-0.347, 1.483,-0.557, RAW= 335.4, -6.0, CAL= 337.4, -8.3, ROT= 172.6, 8.3
2025-06-18T18:34:16.264Z,1750271656.264 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-18T18:34:16.265Z,1750271656.265 [DAT](INFO): direction in FSK: [-0.981284,0.127447,-0.144356]
2025-06-18T18:34:16.265Z,1750271656.265 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:16.270Z,1750271656.270 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=12.608715
2025-06-18T18:34:16.501Z,1750271656.501 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=12.839965
2025-06-18T18:34:16.678Z,1750271656.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.501220 s,
deltaX: 0.099998 m,
approachRate: 0.199510 m/s,
rangeRepo size: 4
2025-06-18T18:34:16.684Z,1750271656.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077892 m,
bearing: 133.730512 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.501220 s,
deltaX: 0.099079 m,
approachRate: 0.197676 m/s,
posRepo size: 4
2025-06-18T18:34:16.685Z,1750271656.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:16.754Z,1750271656.754 [DAT](INFO): DAT read: Rx Time:18:34:17.4030
2025-06-18T18:34:16.755Z,1750271656.755 [DAT](INFO): Rx dataTimestamp_ set to:1750271656.754741
2025-06-18T18:34:16.758Z,1750271656.758 [DAT](INFO): DAT read: Bearing 172.8, 7.9 (Local)
2025-06-18T18:34:16.759Z,1750271656.759 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.8, 7.9 (Local)
2025-06-18T18:34:16.762Z,1750271656.762 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0
2025-06-18T18:34:16.767Z,1750271656.767 [DAT](INFO): DAT read: 18:34:17.4030 LVL= 29776, 23889, 31266, 32755, AGC= 66, IDX= 499,-0.29,-2.435,-0.560,-2.547,-1.986, PHS=-0.361, 1.473,-0.564, RAW= 335.2, -5.7, CAL= 337.2, -7.9, ROT= 172.8, 7.9
2025-06-18T18:34:16.768Z,1750271656.768 [DAT](INFO): got valid direction response:
18:34:17.4030 LVL= 29776, 23889, 31266, 32755, AGC= 66, IDX= 499,-0.29,-2.435,-0.560,-2.547,-1.986, PHS=-0.361, 1.473,-0.564, RAW= 335.2, -5.7, CAL= 337.2, -7.9, ROT= 172.8, 7.9
2025-06-18T18:34:16.768Z,1750271656.768 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-18T18:34:16.769Z,1750271656.769 [DAT](INFO): direction in FSK: [-0.982699,0.124144,-0.137445]
2025-06-18T18:34:16.769Z,1750271656.769 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:16.801Z,1750271656.801 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=13.139959
2025-06-18T18:34:17.005Z,1750271657.005 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=13.343995
2025-06-18T18:34:17.049Z,1750271657.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.504685 s,
deltaX: -0.099998 m,
approachRate: -0.198140 m/s,
rangeRepo size: 4
2025-06-18T18:34:17.051Z,1750271657.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.978807 m,
bearing: 134.060614 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.504685 s,
deltaX: -0.099085 m,
approachRate: -0.196330 m/s,
posRepo size: 4
2025-06-18T18:34:17.051Z,1750271657.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.98 m.
2025-06-18T18:34:17.257Z,1750271657.257 [DAT](INFO): DAT read: Rx Time:18:34:17.9031
2025-06-18T18:34:17.258Z,1750271657.258 [DAT](INFO): Rx dataTimestamp_ set to:1750271657.257623
2025-06-18T18:34:17.259Z,1750271657.259 [DAT](INFO): DAT read: Bearing 173.0, 7.4 (Local)
2025-06-18T18:34:17.260Z,1750271657.260 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.0, 7.4 (Local)
2025-06-18T18:34:17.262Z,1750271657.262 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:17.267Z,1750271657.267 [DAT](INFO): DAT read: 18:34:17.9031 LVL= 30496, 21937, 32754, 32755, AGC= 65, IDX= 500,-0.17,-1.607, 0.263,-1.711,-1.142, PHS=-0.376, 1.453,-0.572, RAW= 335.0, -5.3, CAL= 337.0, -7.4, ROT= 173.0, 7.4
2025-06-18T18:34:17.268Z,1750271657.268 [DAT](INFO): got valid direction response:
18:34:17.9031 LVL= 30496, 21937, 32754, 32755, AGC= 65, IDX= 500,-0.17,-1.607, 0.263,-1.711,-1.142, PHS=-0.376, 1.453,-0.572, RAW= 335.0, -5.3, CAL= 337.0, -7.4, ROT= 173.0, 7.4
2025-06-18T18:34:17.268Z,1750271657.268 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-06-18T18:34:17.269Z,1750271657.269 [DAT](INFO): direction in FSK: [-0.984279,0.120854,-0.128796]
2025-06-18T18:34:17.269Z,1750271657.269 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:17.313Z,1750271657.313 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=13.652182
2025-06-18T18:34:17.435Z,1750271657.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.502882 s,
deltaX: 0.099998 m,
approachRate: 0.198851 m/s,
rangeRepo size: 4
2025-06-18T18:34:17.437Z,1750271657.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077908 m,
bearing: 134.407561 deg,
lat: 36.905894 deg,
lon: -122.115751 deg,
deltaT: 0.502882 s,
deltaX: 0.099100 m,
approachRate: 0.197064 m/s,
posRepo size: 4
2025-06-18T18:34:17.438Z,1750271657.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:17.510Z,1750271657.510 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=13.848684
2025-06-18T18:34:17.761Z,1750271657.761 [DAT](INFO): DAT read: Rx Time:18:34:18.4030
2025-06-18T18:34:17.762Z,1750271657.762 [DAT](INFO): Rx dataTimestamp_ set to:1750271657.761598
2025-06-18T18:34:17.763Z,1750271657.763 [DAT](INFO): DAT read: Bearing 172.8, 7.4 (Local)
2025-06-18T18:34:17.763Z,1750271657.763 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.8, 7.4 (Local)
2025-06-18T18:34:17.766Z,1750271657.766 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0
2025-06-18T18:34:17.771Z,1750271657.771 [DAT](INFO): DAT read: 18:34:18.4030 LVL= 30496, 22577, 31378, 32755, AGC= 65, IDX= 499,-0.04,-2.770,-0.885,-2.884,-2.306, PHS=-0.376, 1.468,-0.581, RAW= 335.2, -5.3, CAL= 337.2, -7.4, ROT= 172.8, 7.4
2025-06-18T18:34:17.781Z,1750271657.781 [DAT](INFO): got valid direction response:
18:34:18.4030 LVL= 30496, 22577, 31378, 32755, AGC= 65, IDX= 499,-0.04,-2.770,-0.885,-2.884,-2.306, PHS=-0.376, 1.468,-0.581, RAW= 335.2, -5.3, CAL= 337.2, -7.4, ROT= 172.8, 7.4
2025-06-18T18:34:17.781Z,1750271657.781 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-06-18T18:34:17.782Z,1750271657.782 [DAT](INFO): direction in FSK: [-0.983852,0.124289,-0.128796]
2025-06-18T18:34:17.782Z,1750271657.782 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:17.786Z,1750271657.786 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=14.124940
2025-06-18T18:34:17.937Z,1750271657.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.503975 s,
deltaX: -0.099998 m,
approachRate: -0.198420 m/s,
rangeRepo size: 4
2025-06-18T18:34:17.939Z,1750271657.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.978823 m,
bearing: 134.211281 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 0.503975 s,
deltaX: -0.099085 m,
approachRate: -0.196607 m/s,
posRepo size: 4
2025-06-18T18:34:17.944Z,1750271657.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.98 m.
2025-06-18T18:34:18.014Z,1750271658.014 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=14.353021
2025-06-18T18:34:18.265Z,1750271658.265 [DAT](INFO): DAT read: Rx Time:18:34:18.9031
2025-06-18T18:34:18.266Z,1750271658.266 [DAT](INFO): Rx dataTimestamp_ set to:1750271658.265659
2025-06-18T18:34:18.267Z,1750271658.267 [DAT](INFO): DAT read: Bearing 172.6, 8.1 (Local)
2025-06-18T18:34:18.268Z,1750271658.268 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.6, 8.1 (Local)
2025-06-18T18:34:18.270Z,1750271658.270 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:18.275Z,1750271658.275 [DAT](INFO): DAT read: 18:34:18.9031 LVL= 28464, 23537, 25826, 32755, AGC= 65, IDX= 500, 0.09,-0.876, 1.027,-0.999,-0.430, PHS=-0.358, 1.505,-0.572, RAW= 335.4, -5.9, CAL= 337.4, -8.1, ROT= 172.6, 8.1
2025-06-18T18:34:18.276Z,1750271658.276 [DAT](INFO): got valid direction response:
18:34:18.9031 LVL= 28464, 23537, 25826, 32755, AGC= 65, IDX= 500, 0.09,-0.876, 1.027,-0.999,-0.430, PHS=-0.358, 1.505,-0.572, RAW= 335.4, -5.9, CAL= 337.4, -8.1, ROT= 172.6, 8.1
2025-06-18T18:34:18.276Z,1750271658.276 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-18T18:34:18.277Z,1750271658.277 [DAT](INFO): direction in FSK: [-0.981778,0.127511,-0.140901]
2025-06-18T18:34:18.277Z,1750271658.277 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:18.285Z,1750271658.285 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=14.624224
2025-06-18T18:34:18.352Z,1750271658.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.504061 s,
deltaX: 0.099998 m,
approachRate: 0.198386 m/s,
rangeRepo size: 4
2025-06-18T18:34:18.354Z,1750271658.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077908 m,
bearing: 133.961699 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 0.504061 s,
deltaX: 0.099085 m,
approachRate: 0.196573 m/s,
posRepo size: 4
2025-06-18T18:34:18.354Z,1750271658.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:18.517Z,1750271658.517 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=14.856027
2025-06-18T18:34:18.762Z,1750271658.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:18.770Z,1750271658.770 [DAT](INFO): DAT read: Rx Time:18:34:19.4030
2025-06-18T18:34:18.770Z,1750271658.770 [DAT](INFO): Rx dataTimestamp_ set to:1750271658.769789
2025-06-18T18:34:18.771Z,1750271658.771 [DAT](INFO): DAT read: Bearing 172.1, 8.2 (Local)
2025-06-18T18:34:18.772Z,1750271658.772 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.1, 8.2 (Local)
2025-06-18T18:34:18.774Z,1750271658.774 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1
2025-06-18T18:34:18.783Z,1750271658.783 [DAT](INFO): DAT read: 18:34:19.4030 LVL= 29168, 24177, 27858, 32755, AGC= 65, IDX= 499, 0.27,-2.407,-0.531,-2.549,-1.977, PHS=-0.341, 1.493,-0.574, RAW= 335.9, -5.9, CAL= 337.9, -8.2, ROT= 172.1, 8.2
2025-06-18T18:34:18.788Z,1750271658.788 [DAT](INFO): got valid direction response:
18:34:19.4030 LVL= 29168, 24177, 27858, 32755, AGC= 65, IDX= 499, 0.27,-2.407,-0.531,-2.549,-1.977, PHS=-0.341, 1.493,-0.574, RAW= 335.9, -5.9, CAL= 337.9, -8.2, ROT= 172.1, 8.2
2025-06-18T18:34:18.790Z,1750271658.790 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-06-18T18:34:18.791Z,1750271658.791 [DAT](INFO): direction in FSK: [-0.980383,0.136039,-0.142629]
2025-06-18T18:34:18.792Z,1750271658.792 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:18.795Z,1750271658.795 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=15.134379
2025-06-18T18:34:19.021Z,1750271659.021 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=15.359900
2025-06-18T18:34:19.085Z,1750271659.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.504130 s,
deltaX: -0.099998 m,
approachRate: -0.198359 m/s,
rangeRepo size: 4
2025-06-18T18:34:19.087Z,1750271659.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.978813 m,
bearing: 133.521317 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 0.504130 s,
deltaX: -0.099094 m,
approachRate: -0.196565 m/s,
posRepo size: 4
2025-06-18T18:34:19.092Z,1750271659.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.98 m.
2025-06-18T18:34:19.274Z,1750271659.274 [DAT](INFO): DAT read: Rx Time:18:34:19.9032
2025-06-18T18:34:19.274Z,1750271659.274 [DAT](INFO): Rx dataTimestamp_ set to:1750271659.273710
2025-06-18T18:34:19.275Z,1750271659.275 [DAT](INFO): DAT read: Bearing 172.5, 7.6 (Local)
2025-06-18T18:34:19.276Z,1750271659.276 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.5, 7.6 (Local)
2025-06-18T18:34:19.278Z,1750271659.278 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:19.305Z,1750271659.305 [DAT](INFO): DAT read: 18:34:19.9032 LVL= 27200, 26353, 30194, 32755, AGC= 65, IDX= 500,-0.47, 2.105,-2.302, 1.978, 2.556, PHS=-0.363, 1.472,-0.581, RAW= 335.5, -5.5, CAL= 337.5, -7.6, ROT= 172.5, 7.6
2025-06-18T18:34:19.306Z,1750271659.306 [DAT](INFO): got valid direction response:
18:34:19.9032 LVL= 27200, 26353, 30194, 32755, AGC= 65, IDX= 500,-0.47, 2.105,-2.302, 1.978, 2.556, PHS=-0.363, 1.472,-0.581, RAW= 335.5, -5.5, CAL= 337.5, -7.6, ROT= 172.5, 7.6
2025-06-18T18:34:19.306Z,1750271659.306 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-18T18:34:19.307Z,1750271659.307 [DAT](INFO): direction in FSK: [-0.982736,0.129379,-0.132256]
2025-06-18T18:34:19.307Z,1750271659.307 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:19.352Z,1750271659.352 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=15.686771
2025-06-18T18:34:19.493Z,1750271659.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.503921 s,
deltaX: 0.299999 m,
approachRate: 0.595330 m/s,
rangeRepo size: 4
2025-06-18T18:34:19.495Z,1750271659.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276089 m,
bearing: 134.081372 deg,
lat: 36.905894 deg,
lon: -122.115751 deg,
deltaT: 0.503921 s,
deltaX: 0.297276 m,
approachRate: 0.589925 m/s,
posRepo size: 4
2025-06-18T18:34:19.495Z,1750271659.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:19.525Z,1750271659.525 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=15.864132
2025-06-18T18:34:19.777Z,1750271659.777 [DAT](INFO): DAT read: Rx Time:18:34:20.4031
2025-06-18T18:34:19.778Z,1750271659.778 [DAT](INFO): Rx dataTimestamp_ set to:1750271659.777560
2025-06-18T18:34:19.779Z,1750271659.779 [DAT](INFO): DAT read: Bearing 173.0, 7.3 (Local)
2025-06-18T18:34:19.779Z,1750271659.779 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.0, 7.3 (Local)
2025-06-18T18:34:19.782Z,1750271659.782 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:19.787Z,1750271659.787 [DAT](INFO): DAT read: 18:34:20.4031 LVL= 30000, 23217, 27122, 32755, AGC= 66, IDX= 499,-0.26, 0.685, 2.603, 0.578, 1.161, PHS=-0.388, 1.489,-0.587, RAW= 335.0, -5.2, CAL= 337.0, -7.3, ROT= 173.0, 7.3
2025-06-18T18:34:19.788Z,1750271659.788 [DAT](INFO): got valid direction response:
18:34:20.4031 LVL= 30000, 23217, 27122, 32755, AGC= 66, IDX= 499,-0.26, 0.685, 2.603, 0.578, 1.161, PHS=-0.388, 1.489,-0.587, RAW= 335.0, -5.2, CAL= 337.0, -7.3, ROT= 173.0, 7.3
2025-06-18T18:34:19.789Z,1750271659.789 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-06-18T18:34:19.790Z,1750271659.790 [DAT](INFO): direction in FSK: [-0.984501,0.120881,-0.127065]
2025-06-18T18:34:19.790Z,1750271659.790 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:19.793Z,1750271659.793 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=16.132557
2025-06-18T18:34:20.029Z,1750271660.029 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=16.368015
2025-06-18T18:34:20.047Z,1750271660.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.503850 s,
deltaX: -0.200001 m,
approachRate: -0.396945 m/s,
rangeRepo size: 4
2025-06-18T18:34:20.049Z,1750271660.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077915 m,
bearing: 134.628928 deg,
lat: 36.905894 deg,
lon: -122.115751 deg,
deltaT: 0.503850 s,
deltaX: -0.198174 m,
approachRate: -0.393319 m/s,
posRepo size: 4
2025-06-18T18:34:20.050Z,1750271660.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:20.283Z,1750271660.283 [DAT](INFO): DAT read: Rx Time:18:34:20.9032
2025-06-18T18:34:20.284Z,1750271660.284 [DAT](INFO): Rx dataTimestamp_ set to:1750271660.283238
2025-06-18T18:34:20.286Z,1750271660.286 [DAT](INFO): DAT read: Bearing 172.8, 6.7 (Local)
2025-06-18T18:34:20.286Z,1750271660.286 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.8, 6.7 (Local)
2025-06-18T18:34:20.289Z,1750271660.289 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:20.299Z,1750271660.299 [DAT](INFO): DAT read: 18:34:20.9032 LVL= 27632, 22049, 27842, 32755, AGC= 65, IDX= 500,-0.11, 1.495,-2.872, 1.375, 1.980, PHS=-0.398, 1.478,-0.608, RAW= 335.3, -4.8, CAL= 337.2, -6.7, ROT= 172.8, 6.7
2025-06-18T18:34:20.305Z,1750271660.305 [DAT](INFO): got valid direction response:
18:34:20.9032 LVL= 27632, 22049, 27842, 32755, AGC= 65, IDX= 500,-0.11, 1.495,-2.872, 1.375, 1.980, PHS=-0.398, 1.478,-0.608, RAW= 335.3, -4.8, CAL= 337.2, -6.7, ROT= 172.8, 6.7
2025-06-18T18:34:20.305Z,1750271660.305 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-06-18T18:34:20.306Z,1750271660.306 [DAT](INFO): direction in FSK: [-0.985339,0.124477,-0.116671]
2025-06-18T18:34:20.307Z,1750271660.307 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:20.318Z,1750271660.318 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=16.657560
2025-06-18T18:34:20.423Z,1750271660.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.505678 s,
deltaX: 0.200001 m,
approachRate: 0.395510 m/s,
rangeRepo size: 4
2025-06-18T18:34:20.429Z,1750271660.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276089 m,
bearing: 134.623884 deg,
lat: 36.905893 deg,
lon: -122.115751 deg,
deltaT: 0.505678 s,
deltaX: 0.198174 m,
approachRate: 0.391897 m/s,
posRepo size: 4
2025-06-18T18:34:20.430Z,1750271660.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:20.533Z,1750271660.533 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=16.872047
2025-06-18T18:34:20.786Z,1750271660.786 [DAT](INFO): DAT read: Rx Time:18:34:21.4031
2025-06-18T18:34:20.787Z,1750271660.787 [DAT](INFO): Rx dataTimestamp_ set to:1750271660.786180
2025-06-18T18:34:20.789Z,1750271660.789 [DAT](INFO): DAT read: Bearing 172.4, 7.4 (Local)
2025-06-18T18:34:20.789Z,1750271660.789 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.4, 7.4 (Local)
2025-06-18T18:34:20.792Z,1750271660.792 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1
2025-06-18T18:34:20.809Z,1750271660.809 [DAT](INFO): DAT read: 18:34:21.4031 LVL= 31984, 22369, 30450, 32755, AGC= 66, IDX= 499, 0.00, 1.383,-2.977, 1.245, 1.846, PHS=-0.375, 1.507,-0.604, RAW= 335.7, -5.3, CAL= 337.6, -7.4, ROT= 172.4, 7.4
2025-06-18T18:34:20.810Z,1750271660.810 [DAT](INFO): got valid direction response:
18:34:21.4031 LVL= 31984, 22369, 30450, 32755, AGC= 66, IDX= 499, 0.00, 1.383,-2.977, 1.245, 1.846, PHS=-0.375, 1.507,-0.604, RAW= 335.7, -5.3, CAL= 337.6, -7.4, ROT= 172.4, 7.4
2025-06-18T18:34:20.810Z,1750271660.810 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-18T18:34:20.811Z,1750271660.811 [DAT](INFO): direction in FSK: [-0.982960,0.131155,-0.128796]
2025-06-18T18:34:20.811Z,1750271660.811 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:20.815Z,1750271660.815 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=17.153986
2025-06-18T18:34:20.972Z,1750271660.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.502942 s,
deltaX: -0.200001 m,
approachRate: -0.397662 m/s,
rangeRepo size: 4
2025-06-18T18:34:20.974Z,1750271660.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077927 m,
bearing: 134.175413 deg,
lat: 36.905893 deg,
lon: -122.115751 deg,
deltaT: 0.502942 s,
deltaX: -0.198162 m,
approachRate: -0.394006 m/s,
posRepo size: 4
2025-06-18T18:34:20.975Z,1750271660.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:21.038Z,1750271661.038 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=17.376635
2025-06-18T18:34:21.289Z,1750271661.289 [DAT](INFO): DAT read: Rx Time:18:34:21.9032
2025-06-18T18:34:21.290Z,1750271661.290 [DAT](INFO): Rx dataTimestamp_ set to:1750271661.289649
2025-06-18T18:34:21.291Z,1750271661.291 [DAT](INFO): DAT read: Bearing 172.5, 7.8 (Local)
2025-06-18T18:34:21.292Z,1750271661.292 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.5, 7.8 (Local)
2025-06-18T18:34:21.294Z,1750271661.294 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.1
2025-06-18T18:34:21.299Z,1750271661.299 [DAT](INFO): DAT read: 18:34:21.9032 LVL= 29040, 22289, 26146, 32755, AGC= 65, IDX= 500, 0.09,-2.663,-0.744,-2.791,-2.206, PHS=-0.369, 1.509,-0.587, RAW= 335.4, -5.6, CAL= 337.5, -7.8, ROT= 172.5, 7.8
2025-06-18T18:34:21.300Z,1750271661.300 [DAT](INFO): got valid direction response:
18:34:21.9032 LVL= 29040, 22289, 26146, 32755, AGC= 65, IDX= 500, 0.09,-2.663,-0.744,-2.791,-2.206, PHS=-0.369, 1.509,-0.587, RAW= 335.4, -5.6, CAL= 337.5, -7.8, ROT= 172.5, 7.8
2025-06-18T18:34:21.300Z,1750271661.300 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-18T18:34:21.301Z,1750271661.301 [DAT](INFO): direction in FSK: [-0.982272,0.129318,-0.135716]
2025-06-18T18:34:21.301Z,1750271661.301 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:21.309Z,1750271661.309 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=17.648220
2025-06-18T18:34:21.315Z,1750271661.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.503469 s,
deltaX: 0.200001 m,
approachRate: 0.397245 m/s,
rangeRepo size: 4
2025-06-18T18:34:21.317Z,1750271661.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276100 m,
bearing: 134.253184 deg,
lat: 36.905893 deg,
lon: -122.115751 deg,
deltaT: 0.503469 s,
deltaX: 0.198174 m,
approachRate: 0.393616 m/s,
posRepo size: 4
2025-06-18T18:34:21.318Z,1750271661.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:21.545Z,1750271661.545 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=17.884415
2025-06-18T18:34:21.768Z,1750271661.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:21.794Z,1750271661.794 [DAT](INFO): DAT read: Rx Time:18:34:22.4031
2025-06-18T18:34:21.794Z,1750271661.794 [DAT](INFO): Rx dataTimestamp_ set to:1750271661.793944
2025-06-18T18:34:21.796Z,1750271661.796 [DAT](INFO): DAT read: Bearing 172.1, 7.4 (Local)
2025-06-18T18:34:21.796Z,1750271661.796 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.1, 7.4 (Local)
2025-06-18T18:34:21.798Z,1750271661.798 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:21.804Z,1750271661.804 [DAT](INFO): DAT read: 18:34:22.4031 LVL= 27920, 20705, 28274, 32755, AGC= 67, IDX= 499, 0.19,-2.951,-1.054,-3.097,-2.495, PHS=-0.367, 1.489,-0.604, RAW= 335.9, -5.3, CAL= 337.9, -7.4, ROT= 172.1, 7.4
2025-06-18T18:34:21.806Z,1750271661.806 [DAT](INFO): got valid direction response:
18:34:22.4031 LVL= 27920, 20705, 28274, 32755, AGC= 67, IDX= 499, 0.19,-2.951,-1.054,-3.097,-2.495, PHS=-0.367, 1.489,-0.604, RAW= 335.9, -5.3, CAL= 337.9, -7.4, ROT= 172.1, 7.4
2025-06-18T18:34:21.806Z,1750271661.806 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-06-18T18:34:21.809Z,1750271661.809 [DAT](INFO): direction in FSK: [-0.982260,0.136300,-0.128796]
2025-06-18T18:34:21.809Z,1750271661.809 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:21.815Z,1750271661.815 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=18.153837
2025-06-18T18:34:22.045Z,1750271662.045 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=18.383995
2025-06-18T18:34:22.076Z,1750271662.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.504295 s,
deltaX: -0.200001 m,
approachRate: -0.396595 m/s,
rangeRepo size: 4
2025-06-18T18:34:22.078Z,1750271662.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077925 m,
bearing: 134.004002 deg,
lat: 36.905893 deg,
lon: -122.115751 deg,
deltaT: 0.504295 s,
deltaX: -0.198175 m,
approachRate: -0.392975 m/s,
posRepo size: 4
2025-06-18T18:34:22.079Z,1750271662.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:22.297Z,1750271662.297 [DAT](INFO): DAT read: Rx Time:18:34:22.9032
2025-06-18T18:34:22.298Z,1750271662.298 [DAT](INFO): Rx dataTimestamp_ set to:1750271662.297576
2025-06-18T18:34:22.299Z,1750271662.299 [DAT](INFO): DAT read: Bearing 172.0, 7.7 (Local)
2025-06-18T18:34:22.299Z,1750271662.299 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.0, 7.7 (Local)
2025-06-18T18:34:22.302Z,1750271662.302 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:22.306Z,1750271662.306 [DAT](INFO): DAT read: 18:34:22.9032 LVL= 32752, 22641, 32754, 32755, AGC= 66, IDX= 500, 0.31,-1.335, 0.543,-1.483,-0.894, PHS=-0.353, 1.484,-0.592, RAW= 336.0, -5.5, CAL= 338.0, -7.7, ROT= 172.0, 7.7
2025-06-18T18:34:22.307Z,1750271662.307 [DAT](INFO): got valid direction response:
18:34:22.9032 LVL= 32752, 22641, 32754, 32755, AGC= 66, IDX= 500, 0.31,-1.335, 0.543,-1.483,-0.894, PHS=-0.353, 1.484,-0.592, RAW= 336.0, -5.5, CAL= 338.0, -7.7, ROT= 172.0, 7.7
2025-06-18T18:34:22.308Z,1750271662.308 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-06-18T18:34:22.309Z,1750271662.309 [DAT](INFO): direction in FSK: [-0.981339,0.137918,-0.133986]
2025-06-18T18:34:22.309Z,1750271662.309 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:22.313Z,1750271662.313 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=18.651960
2025-06-18T18:34:22.501Z,1750271662.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.503632 s,
deltaX: 0.200001 m,
approachRate: 0.397117 m/s,
rangeRepo size: 4
2025-06-18T18:34:22.503Z,1750271662.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276121 m,
bearing: 133.904907 deg,
lat: 36.905894 deg,
lon: -122.115751 deg,
deltaT: 0.503632 s,
deltaX: 0.198196 m,
approachRate: 0.393534 m/s,
posRepo size: 4
2025-06-18T18:34:22.508Z,1750271662.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:22.549Z,1750271662.549 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=18.888119
2025-06-18T18:34:22.801Z,1750271662.801 [DAT](INFO): DAT read: Rx Time:18:34:23.4031
2025-06-18T18:34:22.802Z,1750271662.802 [DAT](INFO): Rx dataTimestamp_ set to:1750271662.801527
2025-06-18T18:34:22.803Z,1750271662.803 [DAT](INFO): DAT read: Bearing 171.7, 6.7 (Local)
2025-06-18T18:34:22.803Z,1750271662.803 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.7, 6.7 (Local)
2025-06-18T18:34:22.806Z,1750271662.806 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:22.810Z,1750271662.810 [DAT](INFO): DAT read: 18:34:23.4031 LVL= 31680, 25697, 29170, 32755, AGC= 66, IDX= 499, 0.43,-2.354,-0.477,-2.518,-1.894, PHS=-0.372, 1.464,-0.627, RAW= 336.4, -4.8, CAL= 338.3, -6.7, ROT= 171.7, 6.7
2025-06-18T18:34:22.811Z,1750271662.811 [DAT](INFO): got valid direction response:
18:34:23.4031 LVL= 31680, 25697, 29170, 32755, AGC= 66, IDX= 499, 0.43,-2.354,-0.477,-2.518,-1.894, PHS=-0.372, 1.464,-0.627, RAW= 336.4, -4.8, CAL= 338.3, -6.7, ROT= 171.7, 6.7
2025-06-18T18:34:22.812Z,1750271662.812 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-06-18T18:34:22.813Z,1750271662.813 [DAT](INFO): direction in FSK: [-0.982768,0.143370,-0.116671]
2025-06-18T18:34:22.813Z,1750271662.813 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:22.817Z,1750271662.817 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=19.155661
2025-06-18T18:34:23.014Z,1750271663.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.503951 s,
deltaX: -0.200001 m,
approachRate: -0.396865 m/s,
rangeRepo size: 4
2025-06-18T18:34:23.020Z,1750271663.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077948 m,
bearing: 133.799269 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.503951 s,
deltaX: -0.198174 m,
approachRate: -0.393240 m/s,
posRepo size: 4
2025-06-18T18:34:23.021Z,1750271663.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:23.053Z,1750271663.053 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=19.392309
2025-06-18T18:34:23.306Z,1750271663.306 [DAT](INFO): DAT read: Rx Time:18:34:23.9032
2025-06-18T18:34:23.306Z,1750271663.306 [DAT](INFO): Rx dataTimestamp_ set to:1750271663.305755
2025-06-18T18:34:23.307Z,1750271663.307 [DAT](INFO): DAT read: Bearing 172.1, 6.8 (Local)
2025-06-18T18:34:23.308Z,1750271663.308 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.1, 6.8 (Local)
2025-06-18T18:34:23.310Z,1750271663.310 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1
2025-06-18T18:34:23.315Z,1750271663.315 [DAT](INFO): DAT read: 18:34:23.9032 LVL= 28496, 22353, 27810, 32755, AGC= 67, IDX= 500,-0.35, 2.261,-2.144, 2.114, 2.726, PHS=-0.377, 1.461,-0.614, RAW= 336.0, -4.8, CAL= 337.9, -6.8, ROT= 172.1, 6.8
2025-06-18T18:34:23.316Z,1750271663.316 [DAT](INFO): got valid direction response:
18:34:23.9032 LVL= 28496, 22353, 27810, 32755, AGC= 67, IDX= 500,-0.35, 2.261,-2.144, 2.114, 2.726, PHS=-0.377, 1.461,-0.614, RAW= 336.0, -4.8, CAL= 337.9, -6.8, ROT= 172.1, 6.8
2025-06-18T18:34:23.316Z,1750271663.316 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-06-18T18:34:23.317Z,1750271663.317 [DAT](INFO): direction in FSK: [-0.983542,0.136478,-0.118404]
2025-06-18T18:34:23.317Z,1750271663.317 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:23.325Z,1750271663.325 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=19.664324
2025-06-18T18:34:23.334Z,1750271663.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504228 s,
deltaX: 0.200001 m,
approachRate: 0.396647 m/s,
rangeRepo size: 4
2025-06-18T18:34:23.337Z,1750271663.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276121 m,
bearing: 134.250365 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.504228 s,
deltaX: 0.198174 m,
approachRate: 0.393024 m/s,
posRepo size: 4
2025-06-18T18:34:23.337Z,1750271663.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:23.557Z,1750271663.557 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=19.895851
2025-06-18T18:34:23.800Z,1750271663.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:23.809Z,1750271663.809 [DAT](INFO): DAT read: Rx Time:18:34:24.4031
2025-06-18T18:34:23.810Z,1750271663.810 [DAT](INFO): Rx dataTimestamp_ set to:1750271663.809677
2025-06-18T18:34:23.811Z,1750271663.811 [DAT](INFO): DAT read: Bearing 172.1, 7.3 (Local)
2025-06-18T18:34:23.812Z,1750271663.812 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.1, 7.3 (Local)
2025-06-18T18:34:23.814Z,1750271663.814 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed -0.2
2025-06-18T18:34:23.819Z,1750271663.819 [DAT](INFO): DAT read: 18:34:24.4031 LVL= 27424, 23825, 31794, 32755, AGC= 66, IDX= 499,-0.19, 1.426,-2.977, 1.282, 1.880, PHS=-0.366, 1.474,-0.601, RAW= 335.9, -5.2, CAL= 337.9, -7.3, ROT= 172.1, 7.3
2025-06-18T18:34:23.820Z,1750271663.820 [DAT](INFO): got valid direction response:
18:34:24.4031 LVL= 27424, 23825, 31794, 32755, AGC= 66, IDX= 499,-0.19, 1.426,-2.977, 1.282, 1.880, PHS=-0.366, 1.474,-0.601, RAW= 335.9, -5.2, CAL= 337.9, -7.3, ROT= 172.1, 7.3
2025-06-18T18:34:23.820Z,1750271663.820 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-06-18T18:34:23.821Z,1750271663.821 [DAT](INFO): direction in FSK: [-0.982481,0.136330,-0.127065]
2025-06-18T18:34:23.821Z,1750271663.821 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:23.829Z,1750271663.829 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=20.168270
2025-06-18T18:34:24.061Z,1750271664.061 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=20.399912
2025-06-18T18:34:24.183Z,1750271664.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.503922 s,
deltaX: -0.200001 m,
approachRate: -0.396888 m/s,
rangeRepo size: 4
2025-06-18T18:34:24.185Z,1750271664.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077955 m,
bearing: 134.257774 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.503922 s,
deltaX: -0.198166 m,
approachRate: -0.393247 m/s,
posRepo size: 4
2025-06-18T18:34:24.185Z,1750271664.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:24.314Z,1750271664.314 [DAT](INFO): DAT read: Rx Time:18:34:24.9032
2025-06-18T18:34:24.314Z,1750271664.314 [DAT](INFO): Rx dataTimestamp_ set to:1750271664.314043
2025-06-18T18:34:24.316Z,1750271664.316 [DAT](INFO): DAT read: Bearing 171.6, 7.5 (Local)
2025-06-18T18:34:24.316Z,1750271664.316 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.6, 7.5 (Local)
2025-06-18T18:34:24.318Z,1750271664.318 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:24.323Z,1750271664.323 [DAT](INFO): DAT read: 18:34:24.9032 LVL= 30768, 25233, 32754, 32755, AGC= 67, IDX= 500,-0.10, 2.733,-1.704, 2.572,-3.117, PHS=-0.345, 1.460,-0.597, RAW= 336.5, -5.4, CAL= 338.4, -7.5, ROT= 171.6, 7.5
2025-06-18T18:34:24.324Z,1750271664.324 [DAT](INFO): got valid direction response:
18:34:24.9032 LVL= 30768, 25233, 32754, 32755, AGC= 67, IDX= 500,-0.10, 2.733,-1.704, 2.572,-3.117, PHS=-0.345, 1.460,-0.597, RAW= 336.5, -5.4, CAL= 338.4, -7.5, ROT= 171.6, 7.5
2025-06-18T18:34:24.324Z,1750271664.324 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-06-18T18:34:24.325Z,1750271664.325 [DAT](INFO): direction in FSK: [-0.980809,0.144833,-0.130526]
2025-06-18T18:34:24.326Z,1750271664.326 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:24.329Z,1750271664.329 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=20.668556
2025-06-18T18:34:24.523Z,1750271664.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504366 s,
deltaX: 0.200001 m,
approachRate: 0.396539 m/s,
rangeRepo size: 4
2025-06-18T18:34:24.545Z,1750271664.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276133 m,
bearing: 133.755764 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.504366 s,
deltaX: 0.198177 m,
approachRate: 0.392924 m/s,
posRepo size: 4
2025-06-18T18:34:24.546Z,1750271664.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:24.565Z,1750271664.565 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=20.904011
2025-06-18T18:34:24.817Z,1750271664.817 [DAT](INFO): DAT read: Rx Time:18:34:25.4031
2025-06-18T18:34:24.818Z,1750271664.818 [DAT](INFO): Rx dataTimestamp_ set to:1750271664.817640
2025-06-18T18:34:24.819Z,1750271664.819 [DAT](INFO): DAT read: Bearing 171.5, 5.6 (Local)
2025-06-18T18:34:24.820Z,1750271664.820 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.5, 5.6 (Local)
2025-06-18T18:34:24.822Z,1750271664.822 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1
2025-06-18T18:34:24.827Z,1750271664.827 [DAT](INFO): DAT read: 18:34:25.4031 LVL= 32160, 20465, 32466, 32755, AGC= 68, IDX= 499,-0.04, 2.226,-2.207, 2.053, 2.704, PHS=-0.390, 1.419,-0.654, RAW= 336.7, -3.9, CAL= 338.5, -5.6, ROT= 171.5, 5.6
2025-06-18T18:34:24.832Z,1750271664.832 [DAT](INFO): got valid direction response:
18:34:25.4031 LVL= 32160, 20465, 32466, 32755, AGC= 68, IDX= 499,-0.04, 2.226,-2.207, 2.053, 2.704, PHS=-0.390, 1.419,-0.654, RAW= 336.7, -3.9, CAL= 338.5, -5.6, ROT= 171.5, 5.6
2025-06-18T18:34:24.833Z,1750271664.833 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-06-18T18:34:24.834Z,1750271664.834 [DAT](INFO): direction in FSK: [-0.984296,0.147104,-0.097583]
2025-06-18T18:34:24.834Z,1750271664.834 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:24.837Z,1750271664.837 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=21.176500
2025-06-18T18:34:25.030Z,1750271665.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.503597 s,
deltaX: -0.200001 m,
approachRate: -0.397144 m/s,
rangeRepo size: 4
2025-06-18T18:34:25.040Z,1750271665.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077959 m,
bearing: 134.060873 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.503597 s,
deltaX: -0.198174 m,
approachRate: -0.393516 m/s,
posRepo size: 4
2025-06-18T18:34:25.041Z,1750271665.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:25.071Z,1750271665.071 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=21.410133
2025-06-18T18:34:25.321Z,1750271665.321 [DAT](INFO): DAT read: Rx Time:18:34:25.9032
2025-06-18T18:34:25.322Z,1750271665.322 [DAT](INFO): Rx dataTimestamp_ set to:1750271665.321493
2025-06-18T18:34:25.323Z,1750271665.323 [DAT](INFO): DAT read: Bearing 171.4, 6.9 (Local)
2025-06-18T18:34:25.323Z,1750271665.323 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.4, 6.9 (Local)
2025-06-18T18:34:25.326Z,1750271665.326 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:25.330Z,1750271665.330 [DAT](INFO): DAT read: 18:34:25.9032 LVL= 28544, 29009, 28914, 32755, AGC= 65, IDX= 500, 0.08,-2.116,-0.246,-2.293,-1.667, PHS=-0.361, 1.468,-0.628, RAW= 336.7, -4.9, CAL= 338.6, -6.9, ROT= 171.4, 6.9
2025-06-18T18:34:25.331Z,1750271665.331 [DAT](INFO): got valid direction response:
18:34:25.9032 LVL= 28544, 29009, 28914, 32755, AGC= 65, IDX= 500, 0.08,-2.116,-0.246,-2.293,-1.667, PHS=-0.361, 1.468,-0.628, RAW= 336.7, -4.9, CAL= 338.6, -6.9, ROT= 171.4, 6.9
2025-06-18T18:34:25.332Z,1750271665.332 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-06-18T18:34:25.333Z,1750271665.333 [DAT](INFO): direction in FSK: [-0.981595,0.148452,-0.120137]
2025-06-18T18:34:25.333Z,1750271665.333 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:25.336Z,1750271665.336 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=21.675600
2025-06-18T18:34:25.357Z,1750271665.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.503853 s,
deltaX: 0.200001 m,
approachRate: 0.396943 m/s,
rangeRepo size: 4
2025-06-18T18:34:25.359Z,1750271665.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276133 m,
bearing: 133.747233 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.503853 s,
deltaX: 0.198174 m,
approachRate: 0.393316 m/s,
posRepo size: 4
2025-06-18T18:34:25.359Z,1750271665.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:25.573Z,1750271665.573 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=21.912073
2025-06-18T18:34:25.792Z,1750271665.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:25.825Z,1750271665.825 [DAT](INFO): DAT read: Rx Time:18:34:26.4031
2025-06-18T18:34:25.826Z,1750271665.826 [DAT](INFO): Rx dataTimestamp_ set to:1750271665.825676
2025-06-18T18:34:25.827Z,1750271665.827 [DAT](INFO): DAT read: Bearing 171.5, 7.3 (Local)
2025-06-18T18:34:25.828Z,1750271665.828 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.5, 7.3 (Local)
2025-06-18T18:34:25.830Z,1750271665.830 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:25.837Z,1750271665.837 [DAT](INFO): DAT read: 18:34:26.4031 LVL= 30080, 20081, 29426, 32755, AGC= 66, IDX= 499, 0.17,-2.751,-0.858,-2.927,-2.305, PHS=-0.358, 1.495,-0.624, RAW= 336.6, -5.2, CAL= 338.5, -7.3, ROT= 171.5, 7.3
2025-06-18T18:34:25.838Z,1750271665.838 [DAT](INFO): got valid direction response:
18:34:26.4031 LVL= 30080, 20081, 29426, 32755, AGC= 66, IDX= 499, 0.17,-2.751,-0.858,-2.927,-2.305, PHS=-0.358, 1.495,-0.624, RAW= 336.6, -5.2, CAL= 338.5, -7.3, ROT= 171.5, 7.3
2025-06-18T18:34:25.839Z,1750271665.839 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-06-18T18:34:25.849Z,1750271665.849 [DAT](INFO): direction in FSK: [-0.980999,0.146611,-0.127065]
2025-06-18T18:34:25.849Z,1750271665.849 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:25.853Z,1750271665.853 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=22.191784
2025-06-18T18:34:26.077Z,1750271666.077 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=22.416006
2025-06-18T18:34:26.217Z,1750271666.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.504183 s,
deltaX: -0.200001 m,
approachRate: -0.396683 m/s,
rangeRepo size: 4
2025-06-18T18:34:26.219Z,1750271666.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077965 m,
bearing: 133.779208 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.504183 s,
deltaX: -0.198168 m,
approachRate: -0.393047 m/s,
posRepo size: 4
2025-06-18T18:34:26.219Z,1750271666.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:26.330Z,1750271666.330 [DAT](INFO): DAT read: Rx Time:18:34:26.9033
2025-06-18T18:34:26.330Z,1750271666.330 [DAT](INFO): Rx dataTimestamp_ set to:1750271666.329929
2025-06-18T18:34:26.331Z,1750271666.331 [DAT](INFO): DAT read: Bearing 171.9, 7.2 (Local)
2025-06-18T18:34:26.332Z,1750271666.332 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, 7.2 (Local)
2025-06-18T18:34:26.334Z,1750271666.334 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.2
2025-06-18T18:34:26.339Z,1750271666.339 [DAT](INFO): DAT read: 18:34:26.9033 LVL= 31376, 20945, 30610, 32755, AGC= 66, IDX= 500, 0.24,-1.106, 0.820,-1.267,-0.644, PHS=-0.373, 1.511,-0.626, RAW= 336.2, -5.1, CAL= 338.1, -7.2, ROT= 171.9, 7.2
2025-06-18T18:34:26.340Z,1750271666.340 [DAT](INFO): got valid direction response:
18:34:26.9033 LVL= 31376, 20945, 30610, 32755, AGC= 66, IDX= 500, 0.24,-1.106, 0.820,-1.267,-0.644, PHS=-0.373, 1.511,-0.626, RAW= 336.2, -5.1, CAL= 338.1, -7.2, ROT= 171.9, 7.2
2025-06-18T18:34:26.341Z,1750271666.341 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-06-18T18:34:26.342Z,1750271666.342 [DAT](INFO): direction in FSK: [-0.982217,0.139790,-0.125333]
2025-06-18T18:34:26.342Z,1750271666.342 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:26.346Z,1750271666.346 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=22.685328
2025-06-18T18:34:26.581Z,1750271666.581 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=22.919985
2025-06-18T18:34:26.666Z,1750271666.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504253 s,
deltaX: 0.300001 m,
approachRate: 0.594942 m/s,
rangeRepo size: 4
2025-06-18T18:34:26.675Z,1750271666.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375240 m,
bearing: 134.185235 deg,
lat: 36.905894 deg,
lon: -122.115749 deg,
deltaT: 0.504253 s,
deltaX: 0.297276 m,
approachRate: 0.589536 m/s,
posRepo size: 4
2025-06-18T18:34:26.680Z,1750271666.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:26.834Z,1750271666.834 [DAT](INFO): DAT read: Rx Time:18:34:27.4032
2025-06-18T18:34:26.834Z,1750271666.834 [DAT](INFO): Rx dataTimestamp_ set to:1750271666.833769
2025-06-18T18:34:26.835Z,1750271666.835 [DAT](INFO): DAT read: Bearing 171.8, 7.7 (Local)
2025-06-18T18:34:26.836Z,1750271666.836 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.8, 7.7 (Local)
2025-06-18T18:34:26.838Z,1750271666.838 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:26.843Z,1750271666.843 [DAT](INFO): DAT read: 18:34:27.4032 LVL= 28928, 20673, 30066, 32755, AGC= 65, IDX= 499, 0.33,-2.776,-0.912,-2.933,-2.342, PHS=-0.345, 1.478,-0.594, RAW= 336.3, -5.6, CAL= 338.2, -7.7, ROT= 171.8, 7.7
2025-06-18T18:34:26.844Z,1750271666.844 [DAT](INFO): got valid direction response:
18:34:27.4032 LVL= 28928, 20673, 30066, 32755, AGC= 65, IDX= 499, 0.33,-2.776,-0.912,-2.933,-2.342, PHS=-0.345, 1.478,-0.594, RAW= 336.3, -5.6, CAL= 338.2, -7.7, ROT= 171.8, 7.7
2025-06-18T18:34:26.844Z,1750271666.844 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-18T18:34:26.845Z,1750271666.845 [DAT](INFO): direction in FSK: [-0.980852,0.141343,-0.133986]
2025-06-18T18:34:26.846Z,1750271666.846 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:26.849Z,1750271666.849 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=23.188486
2025-06-18T18:34:27.085Z,1750271667.085 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=23.424095
2025-06-18T18:34:27.089Z,1750271667.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.503840 s,
deltaX: -0.100000 m,
approachRate: -0.198476 m/s,
rangeRepo size: 4
2025-06-18T18:34:27.091Z,1750271667.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276154 m,
bearing: 133.986376 deg,
lat: 36.905894 deg,
lon: -122.115749 deg,
deltaT: 0.503840 s,
deltaX: -0.099087 m,
approachRate: -0.196663 m/s,
posRepo size: 4
2025-06-18T18:34:27.097Z,1750271667.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:27.338Z,1750271667.338 [DAT](INFO): DAT read: Rx Time:18:34:27.9032
2025-06-18T18:34:27.339Z,1750271667.339 [DAT](INFO): Rx dataTimestamp_ set to:1750271667.338500
2025-06-18T18:34:27.341Z,1750271667.341 [DAT](INFO): DAT read: Bearing 171.6, 7.2 (Local)
2025-06-18T18:34:27.341Z,1750271667.341 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.6, 7.2 (Local)
2025-06-18T18:34:27.345Z,1750271667.345 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:27.352Z,1750271667.352 [DAT](INFO): DAT read: 18:34:27.9032 LVL= 32752, 22657, 32754, 32755, AGC= 64, IDX= 499, 0.39,-2.548,-0.679,-2.715,-2.104, PHS=-0.356, 1.472,-0.613, RAW= 336.5, -5.2, CAL= 338.4, -7.2, ROT= 171.6, 7.2
2025-06-18T18:34:27.353Z,1750271667.353 [DAT](INFO): got valid direction response:
18:34:27.9032 LVL= 32752, 22657, 32754, 32755, AGC= 64, IDX= 499, 0.39,-2.548,-0.679,-2.715,-2.104, PHS=-0.356, 1.472,-0.613, RAW= 336.5, -5.2, CAL= 338.4, -7.2, ROT= 171.6, 7.2
2025-06-18T18:34:27.353Z,1750271667.353 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-18T18:34:27.354Z,1750271667.354 [DAT](INFO): direction in FSK: [-0.981472,0.144931,-0.125333]
2025-06-18T18:34:27.354Z,1750271667.354 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:27.358Z,1750271667.358 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=23.697037
2025-06-18T18:34:27.556Z,1750271667.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504731 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:27.559Z,1750271667.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276176 m,
bearing: 133.855553 deg,
lat: 36.905894 deg,
lon: -122.115749 deg,
deltaT: 0.504731 s,
deltaX: 0.000023 m,
approachRate: 0.000045 m/s,
posRepo size: 4
2025-06-18T18:34:27.559Z,1750271667.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:27.590Z,1750271667.590 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=23.929037
2025-06-18T18:34:27.842Z,1750271667.842 [DAT](INFO): DAT read: Rx Time:18:34:28.4032
2025-06-18T18:34:27.842Z,1750271667.842 [DAT](INFO): Rx dataTimestamp_ set to:1750271667.841717
2025-06-18T18:34:27.843Z,1750271667.843 [DAT](INFO): DAT read: Bearing 171.7, 7.3 (Local)
2025-06-18T18:34:27.844Z,1750271667.844 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.7, 7.3 (Local)
2025-06-18T18:34:27.846Z,1750271667.846 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:27.851Z,1750271667.851 [DAT](INFO): DAT read: 18:34:28.4032 LVL= 28752, 24257, 30306, 32755, AGC= 65, IDX= 498, 0.49, 2.663,-1.742, 2.498, 3.109, PHS=-0.357, 1.480,-0.614, RAW= 336.4, -5.2, CAL= 338.3, -7.3, ROT= 171.7, 7.3
2025-06-18T18:34:27.852Z,1750271667.852 [DAT](INFO): got valid direction response:
18:34:28.4032 LVL= 28752, 24257, 30306, 32755, AGC= 65, IDX= 498, 0.49, 2.663,-1.742, 2.498, 3.109, PHS=-0.357, 1.480,-0.614, RAW= 336.4, -5.2, CAL= 338.3, -7.3, ROT= 171.7, 7.3
2025-06-18T18:34:27.852Z,1750271667.852 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-06-18T18:34:27.853Z,1750271667.853 [DAT](INFO): direction in FSK: [-0.981505,0.143186,-0.127065]
2025-06-18T18:34:27.854Z,1750271667.854 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:27.894Z,1750271667.894 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=24.232618
2025-06-18T18:34:28.030Z,1750271668.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.503217 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:28.036Z,1750271668.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276176 m,
bearing: 133.921989 deg,
lat: 36.905895 deg,
lon: -122.115749 deg,
deltaT: 0.503217 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:34:28.036Z,1750271668.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:28.098Z,1750271668.098 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=24.434549
2025-06-18T18:34:28.346Z,1750271668.346 [DAT](INFO): DAT read: Rx Time:18:34:28.9033
2025-06-18T18:34:28.346Z,1750271668.346 [DAT](INFO): Rx dataTimestamp_ set to:1750271668.346091
2025-06-18T18:34:28.348Z,1750271668.348 [DAT](INFO): DAT read: Bearing 171.9, 7.1 (Local)
2025-06-18T18:34:28.348Z,1750271668.348 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, 7.1 (Local)
2025-06-18T18:34:28.350Z,1750271668.350 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:34:28.357Z,1750271668.357 [DAT](INFO): DAT read: 18:34:28.9033 LVL= 31104, 23121, 32594, 32755, AGC= 66, IDX= 500,-0.38, 2.364,-2.038, 2.208, 2.818, PHS=-0.366, 1.474,-0.614, RAW= 336.2, -5.1, CAL= 338.1, -7.1, ROT= 171.9, 7.1
2025-06-18T18:34:28.362Z,1750271668.362 [DAT](INFO): got valid direction response:
18:34:28.9033 LVL= 31104, 23121, 32594, 32755, AGC= 66, IDX= 500,-0.38, 2.364,-2.038, 2.208, 2.818, PHS=-0.366, 1.474,-0.614, RAW= 336.2, -5.1, CAL= 338.1, -7.1, ROT= 171.9, 7.1
2025-06-18T18:34:28.380Z,1750271668.380 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-06-18T18:34:28.381Z,1750271668.381 [DAT](INFO): direction in FSK: [-0.982432,0.139821,-0.123601]
2025-06-18T18:34:28.381Z,1750271668.381 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:28.401Z,1750271668.401 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=24.740110
2025-06-18T18:34:28.479Z,1750271668.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504374 s,
deltaX: 0.100000 m,
approachRate: 0.198266 m/s,
rangeRepo size: 4
2025-06-18T18:34:28.486Z,1750271668.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375271 m,
bearing: 134.156760 deg,
lat: 36.905894 deg,
lon: -122.115749 deg,
deltaT: 0.504374 s,
deltaX: 0.099094 m,
approachRate: 0.196470 m/s,
posRepo size: 4
2025-06-18T18:34:28.486Z,1750271668.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:28.599Z,1750271668.599 [DAT](INFO): DAT read: Rx Time:18:34:29.4032
2025-06-18T18:34:28.600Z,1750271668.600 [DAT](INFO): Rx dataTimestamp_ set to:1750271668.599507
2025-06-18T18:34:28.602Z,1750271668.602 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=24.940142
2025-06-18T18:34:28.850Z,1750271668.850 [DAT](INFO): DAT read: Bearing 172.0, 6.0 (Local)
2025-06-18T18:34:28.850Z,1750271668.850 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.0, 6.0 (Local)
2025-06-18T18:34:28.852Z,1750271668.852 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:28.857Z,1750271668.857 [DAT](INFO): DAT read: 18:34:29.4032 LVL= 31216, 23281, 29682, 32755, AGC= 66, IDX= 499,-0.32, 0.998, 2.861, 0.848, 1.476, PHS=-0.390, 1.432,-0.631, RAW= 336.1, -4.3, CAL= 338.0, -6.0, ROT= 172.0, 6.0
2025-06-18T18:34:28.858Z,1750271668.858 [DAT](INFO): got valid direction response:
18:34:29.4032 LVL= 31216, 23281, 29682, 32755, AGC= 66, IDX= 499,-0.32, 0.998, 2.861, 0.848, 1.476, PHS=-0.390, 1.432,-0.631, RAW= 336.1, -4.3, CAL= 338.0, -6.0, ROT= 172.0, 6.0
2025-06-18T18:34:28.859Z,1750271668.859 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-06-18T18:34:28.860Z,1750271668.860 [DAT](INFO): direction in FSK: [-0.984843,0.138411,-0.104528]
2025-06-18T18:34:28.861Z,1750271668.861 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:28.880Z,1750271668.880 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=25.210718
2025-06-18T18:34:29.001Z,1750271669.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.502212 s,
deltaX: -0.100000 m,
approachRate: -0.199120 m/s,
rangeRepo size: 4
2025-06-18T18:34:29.003Z,1750271669.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276184 m,
bearing: 134.462284 deg,
lat: 36.905894 deg,
lon: -122.115749 deg,
deltaT: 0.502212 s,
deltaX: -0.099087 m,
approachRate: -0.197301 m/s,
posRepo size: 4
2025-06-18T18:34:29.003Z,1750271669.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:29.106Z,1750271669.106 [DAT](INFO): DAT read: Rx Time:18:34:29.9033
2025-06-18T18:34:29.107Z,1750271669.107 [DAT](INFO): Rx dataTimestamp_ set to:1750271669.106331
2025-06-18T18:34:29.111Z,1750271669.111 [DAT](INFO): DAT read: Bearing 172.1, 7.5 (Local)
2025-06-18T18:34:29.123Z,1750271669.123 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.1, 7.5 (Local)
2025-06-18T18:34:29.133Z,1750271669.133 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:34:29.141Z,1750271669.141 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-06-18T18:34:29.150Z,1750271669.150 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=25.488747
2025-06-18T18:34:29.323Z,1750271669.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.258028 s,
deltaX: 0.100000 m,
approachRate: 0.387556 m/s,
rangeRepo size: 4
2025-06-18T18:34:29.323Z,1750271669.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:29.357Z,1750271669.357 [DAT](INFO): DAT read: 18:34:29.9033 LVL= 25520, 24641, 26242, 32755, AGC= 68, IDX= 500,-0.18, 0.518, 2.387, 0.375, 0.964, PHS=-0.358, 1.470,-0.592, RAW= 335.9, -5.4, CAL= 337.9, -7.5, ROT= 172.1, 7.5
2025-06-18T18:34:29.358Z,1750271669.358 [DAT](INFO): got valid direction response:
18:34:29.9033 LVL= 25520, 24641, 26242, 32755, AGC= 68, IDX= 500,-0.18, 0.518, 2.387, 0.375, 0.964, PHS=-0.358, 1.470,-0.592, RAW= 335.9, -5.4, CAL= 337.9, -7.5, ROT= 172.1, 7.5
2025-06-18T18:34:29.358Z,1750271669.358 [DAT](INFO): #Rx 95: Read direction message, but no range.
2025-06-18T18:34:29.359Z,1750271669.359 [DAT](INFO): direction in FSK: [-0.982036,0.136269,-0.130526]
2025-06-18T18:34:29.363Z,1750271669.363 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=25.701820
2025-06-18T18:34:29.610Z,1750271669.610 [DAT](INFO): DAT read: Rx Time:18:34:30.4032
2025-06-18T18:34:29.611Z,1750271669.611 [DAT](INFO): Rx dataTimestamp_ set to:1750271669.610210
2025-06-18T18:34:29.614Z,1750271669.614 [DAT](INFO): DAT read: Bearing 172.1, 7.2 (Local)
2025-06-18T18:34:29.615Z,1750271669.615 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.1, 7.2 (Local)
2025-06-18T18:34:29.617Z,1750271669.617 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=25.955664
2025-06-18T18:34:29.739Z,1750271669.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:29.859Z,1750271669.859 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:29.865Z,1750271669.865 [DAT](INFO): DAT read: 18:34:30.4032 LVL= 26592, 22609, 28978, 32755, AGC= 67, IDX= 499,-0.11,-0.607, 1.284,-0.753,-0.148, PHS=-0.371, 1.480,-0.607, RAW= 335.9, -5.1, CAL= 337.9, -7.2, ROT= 172.1, 7.2
2025-06-18T18:34:29.867Z,1750271669.867 [DAT](INFO): got valid direction response:
18:34:30.4032 LVL= 26592, 22609, 28978, 32755, AGC= 67, IDX= 499,-0.11,-0.607, 1.284,-0.753,-0.148, PHS=-0.371, 1.480,-0.607, RAW= 335.9, -5.1, CAL= 337.9, -7.2, ROT= 172.1, 7.2
2025-06-18T18:34:29.867Z,1750271669.867 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-18T18:34:29.869Z,1750271669.869 [DAT](INFO): direction in FSK: [-0.982699,0.136361,-0.125333]
2025-06-18T18:34:29.869Z,1750271669.869 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:29.878Z,1750271669.878 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=26.217112
2025-06-18T18:34:30.112Z,1750271670.112 [DAT](INFO): DAT read: Rx Time:18:34:30.9032
2025-06-18T18:34:30.113Z,1750271670.113 [DAT](INFO): Rx dataTimestamp_ set to:1750271670.112380
2025-06-18T18:34:30.116Z,1750271670.116 [DAT](INFO): DAT read: Bearing 172.3, 7.6 (Local)
2025-06-18T18:34:30.117Z,1750271670.117 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.3, 7.6 (Local)
2025-06-18T18:34:30.121Z,1750271670.121 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:30.123Z,1750271670.123 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-06-18T18:34:30.157Z,1750271670.157 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=26.495630
2025-06-18T18:34:30.254Z,1750271670.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 1.006049 s,
deltaX: -0.100000 m,
approachRate: -0.099399 m/s,
rangeRepo size: 4
2025-06-18T18:34:30.261Z,1750271670.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276175 m,
bearing: 134.328045 deg,
lat: 36.905894 deg,
lon: -122.115749 deg,
deltaT: 1.264077 s,
deltaX: -0.000010 m,
approachRate: -0.000008 m/s,
posRepo size: 4
2025-06-18T18:34:30.261Z,1750271670.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:30.365Z,1750271670.365 [DAT](INFO): DAT read: 18:34:30.9032 LVL= 25296, 24945, 26610, 32755, AGC= 68, IDX= 499,-0.00,-0.501, 1.404,-0.637,-0.046, PHS=-0.367, 1.497,-0.594, RAW= 335.7, -5.4, CAL= 337.7, -7.6, ROT= 172.3, 7.6
2025-06-18T18:34:30.366Z,1750271670.366 [DAT](INFO): got valid direction response:
18:34:30.9032 LVL= 25296, 24945, 26610, 32755, AGC= 68, IDX= 499,-0.00,-0.501, 1.404,-0.637,-0.046, PHS=-0.367, 1.497,-0.594, RAW= 335.7, -5.4, CAL= 337.7, -7.6, ROT= 172.3, 7.6
2025-06-18T18:34:30.366Z,1750271670.366 [DAT](INFO): #Rx 98: Read direction message, but no range.
2025-06-18T18:34:30.367Z,1750271670.367 [DAT](INFO): direction in FSK: [-0.982278,0.132809,-0.132256]
2025-06-18T18:34:30.371Z,1750271670.371 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=26.709787
2025-06-18T18:34:30.533Z,1750271670.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:30.616Z,1750271670.616 [DAT](INFO): DAT read: Rx Time:18:34:31.4031
2025-06-18T18:34:30.618Z,1750271670.618 [DAT](INFO): Rx dataTimestamp_ set to:1750271670.616992
2025-06-18T18:34:30.623Z,1750271670.623 [DAT](INFO): DAT read: Bearing 172.3, 7.9 (Local)
2025-06-18T18:34:30.624Z,1750271670.624 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.3, 7.9 (Local)
2025-06-18T18:34:30.629Z,1750271670.629 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1
2025-06-18T18:34:30.631Z,1750271670.631 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-06-18T18:34:30.634Z,1750271670.634 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=26.972700
2025-06-18T18:34:30.873Z,1750271670.873 [DAT](INFO): DAT read: 18:34:31.4031 LVL= 24944, 21873, 25122, 32755, AGC= 65, IDX= 498, 0.10,-1.292, 0.607,-1.427,-0.847, PHS=-0.357, 1.501,-0.584, RAW= 335.7, -5.7, CAL= 337.7, -7.9, ROT= 172.3, 7.9
2025-06-18T18:34:30.875Z,1750271670.875 [DAT](INFO): got valid direction response:
18:34:31.4031 LVL= 24944, 21873, 25122, 32755, AGC= 65, IDX= 498, 0.10,-1.292, 0.607,-1.427,-0.847, PHS=-0.357, 1.501,-0.584, RAW= 335.7, -5.7, CAL= 337.7, -7.9, ROT= 172.3, 7.9
2025-06-18T18:34:30.875Z,1750271670.875 [DAT](INFO): #Rx 100: Read direction message, but no range.
2025-06-18T18:34:30.877Z,1750271670.877 [DAT](INFO): direction in FSK: [-0.981578,0.132715,-0.137445]
2025-06-18T18:34:30.897Z,1750271670.897 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=27.236397
2025-06-18T18:34:31.010Z,1750271671.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.504612 s,
deltaX: -0.200001 m,
approachRate: -0.396346 m/s,
rangeRepo size: 4
2025-06-18T18:34:31.018Z,1750271671.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077984 m,
bearing: 134.472229 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.504612 s,
deltaX: -0.198191 m,
approachRate: -0.392759 m/s,
posRepo size: 4
2025-06-18T18:34:31.019Z,1750271671.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:31.121Z,1750271671.121 [DAT](INFO): DAT read: Rx Time:18:34:31.9032
2025-06-18T18:34:31.123Z,1750271671.123 [DAT](INFO): Rx dataTimestamp_ set to:1750271671.121781
2025-06-18T18:34:31.127Z,1750271671.127 [DAT](INFO): DAT read: Bearing 172.6, 7.8 (Local)
2025-06-18T18:34:31.128Z,1750271671.128 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.6, 7.8 (Local)
2025-06-18T18:34:31.142Z,1750271671.142 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1
2025-06-18T18:34:31.150Z,1750271671.150 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-06-18T18:34:31.157Z,1750271671.157 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=27.496094
2025-06-18T18:34:31.373Z,1750271671.373 [DAT](INFO): DAT read: 18:34:31.9032 LVL= 29232, 22065, 27122, 32755, AGC= 66, IDX= 499, 0.18, 0.462, 2.389, 0.336, 0.920, PHS=-0.370, 1.516,-0.587, RAW= 335.4, -5.6, CAL= 337.4, -7.8, ROT= 172.6, 7.8
2025-06-18T18:34:31.374Z,1750271671.374 [DAT](INFO): got valid direction response:
18:34:31.9032 LVL= 29232, 22065, 27122, 32755, AGC= 66, IDX= 499, 0.18, 0.462, 2.389, 0.336, 0.920, PHS=-0.370, 1.516,-0.587, RAW= 335.4, -5.6, CAL= 337.4, -7.8, ROT= 172.6, 7.8
2025-06-18T18:34:31.374Z,1750271671.374 [DAT](INFO): #Rx 102: Read direction message, but no range.
2025-06-18T18:34:31.375Z,1750271671.375 [DAT](INFO): direction in FSK: [-0.982496,0.127604,-0.135716]
2025-06-18T18:34:31.395Z,1750271671.395 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=27.733648
2025-06-18T18:34:31.457Z,1750271671.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504789 s,
deltaX: 0.200001 m,
approachRate: 0.396207 m/s,
rangeRepo size: 4
2025-06-18T18:34:31.459Z,1750271671.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276155 m,
bearing: 134.808840 deg,
lat: 36.905894 deg,
lon: -122.115751 deg,
deltaT: 0.504789 s,
deltaX: 0.198172 m,
approachRate: 0.392583 m/s,
posRepo size: 4
2025-06-18T18:34:31.459Z,1750271671.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:31.625Z,1750271671.625 [DAT](INFO): DAT read: Rx Time:18:34:32.4031
2025-06-18T18:34:31.626Z,1750271671.626 [DAT](INFO): Rx dataTimestamp_ set to:1750271671.625327
2025-06-18T18:34:31.631Z,1750271671.631 [DAT](INFO): DAT read: Bearing 172.6, 8.0 (Local)
2025-06-18T18:34:31.641Z,1750271671.641 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.6, 8.0 (Local)
2025-06-18T18:34:31.649Z,1750271671.649 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:31.654Z,1750271671.654 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-06-18T18:34:31.655Z,1750271671.655 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=27.993889
2025-06-18T18:34:31.878Z,1750271671.878 [DAT](INFO): DAT read: 18:34:32.4031 LVL= 25008, 24497, 25122, 32755, AGC= 65, IDX= 498, 0.31,-0.723, 1.182,-0.848,-0.274, PHS=-0.362, 1.502,-0.578, RAW= 335.4, -5.7, CAL= 337.4, -8.0, ROT= 172.6, 8.0
2025-06-18T18:34:31.880Z,1750271671.880 [DAT](INFO): got valid direction response:
18:34:32.4031 LVL= 25008, 24497, 25122, 32755, AGC= 65, IDX= 498, 0.31,-0.723, 1.182,-0.848,-0.274, PHS=-0.362, 1.502,-0.578, RAW= 335.4, -5.7, CAL= 337.4, -8.0, ROT= 172.6, 8.0
2025-06-18T18:34:31.881Z,1750271671.881 [DAT](INFO): #Rx 104: Read direction message, but no range.
2025-06-18T18:34:31.882Z,1750271671.882 [DAT](INFO): direction in FSK: [-0.982020,0.127542,-0.139173]
2025-06-18T18:34:31.887Z,1750271671.887 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=28.226038
2025-06-18T18:34:31.896Z,1750271671.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:34:32.028Z,1750271672.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.503546 s,
deltaX: -0.200001 m,
approachRate: -0.397185 m/s,
rangeRepo size: 4
2025-06-18T18:34:32.031Z,1750271672.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077993 m,
bearing: 134.821211 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 0.503546 s,
deltaX: -0.198162 m,
approachRate: -0.393533 m/s,
posRepo size: 4
2025-06-18T18:34:32.031Z,1750271672.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:32.133Z,1750271672.133 [DAT](INFO): DAT read: Rx Time:18:34:32.9032
2025-06-18T18:34:32.134Z,1750271672.134 [DAT](INFO): Rx dataTimestamp_ set to:1750271672.133401
2025-06-18T18:34:32.139Z,1750271672.139 [DAT](INFO): DAT read: Bearing 172.1, 7.0 (Local)
2025-06-18T18:34:32.140Z,1750271672.140 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.1, 7.0 (Local)
2025-06-18T18:34:32.154Z,1750271672.154 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:32.175Z,1750271672.175 [DAT](INFO): DAT read: 18:34:32.9032 LVL= 31568, 22641, 32034, 32755, AGC= 66, IDX= 499, 0.33, 1.369,-3.009, 1.219, 1.834, PHS=-0.376, 1.488,-0.618, RAW= 336.0, -5.0, CAL= 337.9, -7.0, ROT= 172.1, 7.0
2025-06-18T18:34:32.180Z,1750271672.180 [DAT](INFO): got valid direction response:
18:34:32.9032 LVL= 31568, 22641, 32034, 32755, AGC= 66, IDX= 499, 0.33, 1.369,-3.009, 1.219, 1.834, PHS=-0.376, 1.488,-0.618, RAW= 336.0, -5.0, CAL= 337.9, -7.0, ROT= 172.1, 7.0
2025-06-18T18:34:32.181Z,1750271672.181 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-06-18T18:34:32.182Z,1750271672.182 [DAT](INFO): direction in FSK: [-0.983126,0.136420,-0.121869]
2025-06-18T18:34:32.182Z,1750271672.182 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:32.207Z,1750271672.207 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=28.546070
2025-06-18T18:34:32.377Z,1750271672.377 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=28.716089
2025-06-18T18:34:32.448Z,1750271672.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.508074 s,
deltaX: 0.200001 m,
approachRate: 0.393645 m/s,
rangeRepo size: 4
2025-06-18T18:34:32.450Z,1750271672.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276167 m,
bearing: 134.540213 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 0.508074 s,
deltaX: 0.198174 m,
approachRate: 0.390049 m/s,
posRepo size: 4
2025-06-18T18:34:32.451Z,1750271672.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:32.633Z,1750271672.633 [DAT](INFO): DAT read: Rx Time:18:34:33.4032
2025-06-18T18:34:32.635Z,1750271672.635 [DAT](INFO): Rx dataTimestamp_ set to:1750271672.634152
2025-06-18T18:34:32.643Z,1750271672.643 [DAT](INFO): DAT read: Bearing 172.2, 7.1 (Local)
2025-06-18T18:34:32.647Z,1750271672.647 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.2, 7.1 (Local)
2025-06-18T18:34:32.655Z,1750271672.655 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:32.693Z,1750271672.693 [DAT](INFO): DAT read: 18:34:33.4032 LVL= 29312, 20641, 28818, 32755, AGC= 67, IDX= 499,-0.49,-0.942, 0.974,-1.088,-0.474, PHS=-0.380, 1.495,-0.616, RAW= 335.9, -5.0, CAL= 337.8, -7.1, ROT= 172.2, 7.1
2025-06-18T18:34:32.694Z,1750271672.694 [DAT](INFO): got valid direction response:
18:34:33.4032 LVL= 29312, 20641, 28818, 32755, AGC= 67, IDX= 499,-0.49,-0.942, 0.974,-1.088,-0.474, PHS=-0.380, 1.495,-0.616, RAW= 335.9, -5.0, CAL= 337.8, -7.1, ROT= 172.2, 7.1
2025-06-18T18:34:32.695Z,1750271672.695 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-06-18T18:34:32.704Z,1750271672.704 [DAT](INFO): direction in FSK: [-0.983151,0.134675,-0.123601]
2025-06-18T18:34:32.704Z,1750271672.704 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:32.707Z,1750271672.707 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=29.046539
2025-06-18T18:34:32.854Z,1750271672.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.500751 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:32.884Z,1750271672.884 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=29.222839
2025-06-18T18:34:32.887Z,1750271672.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276173 m,
bearing: 134.639004 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 0.500751 s,
deltaX: 0.000006 m,
approachRate: 0.000011 m/s,
posRepo size: 4
2025-06-18T18:34:32.891Z,1750271672.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:32.900Z,1750271672.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:34:33.138Z,1750271673.138 [DAT](INFO): DAT read: Rx Time:18:34:33.9033
2025-06-18T18:34:33.139Z,1750271673.139 [DAT](INFO): Rx dataTimestamp_ set to:1750271673.138486
2025-06-18T18:34:33.144Z,1750271673.144 [DAT](INFO): DAT read: Bearing 171.9, 7.6 (Local)
2025-06-18T18:34:33.145Z,1750271673.145 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, 7.6 (Local)
2025-06-18T18:34:33.152Z,1750271673.152 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.1
2025-06-18T18:34:33.158Z,1750271673.158 [DAT](INFO): DAT read: 18:34:33.9033 LVL= 29280, 19937, 30194, 32755, AGC= 66, IDX= 500,-0.37, 0.314, 2.198, 0.160, 0.756, PHS=-0.355, 1.489,-0.599, RAW= 336.1, -5.5, CAL= 338.1, -7.6, ROT= 171.9, 7.6
2025-06-18T18:34:33.159Z,1750271673.159 [DAT](INFO): got valid direction response:
18:34:33.9033 LVL= 29280, 19937, 30194, 32755, AGC= 66, IDX= 500,-0.37, 0.314, 2.198, 0.160, 0.756, PHS=-0.355, 1.489,-0.599, RAW= 336.1, -5.5, CAL= 338.1, -7.6, ROT= 171.9, 7.6
2025-06-18T18:34:33.159Z,1750271673.159 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-18T18:34:33.161Z,1750271673.161 [DAT](INFO): direction in FSK: [-0.981327,0.139664,-0.132256]
2025-06-18T18:34:33.161Z,1750271673.161 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:33.165Z,1750271673.165 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=29.503811
2025-06-18T18:34:33.379Z,1750271673.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504334 s,
deltaX: 0.100000 m,
approachRate: 0.198282 m/s,
rangeRepo size: 4
2025-06-18T18:34:33.386Z,1750271673.386 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=29.725313
2025-06-18T18:34:33.387Z,1750271673.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375259 m,
bearing: 134.243979 deg,
lat: 36.905894 deg,
lon: -122.115751 deg,
deltaT: 0.504334 s,
deltaX: 0.099087 m,
approachRate: 0.196471 m/s,
posRepo size: 4
2025-06-18T18:34:33.408Z,1750271673.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:33.642Z,1750271673.642 [DAT](INFO): DAT read: Rx Time:18:34:34.4032
2025-06-18T18:34:33.645Z,1750271673.645 [DAT](INFO): Rx dataTimestamp_ set to:1750271673.642967
2025-06-18T18:34:33.651Z,1750271673.651 [DAT](INFO): DAT read: Bearing 171.9, 8.1 (Local)
2025-06-18T18:34:33.652Z,1750271673.652 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, 8.1 (Local)
2025-06-18T18:34:33.655Z,1750271673.655 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:33.680Z,1750271673.680 [DAT](INFO): DAT read: 18:34:34.4032 LVL= 28976, 21025, 30130, 32755, AGC= 66, IDX= 499,-0.24,-1.067, 0.808,-1.220,-0.637, PHS=-0.342, 1.493,-0.586, RAW= 336.2, -5.8, CAL= 338.1, -8.1, ROT= 171.9, 8.1
2025-06-18T18:34:33.681Z,1750271673.681 [DAT](INFO): got valid direction response:
18:34:34.4032 LVL= 28976, 21025, 30130, 32755, AGC= 66, IDX= 499,-0.24,-1.067, 0.808,-1.220,-0.637, PHS=-0.342, 1.493,-0.586, RAW= 336.2, -5.8, CAL= 338.1, -8.1, ROT= 171.9, 8.1
2025-06-18T18:34:33.682Z,1750271673.682 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-18T18:34:33.683Z,1750271673.683 [DAT](INFO): direction in FSK: [-0.980147,0.139496,-0.140901]
2025-06-18T18:34:33.683Z,1750271673.683 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:33.715Z,1750271673.715 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=30.053864
2025-06-18T18:34:33.892Z,1750271673.892 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=30.230532
2025-06-18T18:34:33.905Z,1750271673.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504481 s,
deltaX: -0.100000 m,
approachRate: -0.198224 m/s,
rangeRepo size: 4
2025-06-18T18:34:33.907Z,1750271673.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276188 m,
bearing: 134.131898 deg,
lat: 36.905894 deg,
lon: -122.115751 deg,
deltaT: 0.504481 s,
deltaX: -0.099072 m,
approachRate: -0.196383 m/s,
posRepo size: 4
2025-06-18T18:34:33.912Z,1750271673.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:34.145Z,1750271674.145 [DAT](INFO): DAT read: Rx Time:18:34:34.9032
2025-06-18T18:34:34.146Z,1750271674.146 [DAT](INFO): Rx dataTimestamp_ set to:1750271674.145241
2025-06-18T18:34:34.150Z,1750271674.150 [DAT](INFO): DAT read: Bearing 171.6, 7.7 (Local)
2025-06-18T18:34:34.151Z,1750271674.151 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.6, 7.7 (Local)
2025-06-18T18:34:34.155Z,1750271674.155 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1
2025-06-18T18:34:34.160Z,1750271674.160 [DAT](INFO): DAT read: 18:34:34.9032 LVL= 29584, 22689, 28306, 32755, AGC= 65, IDX= 499,-0.16,-1.043, 0.812,-1.205,-0.613, PHS=-0.342, 1.472,-0.595, RAW= 336.5, -5.5, CAL= 338.4, -7.7, ROT= 171.6, 7.7
2025-06-18T18:34:34.161Z,1750271674.161 [DAT](INFO): got valid direction response:
18:34:34.9032 LVL= 29584, 22689, 28306, 32755, AGC= 65, IDX= 499,-0.16,-1.043, 0.812,-1.205,-0.613, PHS=-0.342, 1.472,-0.595, RAW= 336.5, -5.5, CAL= 338.4, -7.7, ROT= 171.6, 7.7
2025-06-18T18:34:34.161Z,1750271674.161 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-18T18:34:34.162Z,1750271674.162 [DAT](INFO): direction in FSK: [-0.980352,0.144766,-0.133986]
2025-06-18T18:34:34.162Z,1750271674.162 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:34.168Z,1750271674.168 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=30.507111
2025-06-18T18:34:34.334Z,1750271674.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.502274 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:34.341Z,1750271674.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276188 m,
bearing: 133.838095 deg,
lat: 36.905894 deg,
lon: -122.115750 deg,
deltaT: 0.502274 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:34:34.341Z,1750271674.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:34.393Z,1750271674.393 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=30.732157
2025-06-18T18:34:34.649Z,1750271674.649 [DAT](INFO): DAT read: Rx Time:18:34:35.4031
2025-06-18T18:34:34.651Z,1750271674.651 [DAT](INFO): Rx dataTimestamp_ set to:1750271674.649731
2025-06-18T18:34:34.654Z,1750271674.654 [DAT](INFO): DAT read: Bearing 171.9, 8.3 (Local)
2025-06-18T18:34:34.655Z,1750271674.655 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, 8.3 (Local)
2025-06-18T18:34:34.657Z,1750271674.657 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:34.666Z,1750271674.666 [DAT](INFO): DAT read: 18:34:35.4031 LVL= 27120, 19857, 27362, 32755, AGC= 65, IDX= 498,-0.11,-2.625,-0.793,-2.768,-2.208, PHS=-0.329, 1.463,-0.562, RAW= 336.1, -6.0, CAL= 338.1, -8.3, ROT= 171.9, 8.3
2025-06-18T18:34:34.667Z,1750271674.667 [DAT](INFO): got valid direction response:
18:34:35.4031 LVL= 27120, 19857, 27362, 32755, AGC= 65, IDX= 498,-0.11,-2.625,-0.793,-2.768,-2.208, PHS=-0.329, 1.463,-0.562, RAW= 336.1, -6.0, CAL= 338.1, -8.3, ROT= 171.9, 8.3
2025-06-18T18:34:34.667Z,1750271674.667 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-18T18:34:34.672Z,1750271674.672 [DAT](INFO): direction in FSK: [-0.979654,0.139426,-0.144356]
2025-06-18T18:34:34.673Z,1750271674.673 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:34.685Z,1750271674.685 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=31.023926
2025-06-18T18:34:34.730Z,1750271674.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.504490 s,
deltaX: -0.200001 m,
approachRate: -0.396441 m/s,
rangeRepo size: 4
2025-06-18T18:34:34.740Z,1750271674.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.078012 m,
bearing: 133.969695 deg,
lat: 36.905895 deg,
lon: -122.115750 deg,
deltaT: 0.504490 s,
deltaX: -0.198175 m,
approachRate: -0.392823 m/s,
posRepo size: 4
2025-06-18T18:34:34.740Z,1750271674.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:34.900Z,1750271674.900 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=31.238224
2025-06-18T18:34:35.022Z,1750271675.022 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-
2025-06-18T18:34:35.055Z,1750271675.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:35.154Z,1750271675.154 [DAT](INFO): DAT read: Rx Time:18:34:35.9033
2025-06-18T18:34:35.154Z,1750271675.154 [DAT](INFO): Rx dataTimestamp_ set to:1750271675.153899
2025-06-18T18:34:35.156Z,1750271675.156 [DAT](INFO): DAT read: Bearing 172.2, 8.6 (Local)
2025-06-18T18:34:35.157Z,1750271675.157 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.2, 8.6 (Local)
2025-06-18T18:34:35.160Z,1750271675.160 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:34:35.170Z,1750271675.170 [DAT](INFO): DAT read: 18:34:35.9033 LVL= 25888, 22113, 23922, 32755, AGC= 65, IDX= 499,-0.07,-1.365, 0.505,-1.500,-0.944, PHS=-0.334, 1.496,-0.559, RAW= 335.7, -6.2, CAL= 337.8, -8.6, ROT= 172.2, 8.6
2025-06-18T18:34:35.171Z,1750271675.171 [DAT](INFO): got valid direction response:
18:34:35.9033 LVL= 25888, 22113, 23922, 32755, AGC= 65, IDX= 499,-0.07,-1.365, 0.505,-1.500,-0.944, PHS=-0.334, 1.496,-0.559, RAW= 335.7, -6.2, CAL= 337.8, -8.6, ROT= 172.2, 8.6
2025-06-18T18:34:35.171Z,1750271675.171 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-06-18T18:34:35.177Z,1750271675.177 [DAT](INFO): direction in FSK: [-0.979608,0.134190,-0.149535]
2025-06-18T18:34:35.177Z,1750271675.177 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:35.185Z,1750271675.185 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=31.523769
2025-06-18T18:34:35.401Z,1750271675.401 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=31.739994
2025-06-18T18:34:35.428Z,1750271675.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504168 s,
deltaX: 0.300001 m,
approachRate: 0.595042 m/s,
rangeRepo size: 4
2025-06-18T18:34:35.431Z,1750271675.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375273 m,
bearing: 134.091177 deg,
lat: 36.905895 deg,
lon: -122.115749 deg,
deltaT: 0.504168 s,
deltaX: 0.297260 m,
approachRate: 0.589606 m/s,
posRepo size: 4
2025-06-18T18:34:35.431Z,1750271675.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:35.655Z,1750271675.655 [DAT](INFO): DAT read: Rx Time:18:34:36.4032
2025-06-18T18:34:35.655Z,1750271675.655 [DAT](INFO): Rx dataTimestamp_ set to:1750271675.655029
2025-06-18T18:34:35.657Z,1750271675.657 [DAT](INFO): DAT read: Bearing 172.1, 7.9 (Local)
2025-06-18T18:34:35.657Z,1750271675.657 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.1, 7.9 (Local)
2025-06-18T18:34:35.659Z,1750271675.659 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:35.664Z,1750271675.664 [DAT](INFO): DAT read: 18:34:36.4032 LVL= 26000, 24353, 25826, 32755, AGC= 66, IDX= 498,-0.13,-2.224,-0.363,-2.366,-1.789, PHS=-0.347, 1.473,-0.580, RAW= 336.0, -5.7, CAL= 337.9, -7.9, ROT= 172.1, 7.9
2025-06-18T18:34:35.665Z,1750271675.665 [DAT](INFO): got valid direction response:
18:34:36.4032 LVL= 26000, 24353, 25826, 32755, AGC= 66, IDX= 498,-0.13,-2.224,-0.363,-2.366,-1.789, PHS=-0.347, 1.473,-0.580, RAW= 336.0, -5.7, CAL= 337.9, -7.9, ROT= 172.1, 7.9
2025-06-18T18:34:35.666Z,1750271675.666 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-06-18T18:34:35.667Z,1750271675.667 [DAT](INFO): direction in FSK: [-0.981109,0.136140,-0.137445]
2025-06-18T18:34:35.667Z,1750271675.667 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:35.675Z,1750271675.675 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=32.014053
2025-06-18T18:34:35.830Z,1750271675.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.501130 s,
deltaX: -0.100000 m,
approachRate: -0.199550 m/s,
rangeRepo size: 4
2025-06-18T18:34:35.848Z,1750271675.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276207 m,
bearing: 134.058264 deg,
lat: 36.905895 deg,
lon: -122.115750 deg,
deltaT: 0.501130 s,
deltaX: -0.099066 m,
approachRate: -0.197685 m/s,
posRepo size: 4
2025-06-18T18:34:35.849Z,1750271675.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:35.909Z,1750271675.909 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=32.247833
2025-06-18T18:34:36.157Z,1750271676.157 [DAT](INFO): DAT read: Rx Time:18:34:36.9033
2025-06-18T18:34:36.158Z,1750271676.158 [DAT](INFO): Rx dataTimestamp_ set to:1750271676.157608
2025-06-18T18:34:36.159Z,1750271676.159 [DAT](INFO): DAT read: Bearing 171.6, 7.4 (Local)
2025-06-18T18:34:36.160Z,1750271676.159 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.6, 7.4 (Local)
2025-06-18T18:34:36.162Z,1750271676.162 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed -0.2
2025-06-18T18:34:36.167Z,1750271676.167 [DAT](INFO): DAT read: 18:34:36.9033 LVL= 29600, 21137, 29938, 32755, AGC= 67, IDX= 499,-0.24,-0.860, 0.984,-1.025,-0.426, PHS=-0.347, 1.457,-0.602, RAW= 336.5, -5.3, CAL= 338.4, -7.4, ROT= 171.6, 7.4
2025-06-18T18:34:36.168Z,1750271676.168 [DAT](INFO): got valid direction response:
18:34:36.9033 LVL= 29600, 21137, 29938, 32755, AGC= 67, IDX= 499,-0.24,-0.860, 0.984,-1.025,-0.426, PHS=-0.347, 1.457,-0.602, RAW= 336.5, -5.3, CAL= 338.4, -7.4, ROT= 171.6, 7.4
2025-06-18T18:34:36.168Z,1750271676.168 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-06-18T18:34:36.169Z,1750271676.169 [DAT](INFO): direction in FSK: [-0.981033,0.144866,-0.128796]
2025-06-18T18:34:36.169Z,1750271676.169 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:36.173Z,1750271676.173 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=32.511894
2025-06-18T18:34:36.338Z,1750271676.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.502579 s,
deltaX: 0.100000 m,
approachRate: 0.198974 m/s,
rangeRepo size: 4
2025-06-18T18:34:36.345Z,1750271676.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375294 m,
bearing: 133.603285 deg,
lat: 36.905896 deg,
lon: -122.115749 deg,
deltaT: 0.502579 s,
deltaX: 0.099087 m,
approachRate: 0.197157 m/s,
posRepo size: 4
2025-06-18T18:34:36.345Z,1750271676.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:36.409Z,1750271676.409 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=32.748154
2025-06-18T18:34:36.661Z,1750271676.661 [DAT](INFO): DAT read: Rx Time:18:34:37.4032
2025-06-18T18:34:36.662Z,1750271676.662 [DAT](INFO): Rx dataTimestamp_ set to:1750271676.661612
2025-06-18T18:34:36.663Z,1750271676.663 [DAT](INFO): DAT read: Bearing 171.1, 7.5 (Local)
2025-06-18T18:34:36.663Z,1750271676.663 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.1, 7.5 (Local)
2025-06-18T18:34:36.666Z,1750271676.666 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:36.671Z,1750271676.671 [DAT](INFO): DAT read: 18:34:37.4032 LVL= 28320, 22481, 29618, 32755, AGC= 67, IDX= 498,-0.29,-1.782, 0.042,-1.965,-1.363, PHS=-0.331, 1.452,-0.605, RAW= 337.0, -5.4, CAL= 338.9, -7.5, ROT= 171.1, 7.5
2025-06-18T18:34:36.672Z,1750271676.672 [DAT](INFO): got valid direction response:
18:34:37.4032 LVL= 28320, 22481, 29618, 32755, AGC= 67, IDX= 498,-0.29,-1.782, 0.042,-1.965,-1.363, PHS=-0.331, 1.452,-0.605, RAW= 337.0, -5.4, CAL= 338.9, -7.5, ROT= 171.1, 7.5
2025-06-18T18:34:36.672Z,1750271676.672 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-06-18T18:34:36.673Z,1750271676.673 [DAT](INFO): direction in FSK: [-0.979508,0.153387,-0.130526]
2025-06-18T18:34:36.673Z,1750271676.673 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:36.677Z,1750271676.677 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=33.016174
2025-06-18T18:34:36.807Z,1750271676.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504004 s,
deltaX: -0.100000 m,
approachRate: -0.198412 m/s,
rangeRepo size: 4
2025-06-18T18:34:36.814Z,1750271676.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276196 m,
bearing: 133.047339 deg,
lat: 36.905896 deg,
lon: -122.115749 deg,
deltaT: 0.504004 s,
deltaX: -0.099098 m,
approachRate: -0.196622 m/s,
posRepo size: 4
2025-06-18T18:34:36.814Z,1750271676.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:36.916Z,1750271676.916 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=33.254486
2025-06-18T18:34:37.165Z,1750271677.165 [DAT](INFO): DAT read: Rx Time:18:34:37.9033
2025-06-18T18:34:37.166Z,1750271677.166 [DAT](INFO): Rx dataTimestamp_ set to:1750271677.165646
2025-06-18T18:34:37.167Z,1750271677.167 [DAT](INFO): DAT read: Bearing 171.4, 7.8 (Local)
2025-06-18T18:34:37.176Z,1750271677.176 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.4, 7.8 (Local)
2025-06-18T18:34:37.180Z,1750271677.180 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed -0.2
2025-06-18T18:34:37.203Z,1750271677.203 [DAT](INFO): DAT read: 18:34:37.9033 LVL= 31472, 22657, 32754, 32755, AGC= 66, IDX= 499,-0.40, 0.393, 2.231, 0.222, 0.813, PHS=-0.332, 1.465,-0.594, RAW= 336.7, -5.6, CAL= 338.6, -7.8, ROT= 171.4, 7.8
2025-06-18T18:34:37.211Z,1750271677.211 [DAT](INFO): got valid direction response:
18:34:37.9033 LVL= 31472, 22657, 32754, 32755, AGC= 66, IDX= 499,-0.40, 0.393, 2.231, 0.222, 0.813, PHS=-0.332, 1.465,-0.594, RAW= 336.7, -5.6, CAL= 338.6, -7.8, ROT= 171.4, 7.8
2025-06-18T18:34:37.224Z,1750271677.224 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-06-18T18:34:37.225Z,1750271677.225 [DAT](INFO): direction in FSK: [-0.979608,0.148152,-0.135716]
2025-06-18T18:34:37.225Z,1750271677.225 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:37.238Z,1750271677.238 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=33.576641
2025-06-18T18:34:37.325Z,1750271677.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504034 s,
deltaX: 0.100000 m,
approachRate: 0.198400 m/s,
rangeRepo size: 4
2025-06-18T18:34:37.337Z,1750271677.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375282 m,
bearing: 133.242006 deg,
lat: 36.905896 deg,
lon: -122.115747 deg,
deltaT: 0.504034 s,
deltaX: 0.099087 m,
approachRate: 0.196587 m/s,
posRepo size: 4
2025-06-18T18:34:37.337Z,1750271677.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:37.417Z,1750271677.417 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=33.756084
2025-06-18T18:34:37.599Z,1750271677.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:37.670Z,1750271677.670 [DAT](INFO): DAT read: Rx Time:18:34:38.4032
2025-06-18T18:34:37.670Z,1750271677.670 [DAT](INFO): Rx dataTimestamp_ set to:1750271677.669732
2025-06-18T18:34:37.671Z,1750271677.671 [DAT](INFO): DAT read: Bearing 172.1, 8.0 (Local)
2025-06-18T18:34:37.672Z,1750271677.672 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.1, 8.0 (Local)
2025-06-18T18:34:37.674Z,1750271677.674 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:37.679Z,1750271677.679 [DAT](INFO): DAT read: 18:34:38.4032 LVL= 27888, 25905, 26930, 32755, AGC= 66, IDX= 498,-0.26,-2.406,-0.577,-2.545,-1.980, PHS=-0.338, 1.451,-0.568, RAW= 336.0, -5.7, CAL= 337.9, -8.0, ROT= 172.1, 8.0
2025-06-18T18:34:37.680Z,1750271677.680 [DAT](INFO): got valid direction response:
18:34:38.4032 LVL= 27888, 25905, 26930, 32755, AGC= 66, IDX= 498,-0.26,-2.406,-0.577,-2.545,-1.980, PHS=-0.338, 1.451,-0.568, RAW= 336.0, -5.7, CAL= 337.9, -8.0, ROT= 172.1, 8.0
2025-06-18T18:34:37.680Z,1750271677.680 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-06-18T18:34:37.681Z,1750271677.681 [DAT](INFO): direction in FSK: [-0.980870,0.136107,-0.139173]
2025-06-18T18:34:37.682Z,1750271677.682 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:37.685Z,1750271677.685 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=34.024391
2025-06-18T18:34:37.923Z,1750271677.923 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=34.261665
2025-06-18T18:34:38.024Z,1750271678.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504086 s,
deltaX: -0.100000 m,
approachRate: -0.198380 m/s,
rangeRepo size: 4
2025-06-18T18:34:38.026Z,1750271678.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276173 m,
bearing: 133.828493 deg,
lat: 36.905896 deg,
lon: -122.115747 deg,
deltaT: 0.504086 s,
deltaX: -0.099110 m,
approachRate: -0.196613 m/s,
posRepo size: 4
2025-06-18T18:34:38.027Z,1750271678.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:38.174Z,1750271678.174 [DAT](INFO): DAT read: Rx Time:18:34:38.9032
2025-06-18T18:34:38.174Z,1750271678.174 [DAT](INFO): Rx dataTimestamp_ set to:1750271678.174028
2025-06-18T18:34:38.176Z,1750271678.176 [DAT](INFO): DAT read: Bearing 171.9, 6.5 (Local)
2025-06-18T18:34:38.176Z,1750271678.176 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, 6.5 (Local)
2025-06-18T18:34:38.178Z,1750271678.178 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:38.183Z,1750271678.183 [DAT](INFO): DAT read: 18:34:38.9032 LVL= 29808, 24561, 28722, 32755, AGC= 66, IDX= 498,-0.21,-2.888,-1.039,-3.040,-2.426, PHS=-0.375, 1.433,-0.618, RAW= 336.2, -4.6, CAL= 338.1, -6.5, ROT= 171.9, 6.5
2025-06-18T18:34:38.184Z,1750271678.184 [DAT](INFO): got valid direction response:
18:34:38.9032 LVL= 29808, 24561, 28722, 32755, AGC= 66, IDX= 498,-0.21,-2.888,-1.039,-3.040,-2.426, PHS=-0.375, 1.433,-0.618, RAW= 336.2, -4.6, CAL= 338.1, -6.5, ROT= 171.9, 6.5
2025-06-18T18:34:38.185Z,1750271678.185 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-06-18T18:34:38.186Z,1750271678.186 [DAT](INFO): direction in FSK: [-0.983660,0.139996,-0.113203]
2025-06-18T18:34:38.186Z,1750271678.186 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:38.190Z,1750271678.190 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=34.528934
2025-06-18T18:34:38.425Z,1750271678.425 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=34.764030
2025-06-18T18:34:38.427Z,1750271678.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504296 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:38.433Z,1750271678.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276173 m,
bearing: 133.896569 deg,
lat: 36.905896 deg,
lon: -122.115747 deg,
deltaT: 0.504296 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:34:38.434Z,1750271678.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:38.681Z,1750271678.681 [DAT](INFO): DAT read: Rx Time:18:34:39.4031
2025-06-18T18:34:38.682Z,1750271678.682 [DAT](INFO): Rx dataTimestamp_ set to:1750271678.681578
2025-06-18T18:34:38.683Z,1750271678.683 [DAT](INFO): DAT read: Bearing 171.9, 6.4 (Local)
2025-06-18T18:34:38.683Z,1750271678.683 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, 6.4 (Local)
2025-06-18T18:34:38.686Z,1750271678.686 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:38.691Z,1750271678.691 [DAT](INFO): DAT read: 18:34:39.4031 LVL= 31824, 23473, 29746, 32755, AGC= 65, IDX= 497,-0.06, 0.704, 2.560, 0.550, 1.169, PHS=-0.376, 1.439,-0.622, RAW= 336.3, -4.6, CAL= 338.1, -6.4, ROT= 171.9, 6.4
2025-06-18T18:34:38.692Z,1750271678.692 [DAT](INFO): got valid direction response:
18:34:39.4031 LVL= 31824, 23473, 29746, 32755, AGC= 65, IDX= 497,-0.06, 0.704, 2.560, 0.550, 1.169, PHS=-0.376, 1.439,-0.622, RAW= 336.3, -4.6, CAL= 338.1, -6.4, ROT= 171.9, 6.4
2025-06-18T18:34:38.692Z,1750271678.692 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-06-18T18:34:38.693Z,1750271678.693 [DAT](INFO): direction in FSK: [-0.983854,0.140023,-0.111469]
2025-06-18T18:34:38.693Z,1750271678.693 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:38.721Z,1750271678.721 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=35.060059
2025-06-18T18:34:38.825Z,1750271678.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.507550 s,
deltaX: -0.200001 m,
approachRate: -0.394051 m/s,
rangeRepo size: 4
2025-06-18T18:34:38.827Z,1750271678.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077980 m,
bearing: 133.909807 deg,
lat: 36.905897 deg,
lon: -122.115749 deg,
deltaT: 0.507550 s,
deltaX: -0.198193 m,
approachRate: -0.390489 m/s,
posRepo size: 4
2025-06-18T18:34:38.832Z,1750271678.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:38.931Z,1750271678.931 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=35.269936
2025-06-18T18:34:39.182Z,1750271679.182 [DAT](INFO): DAT read: Rx Time:18:34:39.9032
2025-06-18T18:34:39.182Z,1750271679.182 [DAT](INFO): Rx dataTimestamp_ set to:1750271679.181735
2025-06-18T18:34:39.183Z,1750271679.183 [DAT](INFO): DAT read: Bearing 172.7, 6.5 (Local)
2025-06-18T18:34:39.184Z,1750271679.184 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.7, 6.5 (Local)
2025-06-18T18:34:39.186Z,1750271679.186 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.1
2025-06-18T18:34:39.191Z,1750271679.191 [DAT](INFO): DAT read: 18:34:39.9032 LVL= 32752, 25841, 23634, 32755, AGC= 69, IDX= 2, 0.04, 2.720,-1.671, 2.599,-3.079, PHS=-0.396, 1.456,-0.608, RAW= 335.3, -4.6, CAL= 337.3, -6.5, ROT= 172.7, 6.5
2025-06-18T18:34:39.192Z,1750271679.192 [DAT](INFO): got valid direction response:
18:34:39.9032 LVL= 32752, 25841, 23634, 32755, AGC= 69, IDX= 2, 0.04, 2.720,-1.671, 2.599,-3.079, PHS=-0.396, 1.456,-0.608, RAW= 335.3, -4.6, CAL= 337.3, -6.5, ROT= 172.7, 6.5
2025-06-18T18:34:39.192Z,1750271679.192 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-06-18T18:34:39.193Z,1750271679.193 [DAT](INFO): direction in FSK: [-0.985518,0.126248,-0.113203]
2025-06-18T18:34:39.193Z,1750271679.193 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:39.201Z,1750271679.201 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=35.540005
2025-06-18T18:34:39.329Z,1750271679.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.500157 s,
deltaX: 0.200001 m,
approachRate: 0.399876 m/s,
rangeRepo size: 4
2025-06-18T18:34:39.331Z,1750271679.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276154 m,
bearing: 134.683978 deg,
lat: 36.905896 deg,
lon: -122.115750 deg,
deltaT: 0.500157 s,
deltaX: 0.198174 m,
approachRate: 0.396223 m/s,
posRepo size: 4
2025-06-18T18:34:39.331Z,1750271679.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:39.435Z,1750271679.435 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=35.773514
2025-06-18T18:34:39.668Z,1750271679.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:34:39.670Z,1750271679.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:39.686Z,1750271679.686 [DAT](INFO): DAT read: Rx Time:18:34:40.4031
2025-06-18T18:34:39.686Z,1750271679.686 [DAT](INFO): Rx dataTimestamp_ set to:1750271679.685926
2025-06-18T18:34:39.688Z,1750271679.688 [DAT](INFO): DAT read: Bearing 172.5, 6.5 (Local)
2025-06-18T18:34:39.688Z,1750271679.688 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.5, 6.5 (Local)
2025-06-18T18:34:39.690Z,1750271679.690 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:39.697Z,1750271679.697 [DAT](INFO): DAT read: 18:34:40.4031 LVL= 32752, 24993, 28210, 32755, AGC= 67, IDX= 497, 0.19, 0.962, 2.837, 0.832, 1.438, PHS=-0.388, 1.446,-0.609, RAW= 335.6, -4.6, CAL= 337.5, -6.5, ROT= 172.5, 6.5
2025-06-18T18:34:39.701Z,1750271679.701 [DAT](INFO): got valid direction response:
18:34:40.4031 LVL= 32752, 24993, 28210, 32755, AGC= 67, IDX= 497, 0.19, 0.962, 2.837, 0.832, 1.438, PHS=-0.388, 1.446,-0.609, RAW= 335.6, -4.6, CAL= 337.5, -6.5, ROT= 172.5, 6.5
2025-06-18T18:34:39.701Z,1750271679.701 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-06-18T18:34:39.702Z,1750271679.702 [DAT](INFO): direction in FSK: [-0.985072,0.129687,-0.113203]
2025-06-18T18:34:39.702Z,1750271679.702 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:39.714Z,1750271679.714 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:34:39.714Z,1750271679.714 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:34:39.714Z,1750271679.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:39.938Z,1750271679.938 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:39.939Z,1750271679.939 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:39.939Z,1750271679.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:40.108Z,1750271680.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.504191 s,
deltaX: -0.200001 m,
approachRate: -0.396677 m/s,
rangeRepo size: 4
2025-06-18T18:34:40.121Z,1750271680.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.078007 m,
bearing: 134.496493 deg,
lat: 36.905895 deg,
lon: -122.115751 deg,
deltaT: 0.504191 s,
deltaX: -0.198147 m,
approachRate: -0.393000 m/s,
posRepo size: 4
2025-06-18T18:34:40.123Z,1750271680.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:40.189Z,1750271680.189 [DAT](INFO): DAT read: Rx Time:18:34:40.9032
2025-06-18T18:34:40.190Z,1750271680.190 [DAT](INFO): Rx dataTimestamp_ set to:1750271680.189672
2025-06-18T18:34:40.191Z,1750271680.191 [DAT](INFO): DAT read: Bearing 172.5, 6.2 (Local)
2025-06-18T18:34:40.192Z,1750271680.192 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.5, 6.2 (Local)
2025-06-18T18:34:40.194Z,1750271680.194 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:40.199Z,1750271680.199 [DAT](INFO): DAT read: 18:34:40.9032 LVL= 27184, 23105, 21122, 32755, AGC= 67, IDX= 2, 0.40, 1.985,-2.439, 1.859, 2.466, PHS=-0.393, 1.426,-0.610, RAW= 335.6, -4.4, CAL= 337.5, -6.2, ROT= 172.5, 6.2
2025-06-18T18:34:40.200Z,1750271680.200 [DAT](INFO): got valid direction response:
18:34:40.9032 LVL= 27184, 23105, 21122, 32755, AGC= 67, IDX= 2, 0.40, 1.985,-2.439, 1.859, 2.466, PHS=-0.393, 1.426,-0.610, RAW= 335.6, -4.4, CAL= 337.5, -6.2, ROT= 172.5, 6.2
2025-06-18T18:34:40.200Z,1750271680.200 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:40.201Z,1750271680.201 [DAT](INFO): direction in FSK: [-0.985646,0.129763,-0.107999]
2025-06-18T18:34:40.201Z,1750271680.201 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:40.205Z,1750271680.205 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:40.205Z,1750271680.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:40.440Z,1750271680.440 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:40.441Z,1750271680.441 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:40.441Z,1750271680.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:40.509Z,1750271680.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.503746 s,
deltaX: 0.200001 m,
approachRate: 0.397027 m/s,
rangeRepo size: 4
2025-06-18T18:34:40.511Z,1750271680.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276180 m,
bearing: 134.569853 deg,
lat: 36.905895 deg,
lon: -122.115751 deg,
deltaT: 0.503746 s,
deltaX: 0.198174 m,
approachRate: 0.393400 m/s,
posRepo size: 4
2025-06-18T18:34:40.516Z,1750271680.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:40.694Z,1750271680.694 [DAT](INFO): DAT read: Rx Time:18:34:41.4032
2025-06-18T18:34:40.694Z,1750271680.694 [DAT](INFO): Rx dataTimestamp_ set to:1750271680.693716
2025-06-18T18:34:40.695Z,1750271680.695 [DAT](INFO): DAT read: Bearing 172.6, 6.2 (Local)
2025-06-18T18:34:40.696Z,1750271680.696 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.6, 6.2 (Local)
2025-06-18T18:34:40.698Z,1750271680.698 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:40.706Z,1750271680.706 [DAT](INFO): DAT read: 18:34:41.4032 LVL= 32752, 27041, 29618, 32755, AGC= 69, IDX= 498,-0.37,-0.776, 1.095,-0.902,-0.291, PHS=-0.397, 1.433,-0.614, RAW= 335.5, -4.4, CAL= 337.4, -6.2, ROT= 172.6, 6.2
2025-06-18T18:34:40.707Z,1750271680.707 [DAT](INFO): got valid direction response:
18:34:41.4032 LVL= 32752, 27041, 29618, 32755, AGC= 69, IDX= 498,-0.37,-0.776, 1.095,-0.902,-0.291, PHS=-0.397, 1.433,-0.614, RAW= 335.5, -4.4, CAL= 337.4, -6.2, ROT= 172.6, 6.2
2025-06-18T18:34:40.709Z,1750271680.709 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:40.711Z,1750271680.711 [DAT](INFO): direction in FSK: [-0.985871,0.128042,-0.107999]
2025-06-18T18:34:40.711Z,1750271680.711 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:40.725Z,1750271680.725 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:40.725Z,1750271680.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:40.934Z,1750271680.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504044 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:40.937Z,1750271680.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276186 m,
bearing: 134.675516 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 0.504044 s,
deltaX: 0.000006 m,
approachRate: 0.000011 m/s,
posRepo size: 4
2025-06-18T18:34:40.938Z,1750271680.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:40.945Z,1750271680.945 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:40.945Z,1750271680.945 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:40.946Z,1750271680.946 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:41.198Z,1750271681.198 [DAT](INFO): DAT read: Rx Time:18:34:41.9034
2025-06-18T18:34:41.199Z,1750271681.199 [DAT](INFO): Rx dataTimestamp_ set to:1750271681.198226
2025-06-18T18:34:41.200Z,1750271681.200 [DAT](INFO): DAT read: Bearing 172.2, 6.6 (Local)
2025-06-18T18:34:41.200Z,1750271681.200 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.2, 6.6 (Local)
2025-06-18T18:34:41.202Z,1750271681.202 [DAT](INFO): DAT read: Range 10 to 50 : 24.8 m (trip time 16.5 ms) speed 0.0
2025-06-18T18:34:41.248Z,1750271681.248 [DAT](INFO): DAT read: 18:34:41.9034 LVL= 32752, 25393, 29778, 32755, AGC= 67, IDX= 499,-0.16, 0.663, 2.509, 0.523, 1.125, PHS=-0.374, 1.431,-0.606, RAW= 336.0, -4.7, CAL= 337.8, -6.6, ROT= 172.2, 6.6
2025-06-18T18:34:41.249Z,1750271681.249 [DAT](INFO): got valid direction response:
18:34:41.9034 LVL= 32752, 25393, 29778, 32755, AGC= 67, IDX= 499,-0.16, 0.663, 2.509, 0.523, 1.125, PHS=-0.374, 1.431,-0.606, RAW= 336.0, -4.7, CAL= 337.8, -6.6, ROT= 172.2, 6.6
2025-06-18T18:34:41.249Z,1750271681.249 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:41.250Z,1750271681.250 [DAT](INFO): direction in FSK: [-0.984182,0.134816,-0.114937]
2025-06-18T18:34:41.251Z,1750271681.251 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:41.258Z,1750271681.258 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:41.259Z,1750271681.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:41.434Z,1750271681.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.799999 m,
deltaT: 0.504510 s,
deltaX: 0.299999 m,
approachRate: 0.594635 m/s,
rangeRepo size: 4
2025-06-18T18:34:41.449Z,1750271681.449 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:41.449Z,1750271681.449 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:41.449Z,1750271681.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:41.452Z,1750271681.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.573444 m,
bearing: 134.182545 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 0.504510 s,
deltaX: 0.297258 m,
approachRate: 0.589202 m/s,
posRepo size: 4
2025-06-18T18:34:41.453Z,1750271681.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.57 m.
2025-06-18T18:34:41.703Z,1750271681.703 [DAT](INFO): DAT read: Rx Time:18:34:42.4033
2025-06-18T18:34:41.704Z,1750271681.704 [DAT](INFO): Rx dataTimestamp_ set to:1750271681.702946
2025-06-18T18:34:41.706Z,1750271681.706 [DAT](INFO): DAT read: Bearing 172.3, 6.5 (Local)
2025-06-18T18:34:41.706Z,1750271681.706 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.3, 6.5 (Local)
2025-06-18T18:34:41.710Z,1750271681.710 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:34:41.717Z,1750271681.717 [DAT](INFO): DAT read: 18:34:42.4033 LVL= 26128, 24097, 23538, 32755, AGC= 66, IDX= 498,-0.05, 0.179, 2.047, 0.041, 0.652, PHS=-0.385, 1.442,-0.614, RAW= 335.8, -4.6, CAL= 337.7, -6.5, ROT= 172.3, 6.5
2025-06-18T18:34:41.718Z,1750271681.718 [DAT](INFO): got valid direction response:
18:34:42.4033 LVL= 26128, 24097, 23538, 32755, AGC= 66, IDX= 498,-0.05, 0.179, 2.047, 0.041, 0.652, PHS=-0.385, 1.442,-0.614, RAW= 335.8, -4.6, CAL= 337.7, -6.5, ROT= 172.3, 6.5
2025-06-18T18:34:41.718Z,1750271681.718 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:41.719Z,1750271681.719 [DAT](INFO): direction in FSK: [-0.984613,0.133125,-0.113203]
2025-06-18T18:34:41.720Z,1750271681.720 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:41.723Z,1750271681.723 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:41.723Z,1750271681.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:41.906Z,1750271681.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504720 s,
deltaX: -0.199999 m,
approachRate: -0.396257 m/s,
rangeRepo size: 4
2025-06-18T18:34:41.913Z,1750271681.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375284 m,
bearing: 134.285986 deg,
lat: 36.905894 deg,
lon: -122.115751 deg,
deltaT: 0.504720 s,
deltaX: -0.198160 m,
approachRate: -0.392614 m/s,
posRepo size: 4
2025-06-18T18:34:41.913Z,1750271681.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:41.955Z,1750271681.955 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:41.957Z,1750271681.957 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:41.958Z,1750271681.958 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:42.205Z,1750271682.205 [DAT](INFO): DAT read: Rx Time:18:34:42.9033
2025-06-18T18:34:42.206Z,1750271682.206 [DAT](INFO): Rx dataTimestamp_ set to:1750271682.205648
2025-06-18T18:34:42.207Z,1750271682.207 [DAT](INFO): DAT read: Bearing 172.7, 6.4 (Local)
2025-06-18T18:34:42.209Z,1750271682.209 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.7, 6.4 (Local)
2025-06-18T18:34:42.212Z,1750271682.212 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:34:42.219Z,1750271682.219 [DAT](INFO): DAT read: 18:34:42.9033 LVL= 30960, 30449, 26706, 32755, AGC= 66, IDX= 498, 0.02, 2.072,-2.350, 1.952, 2.551, PHS=-0.391, 1.429,-0.602, RAW= 335.4, -4.6, CAL= 337.3, -6.4, ROT= 172.7, 6.4
2025-06-18T18:34:42.220Z,1750271682.220 [DAT](INFO): got valid direction response:
18:34:42.9033 LVL= 30960, 30449, 26706, 32755, AGC= 66, IDX= 498, 0.02, 2.072,-2.350, 1.952, 2.551, PHS=-0.391, 1.429,-0.602, RAW= 335.4, -4.6, CAL= 337.3, -6.4, ROT= 172.7, 6.4
2025-06-18T18:34:42.220Z,1750271682.220 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:42.221Z,1750271682.221 [DAT](INFO): direction in FSK: [-0.985713,0.126273,-0.111469]
2025-06-18T18:34:42.222Z,1750271682.222 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:42.225Z,1750271682.225 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:42.225Z,1750271682.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:42.430Z,1750271682.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.502702 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:42.436Z,1750271682.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375284 m,
bearing: 134.646259 deg,
lat: 36.905894 deg,
lon: -122.115751 deg,
deltaT: 0.502702 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:34:42.436Z,1750271682.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:42.457Z,1750271682.457 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:42.457Z,1750271682.457 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:42.457Z,1750271682.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:42.709Z,1750271682.709 [DAT](INFO): DAT read: Rx Time:18:34:43.4032
2025-06-18T18:34:42.710Z,1750271682.710 [DAT](INFO): Rx dataTimestamp_ set to:1750271682.709592
2025-06-18T18:34:42.711Z,1750271682.711 [DAT](INFO): DAT read: Bearing 173.5, 6.5 (Local)
2025-06-18T18:34:42.711Z,1750271682.711 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.5, 6.5 (Local)
2025-06-18T18:34:42.714Z,1750271682.714 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:42.719Z,1750271682.719 [DAT](INFO): DAT read: 18:34:43.4032 LVL= 24416, 27441, 24050, 32755, AGC= 64, IDX= 497, 0.08, 2.081,-2.330, 1.997, 2.574, PHS=-0.405, 1.426,-0.580, RAW= 334.5, -4.6, CAL= 336.5, -6.5, ROT= 173.5, 6.5
2025-06-18T18:34:42.720Z,1750271682.720 [DAT](INFO): got valid direction response:
18:34:43.4032 LVL= 24416, 27441, 24050, 32755, AGC= 64, IDX= 497, 0.08, 2.081,-2.330, 1.997, 2.574, PHS=-0.405, 1.426,-0.580, RAW= 334.5, -4.6, CAL= 336.5, -6.5, ROT= 173.5, 6.5
2025-06-18T18:34:42.720Z,1750271682.720 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:42.721Z,1750271682.721 [DAT](INFO): direction in FSK: [-0.987185,0.112476,-0.113203]
2025-06-18T18:34:42.721Z,1750271682.721 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:42.725Z,1750271682.725 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:42.725Z,1750271682.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:42.908Z,1750271682.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.503944 s,
deltaX: -0.100000 m,
approachRate: -0.198436 m/s,
rangeRepo size: 4
2025-06-18T18:34:42.910Z,1750271682.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276197 m,
bearing: 135.375653 deg,
lat: 36.905894 deg,
lon: -122.115751 deg,
deltaT: 0.503944 s,
deltaX: -0.099087 m,
approachRate: -0.196623 m/s,
posRepo size: 4
2025-06-18T18:34:42.911Z,1750271682.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:42.963Z,1750271682.963 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:42.964Z,1750271682.964 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:42.964Z,1750271682.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:43.213Z,1750271683.213 [DAT](INFO): DAT read: Rx Time:18:34:43.9033
2025-06-18T18:34:43.214Z,1750271683.214 [DAT](INFO): Rx dataTimestamp_ set to:1750271683.213507
2025-06-18T18:34:43.215Z,1750271683.215 [DAT](INFO): DAT read: Bearing 173.1, 6.1 (Local)
2025-06-18T18:34:43.215Z,1750271683.215 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.1, 6.1 (Local)
2025-06-18T18:34:43.218Z,1750271683.218 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed -0.4
2025-06-18T18:34:43.222Z,1750271683.222 [DAT](INFO): DAT read: 18:34:43.9033 LVL= 28080, 23537, 20370, 30387, AGC= 69, IDX= 2, 0.11,-1.791, 0.118,-1.898,-1.287, PHS=-0.416, 1.453,-0.613, RAW= 335.0, -4.3, CAL= 336.9, -6.1, ROT= 173.1, 6.1
2025-06-18T18:34:43.223Z,1750271683.223 [DAT](INFO): got valid direction response:
18:34:43.9033 LVL= 28080, 23537, 20370, 30387, AGC= 69, IDX= 2, 0.11,-1.791, 0.118,-1.898,-1.287, PHS=-0.416, 1.453,-0.613, RAW= 335.0, -4.3, CAL= 336.9, -6.1, ROT= 173.1, 6.1
2025-06-18T18:34:43.224Z,1750271683.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:43.225Z,1750271683.225 [DAT](INFO): direction in FSK: [-0.987136,0.119456,-0.106264]
2025-06-18T18:34:43.225Z,1750271683.225 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:43.229Z,1750271683.229 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:43.229Z,1750271683.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:43.404Z,1750271683.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.503915 s,
deltaX: 0.100000 m,
approachRate: 0.198447 m/s,
rangeRepo size: 4
2025-06-18T18:34:43.406Z,1750271683.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375284 m,
bearing: 134.985164 deg,
lat: 36.905893 deg,
lon: -122.115751 deg,
deltaT: 0.503915 s,
deltaX: 0.099087 m,
approachRate: 0.196634 m/s,
posRepo size: 4
2025-06-18T18:34:43.407Z,1750271683.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:43.465Z,1750271683.465 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:43.465Z,1750271683.465 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:43.465Z,1750271683.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:43.717Z,1750271683.717 [DAT](INFO): DAT read: Rx Time:18:34:44.4032
2025-06-18T18:34:43.718Z,1750271683.718 [DAT](INFO): Rx dataTimestamp_ set to:1750271683.717650
2025-06-18T18:34:43.719Z,1750271683.719 [DAT](INFO): DAT read: Bearing 173.0, 6.5 (Local)
2025-06-18T18:34:43.720Z,1750271683.720 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.0, 6.5 (Local)
2025-06-18T18:34:43.722Z,1750271683.722 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.2
2025-06-18T18:34:43.726Z,1750271683.726 [DAT](INFO): DAT read: 18:34:44.4032 LVL= 31200, 21617, 28498, 32755, AGC= 67, IDX= 497, 0.15,-2.380,-0.471,-2.489,-1.887, PHS=-0.405, 1.463,-0.605, RAW= 335.0, -4.6, CAL= 337.0, -6.5, ROT= 173.0, 6.5
2025-06-18T18:34:43.727Z,1750271683.727 [DAT](INFO): got valid direction response:
18:34:44.4032 LVL= 31200, 21617, 28498, 32755, AGC= 67, IDX= 497, 0.15,-2.380,-0.471,-2.489,-1.887, PHS=-0.405, 1.463,-0.605, RAW= 335.0, -4.6, CAL= 337.0, -6.5, ROT= 173.0, 6.5
2025-06-18T18:34:43.728Z,1750271683.728 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:43.729Z,1750271683.729 [DAT](INFO): direction in FSK: [-0.986166,0.121086,-0.113203]
2025-06-18T18:34:43.729Z,1750271683.729 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:43.733Z,1750271683.733 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:43.733Z,1750271683.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:43.853Z,1750271683.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504143 s,
deltaX: -0.100000 m,
approachRate: -0.198357 m/s,
rangeRepo size: 4
2025-06-18T18:34:43.855Z,1750271683.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276232 m,
bearing: 134.774980 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 0.504143 s,
deltaX: -0.099052 m,
approachRate: -0.196477 m/s,
posRepo size: 4
2025-06-18T18:34:43.884Z,1750271683.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:43.969Z,1750271683.969 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:43.969Z,1750271683.969 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:43.970Z,1750271683.970 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:44.222Z,1750271684.222 [DAT](INFO): DAT read: Rx Time:18:34:44.9033
2025-06-18T18:34:44.222Z,1750271684.222 [DAT](INFO): Rx dataTimestamp_ set to:1750271684.221747
2025-06-18T18:34:44.223Z,1750271684.223 [DAT](INFO): DAT read: Bearing 172.7, 7.9 (Local)
2025-06-18T18:34:44.224Z,1750271684.224 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.7, 7.9 (Local)
2025-06-18T18:34:44.226Z,1750271684.226 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:34:44.231Z,1750271684.231 [DAT](INFO): DAT read: 18:34:44.9033 LVL= 21456, 28961, 18738, 31987, AGC= 70, IDX= 2, 0.23,-1.104, 0.806,-1.222,-0.647, PHS=-0.368, 1.500,-0.578, RAW= 335.3, -5.6, CAL= 337.3, -7.9, ROT= 172.7, 7.9
2025-06-18T18:34:44.232Z,1750271684.232 [DAT](INFO): got valid direction response:
18:34:44.9033 LVL= 21456, 28961, 18738, 31987, AGC= 70, IDX= 2, 0.23,-1.104, 0.806,-1.222,-0.647, PHS=-0.368, 1.500,-0.578, RAW= 335.3, -5.6, CAL= 337.3, -7.9, ROT= 172.7, 7.9
2025-06-18T18:34:44.233Z,1750271684.233 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:44.234Z,1750271684.234 [DAT](INFO): direction in FSK: [-0.982481,0.125859,-0.137445]
2025-06-18T18:34:44.234Z,1750271684.234 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:44.238Z,1750271684.238 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:44.238Z,1750271684.238 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:44.409Z,1750271684.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504097 s,
deltaX: 0.100000 m,
approachRate: 0.198375 m/s,
rangeRepo size: 4
2025-06-18T18:34:44.411Z,1750271684.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375319 m,
bearing: 134.209423 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 0.504097 s,
deltaX: 0.099087 m,
approachRate: 0.196563 m/s,
posRepo size: 4
2025-06-18T18:34:44.411Z,1750271684.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:44.473Z,1750271684.473 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:44.473Z,1750271684.473 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:44.473Z,1750271684.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:44.725Z,1750271684.725 [DAT](INFO): DAT read: Rx Time:18:34:45.4032
2025-06-18T18:34:44.726Z,1750271684.726 [DAT](INFO): Rx dataTimestamp_ set to:1750271684.725678
2025-06-18T18:34:44.727Z,1750271684.727 [DAT](INFO): DAT read: Bearing 172.8, 8.4 (Local)
2025-06-18T18:34:44.728Z,1750271684.728 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.8, 8.4 (Local)
2025-06-18T18:34:44.730Z,1750271684.730 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1
2025-06-18T18:34:44.735Z,1750271684.735 [DAT](INFO): DAT read: 18:34:45.4032 LVL= 32752, 23969, 31282, 32755, AGC= 66, IDX= 497, 0.26,-2.402,-0.528,-2.511,-1.964, PHS=-0.351, 1.482,-0.550, RAW= 335.1, -6.0, CAL= 337.2, -8.4, ROT= 172.8, 8.4
2025-06-18T18:34:44.736Z,1750271684.736 [DAT](INFO): got valid direction response:
18:34:45.4032 LVL= 32752, 23969, 31282, 32755, AGC= 66, IDX= 497, 0.26,-2.402,-0.528,-2.511,-1.964, PHS=-0.351, 1.482,-0.550, RAW= 335.1, -6.0, CAL= 337.2, -8.4, ROT= 172.8, 8.4
2025-06-18T18:34:44.736Z,1750271684.736 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:44.737Z,1750271684.737 [DAT](INFO): direction in FSK: [-0.981472,0.123989,-0.146083]
2025-06-18T18:34:44.738Z,1750271684.738 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:44.741Z,1750271684.741 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:44.741Z,1750271684.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:44.942Z,1750271684.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.503931 s,
deltaX: -0.100000 m,
approachRate: -0.198441 m/s,
rangeRepo size: 4
2025-06-18T18:34:44.949Z,1750271684.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276220 m,
bearing: 134.116412 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 0.503931 s,
deltaX: -0.099098 m,
approachRate: -0.196650 m/s,
posRepo size: 4
2025-06-18T18:34:44.949Z,1750271684.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:44.979Z,1750271684.979 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:44.979Z,1750271684.979 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:44.979Z,1750271684.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:45.230Z,1750271685.230 [DAT](INFO): DAT read: Rx Time:18:34:45.9032
2025-06-18T18:34:45.230Z,1750271685.230 [DAT](INFO): Rx dataTimestamp_ set to:1750271685.229709
2025-06-18T18:34:45.231Z,1750271685.231 [DAT](INFO): DAT read: Bearing 174.0, 0.1 (Local)
2025-06-18T18:34:45.232Z,1750271685.232 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.0, 0.1 (Local)
2025-06-18T18:34:45.234Z,1750271685.234 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:45.239Z,1750271685.239 [DAT](INFO): DAT read: 18:34:45.9032 LVL= 32752, 23665, 29154, 32755, AGC= 67, IDX= 513, 0.32, 2.554,-1.697, 2.452,-3.033, PHS=-0.608, 1.384,-0.801, RAW= 334.6, 0.2, CAL= 336.0, -0.1, ROT= 174.0, 0.1
2025-06-18T18:34:45.240Z,1750271685.240 [DAT](INFO): got valid direction response:
18:34:45.9032 LVL= 32752, 23665, 29154, 32755, AGC= 67, IDX= 513, 0.32, 2.554,-1.697, 2.452,-3.033, PHS=-0.608, 1.384,-0.801, RAW= 334.6, 0.2, CAL= 336.0, -0.1, ROT= 174.0, 0.1
2025-06-18T18:34:45.240Z,1750271685.240 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:45.241Z,1750271685.241 [DAT](INFO): direction in FSK: [-0.994520,0.104528,-0.001745]
2025-06-18T18:34:45.241Z,1750271685.241 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:45.245Z,1750271685.245 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:45.245Z,1750271685.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:45.481Z,1750271685.481 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:45.481Z,1750271685.481 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:45.481Z,1750271685.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:45.531Z,1750271685.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504031 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:45.534Z,1750271685.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276197 m,
bearing: 136.860746 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 0.504031 s,
deltaX: -0.000023 m,
approachRate: -0.000045 m/s,
posRepo size: 4
2025-06-18T18:34:45.534Z,1750271685.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:45.733Z,1750271685.733 [DAT](INFO): DAT read: Rx Time:18:34:46.4031
2025-06-18T18:34:45.733Z,1750271685.733 [DAT](INFO): Rx dataTimestamp_ set to:1750271685.733148
2025-06-18T18:34:45.735Z,1750271685.735 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:34:45.735Z,1750271685.735 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:34:45.736Z,1750271685.736 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:45.736Z,1750271685.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:45.867Z,1750271685.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.503439 s,
deltaX: -0.200001 m,
approachRate: -0.397269 m/s,
rangeRepo size: 4
2025-06-18T18:34:45.867Z,1750271685.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:45.985Z,1750271685.985 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:45.985Z,1750271685.985 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:45.985Z,1750271685.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:46.237Z,1750271686.237 [DAT](INFO): DAT read: Rx Time:18:34:46.9033
2025-06-18T18:34:46.238Z,1750271686.238 [DAT](INFO): Rx dataTimestamp_ set to:1750271686.237657
2025-06-18T18:34:46.239Z,1750271686.239 [DAT](INFO): DAT read: Bearing 174.4, 7.5 (Local)
2025-06-18T18:34:46.240Z,1750271686.240 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.4, 7.5 (Local)
2025-06-18T18:34:46.242Z,1750271686.242 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed -0.2
2025-06-18T18:34:46.247Z,1750271686.247 [DAT](INFO): DAT read: 18:34:46.9033 LVL= 20928, 24017, 21026, 29987, AGC= 69, IDX= 2,-0.42, 1.410,-2.975, 1.368, 1.901, PHS=-0.404, 1.454,-0.537, RAW= 333.4, -5.4, CAL= 335.6, -7.5, ROT= 174.4, 7.5
2025-06-18T18:34:46.248Z,1750271686.248 [DAT](INFO): got valid direction response:
18:34:46.9033 LVL= 20928, 24017, 21026, 29987, AGC= 69, IDX= 2,-0.42, 1.410,-2.975, 1.368, 1.901, PHS=-0.404, 1.454,-0.537, RAW= 333.4, -5.4, CAL= 335.6, -7.5, ROT= 174.4, 7.5
2025-06-18T18:34:46.248Z,1750271686.248 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:46.249Z,1750271686.249 [DAT](INFO): direction in FSK: [-0.986713,0.096748,-0.130526]
2025-06-18T18:34:46.249Z,1750271686.249 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:46.269Z,1750271686.269 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:46.269Z,1750271686.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:46.360Z,1750271686.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504509 s,
deltaX: 0.300001 m,
approachRate: 0.594640 m/s,
rangeRepo size: 4
2025-06-18T18:34:46.362Z,1750271686.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375284 m,
bearing: 135.835425 deg,
lat: 36.905894 deg,
lon: -122.115752 deg,
deltaT: 1.007948 s,
deltaX: 0.099087 m,
approachRate: 0.098305 m/s,
posRepo size: 4
2025-06-18T18:34:46.363Z,1750271686.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:46.489Z,1750271686.489 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:46.489Z,1750271686.489 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:46.489Z,1750271686.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:46.741Z,1750271686.741 [DAT](INFO): DAT read: Rx Time:18:34:47.4032
2025-06-18T18:34:46.742Z,1750271686.742 [DAT](INFO): Rx dataTimestamp_ set to:1750271686.741553
2025-06-18T18:34:46.743Z,1750271686.743 [DAT](INFO): DAT read: Bearing 174.3, 7.6 (Local)
2025-06-18T18:34:46.743Z,1750271686.743 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.3, 7.6 (Local)
2025-06-18T18:34:46.746Z,1750271686.746 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed -0.2
2025-06-18T18:34:46.750Z,1750271686.750 [DAT](INFO): DAT read: 18:34:47.4032 LVL= 23312, 22321, 21698, 32755, AGC= 65, IDX= 497,-0.26,-0.797, 1.139,-0.845,-0.302, PHS=-0.406, 1.488,-0.546, RAW= 333.5, -5.5, CAL= 335.7, -7.6, ROT= 174.3, 7.6
2025-06-18T18:34:46.751Z,1750271686.751 [DAT](INFO): got valid direction response:
18:34:47.4032 LVL= 23312, 22321, 21698, 32755, AGC= 65, IDX= 497,-0.26,-0.797, 1.139,-0.845,-0.302, PHS=-0.406, 1.488,-0.546, RAW= 333.5, -5.5, CAL= 335.7, -7.6, ROT= 174.3, 7.6
2025-06-18T18:34:46.752Z,1750271686.752 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:46.753Z,1750271686.753 [DAT](INFO): direction in FSK: [-0.986315,0.098447,-0.132256]
2025-06-18T18:34:46.753Z,1750271686.753 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:46.756Z,1750271686.756 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:46.757Z,1750271686.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:46.781Z,1750271686.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.503896 s,
deltaX: -0.100000 m,
approachRate: -0.198454 m/s,
rangeRepo size: 4
2025-06-18T18:34:46.783Z,1750271686.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276182 m,
bearing: 135.717695 deg,
lat: 36.905893 deg,
lon: -122.115755 deg,
deltaT: 0.503896 s,
deltaX: -0.099102 m,
approachRate: -0.196672 m/s,
posRepo size: 4
2025-06-18T18:34:46.792Z,1750271686.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:46.997Z,1750271686.997 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:46.998Z,1750271686.998 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:46.999Z,1750271686.999 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:47.208Z,1750271687.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:47.246Z,1750271687.246 [DAT](INFO): DAT read: Rx Time:18:34:47.9034
2025-06-18T18:34:47.246Z,1750271687.246 [DAT](INFO): Rx dataTimestamp_ set to:1750271687.245775
2025-06-18T18:34:47.247Z,1750271687.247 [DAT](INFO): DAT read: Bearing 174.8, 7.0 (Local)
2025-06-18T18:34:47.248Z,1750271687.248 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.8, 7.0 (Local)
2025-06-18T18:34:47.250Z,1750271687.250 [DAT](INFO): DAT read: Range 10 to 50 : 24.8 m (trip time 16.5 ms) speed 0.0
2025-06-18T18:34:47.255Z,1750271687.255 [DAT](INFO): DAT read: 18:34:47.9034 LVL= 25056, 29089, 24290, 32755, AGC= 66, IDX= 2,-0.16,-0.358, 1.587,-0.390, 0.160, PHS=-0.431, 1.473,-0.554, RAW= 333.1, -5.0, CAL= 335.2, -7.0, ROT= 174.8, 7.0
2025-06-18T18:34:47.256Z,1750271687.256 [DAT](INFO): got valid direction response:
18:34:47.9034 LVL= 25056, 29089, 24290, 32755, AGC= 66, IDX= 2,-0.16,-0.358, 1.587,-0.390, 0.160, PHS=-0.431, 1.473,-0.554, RAW= 333.1, -5.0, CAL= 335.2, -7.0, ROT= 174.8, 7.0
2025-06-18T18:34:47.256Z,1750271687.256 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:47.257Z,1750271687.257 [DAT](INFO): direction in FSK: [-0.988461,0.089957,-0.121869]
2025-06-18T18:34:47.257Z,1750271687.257 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:47.261Z,1750271687.261 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:47.261Z,1750271687.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:47.496Z,1750271687.496 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:47.497Z,1750271687.497 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:47.497Z,1750271687.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:47.544Z,1750271687.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.799999 m,
deltaT: 0.504222 s,
deltaX: 0.299999 m,
approachRate: 0.594975 m/s,
rangeRepo size: 4
2025-06-18T18:34:47.546Z,1750271687.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.573441 m,
bearing: 136.317511 deg,
lat: 36.905892 deg,
lon: -122.115755 deg,
deltaT: 0.504222 s,
deltaX: 0.297258 m,
approachRate: 0.589539 m/s,
posRepo size: 4
2025-06-18T18:34:47.547Z,1750271687.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.57 m.
2025-06-18T18:34:47.750Z,1750271687.750 [DAT](INFO): DAT read: Rx Time:18:34:48.4033
2025-06-18T18:34:47.751Z,1750271687.751 [DAT](INFO): Rx dataTimestamp_ set to:1750271687.750297
2025-06-18T18:34:47.752Z,1750271687.752 [DAT](INFO): DAT read: Bearing 174.8, 8.0 (Local)
2025-06-18T18:34:47.752Z,1750271687.752 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.8, 8.0 (Local)
2025-06-18T18:34:47.754Z,1750271687.754 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.1
2025-06-18T18:34:47.760Z,1750271687.760 [DAT](INFO): DAT read: 18:34:48.4033 LVL= 32752, 29393, 31346, 32755, AGC= 67, IDX= 497,-0.10,-1.440, 0.500,-1.465,-0.944, PHS=-0.408, 1.491,-0.524, RAW= 332.9, -5.8, CAL= 335.2, -8.0, ROT= 174.8, 8.0
2025-06-18T18:34:47.762Z,1750271687.762 [DAT](INFO): got valid direction response:
18:34:48.4033 LVL= 32752, 29393, 31346, 32755, AGC= 67, IDX= 497,-0.10,-1.440, 0.500,-1.465,-0.944, PHS=-0.408, 1.491,-0.524, RAW= 332.9, -5.8, CAL= 335.2, -8.0, ROT= 174.8, 8.0
2025-06-18T18:34:47.762Z,1750271687.762 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:47.802Z,1750271687.802 [DAT](INFO): direction in FSK: [-0.986193,0.089750,-0.139173]
2025-06-18T18:34:47.802Z,1750271687.802 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:47.813Z,1750271687.813 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:47.814Z,1750271687.814 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:47.926Z,1750271687.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504522 s,
deltaX: -0.199999 m,
approachRate: -0.396413 m/s,
rangeRepo size: 4
2025-06-18T18:34:47.944Z,1750271687.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375269 m,
bearing: 136.109407 deg,
lat: 36.905891 deg,
lon: -122.115755 deg,
deltaT: 0.504522 s,
deltaX: -0.198172 m,
approachRate: -0.392791 m/s,
posRepo size: 4
2025-06-18T18:34:47.945Z,1750271687.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:48.001Z,1750271688.001 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:48.001Z,1750271688.001 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:48.002Z,1750271688.002 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:48.253Z,1750271688.253 [DAT](INFO): DAT read: Rx Time:18:34:48.9034
2025-06-18T18:34:48.254Z,1750271688.254 [DAT](INFO): Rx dataTimestamp_ set to:1750271688.253649
2025-06-18T18:34:48.255Z,1750271688.255 [DAT](INFO): DAT read: Bearing 174.4, 7.4 (Local)
2025-06-18T18:34:48.256Z,1750271688.256 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.4, 7.4 (Local)
2025-06-18T18:34:48.258Z,1750271688.258 [DAT](INFO): DAT read: Range 10 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1
2025-06-18T18:34:48.263Z,1750271688.263 [DAT](INFO): DAT read: 18:34:48.9034 LVL= 28896, 25937, 23602, 32755, AGC= 67, IDX= 2,-0.06, 0.613, 2.550, 0.567, 1.114, PHS=-0.414, 1.482,-0.550, RAW= 333.4, -5.3, CAL= 335.6, -7.4, ROT= 174.4, 7.4
2025-06-18T18:34:48.270Z,1750271688.270 [DAT](INFO): got valid direction response:
18:34:48.9034 LVL= 28896, 25937, 23602, 32755, AGC= 67, IDX= 2,-0.06, 0.613, 2.550, 0.567, 1.114, PHS=-0.414, 1.482,-0.550, RAW= 333.4, -5.3, CAL= 335.6, -7.4, ROT= 174.4, 7.4
2025-06-18T18:34:48.270Z,1750271688.270 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:48.271Z,1750271688.271 [DAT](INFO): direction in FSK: [-0.986938,0.096770,-0.128796]
2025-06-18T18:34:48.272Z,1750271688.272 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:48.299Z,1750271688.299 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:48.299Z,1750271688.299 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:48.430Z,1750271688.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.799999 m,
deltaT: 0.503352 s,
deltaX: 0.199999 m,
approachRate: 0.397334 m/s,
rangeRepo size: 4
2025-06-18T18:34:48.436Z,1750271688.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.573441 m,
bearing: 135.823089 deg,
lat: 36.905891 deg,
lon: -122.115755 deg,
deltaT: 0.503352 s,
deltaX: 0.198172 m,
approachRate: 0.393704 m/s,
posRepo size: 4
2025-06-18T18:34:48.437Z,1750271688.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.57 m.
2025-06-18T18:34:48.505Z,1750271688.505 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:48.505Z,1750271688.505 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:48.506Z,1750271688.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:48.699Z,1750271688.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.57 m.
2025-06-18T18:34:48.759Z,1750271688.759 [DAT](INFO): DAT read: Rx Time:18:34:49.4033
2025-06-18T18:34:48.759Z,1750271688.759 [DAT](INFO): Rx dataTimestamp_ set to:1750271688.759133
2025-06-18T18:34:48.761Z,1750271688.761 [DAT](INFO): DAT read: Bearing 174.1, 7.8 (Local)
2025-06-18T18:34:48.762Z,1750271688.762 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.1, 7.8 (Local)
2025-06-18T18:34:48.765Z,1750271688.765 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:34:48.771Z,1750271688.771 [DAT](INFO): DAT read: 18:34:49.4033 LVL= 28784, 26225, 26562, 32755, AGC= 64, IDX= 497,-0.08, 0.146, 2.065, 0.090, 0.629, PHS=-0.395, 1.483,-0.542, RAW= 333.7, -5.6, CAL= 335.9, -7.8, ROT= 174.1, 7.8
2025-06-18T18:34:48.777Z,1750271688.777 [DAT](INFO): got valid direction response:
18:34:49.4033 LVL= 28784, 26225, 26562, 32755, AGC= 64, IDX= 497,-0.08, 0.146, 2.065, 0.090, 0.629, PHS=-0.395, 1.483,-0.542, RAW= 333.7, -5.6, CAL= 335.9, -7.8, ROT= 174.1, 7.8
2025-06-18T18:34:48.778Z,1750271688.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:48.786Z,1750271688.786 [DAT](INFO): direction in FSK: [-0.985500,0.101841,-0.135716]
2025-06-18T18:34:48.787Z,1750271688.787 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:48.795Z,1750271688.795 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:48.795Z,1750271688.795 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:49.008Z,1750271689.008 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:49.009Z,1750271689.009 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:49.009Z,1750271689.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:49.204Z,1750271689.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.505484 s,
deltaX: -0.199999 m,
approachRate: -0.395658 m/s,
rangeRepo size: 4
2025-06-18T18:34:49.206Z,1750271689.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375257 m,
bearing: 135.386990 deg,
lat: 36.905891 deg,
lon: -122.115754 deg,
deltaT: 0.505484 s,
deltaX: -0.198183 m,
approachRate: -0.392066 m/s,
posRepo size: 4
2025-06-18T18:34:49.207Z,1750271689.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:49.262Z,1750271689.262 [DAT](INFO): DAT read: Rx Time:18:34:49.9033
2025-06-18T18:34:49.263Z,1750271689.263 [DAT](INFO): Rx dataTimestamp_ set to:1750271689.262547
2025-06-18T18:34:49.265Z,1750271689.265 [DAT](INFO): DAT read: Bearing 173.9, 5.4 (Local)
2025-06-18T18:34:49.265Z,1750271689.265 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.9, 5.4 (Local)
2025-06-18T18:34:49.271Z,1750271689.271 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.1
2025-06-18T18:34:49.286Z,1750271689.286 [DAT](INFO): DAT read: 18:34:49.9033 LVL= 28144, 24097, 27826, 32755, AGC= 67, IDX= 513,-0.09,-0.645, 1.501,-0.741,-0.055, PHS=-0.503, 1.603,-0.690, RAW= 334.2, -3.8, CAL= 336.1, -5.4, ROT= 173.9, 5.4
2025-06-18T18:34:49.292Z,1750271689.292 [DAT](INFO): got valid direction response:
18:34:49.9033 LVL= 28144, 24097, 27826, 32755, AGC= 67, IDX= 513,-0.09,-0.645, 1.501,-0.741,-0.055, PHS=-0.503, 1.603,-0.690, RAW= 334.2, -3.8, CAL= 336.1, -5.4, ROT= 173.9, 5.4
2025-06-18T18:34:49.293Z,1750271689.293 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:49.294Z,1750271689.294 [DAT](INFO): direction in FSK: [-0.989925,0.105793,-0.094108]
2025-06-18T18:34:49.294Z,1750271689.294 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:49.302Z,1750271689.302 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:49.302Z,1750271689.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:49.513Z,1750271689.513 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:49.513Z,1750271689.513 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:49.513Z,1750271689.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:49.531Z,1750271689.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.503414 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:49.537Z,1750271689.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375257 m,
bearing: 135.589357 deg,
lat: 36.905891 deg,
lon: -122.115753 deg,
deltaT: 0.503414 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:34:49.538Z,1750271689.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:49.766Z,1750271689.766 [DAT](INFO): DAT read: Rx Time:18:34:50.4032
2025-06-18T18:34:49.766Z,1750271689.766 [DAT](INFO): Rx dataTimestamp_ set to:1750271689.765714
2025-06-18T18:34:49.767Z,1750271689.767 [DAT](INFO): DAT read: Bearing 189.4, -2.5 (Local)
2025-06-18T18:34:49.768Z,1750271689.768 [DAT](INFO): Local bearing/azimuth received:
Bearing 189.4, -2.5 (Local)
2025-06-18T18:34:49.770Z,1750271689.770 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:49.775Z,1750271689.775 [DAT](INFO): DAT read: 18:34:50.4032 LVL= 28800, 20833, 25042, 32755, AGC= 68, IDX= 512,-0.11,-1.753,-0.207,-1.331,-1.012, PHS=-0.653, 0.852,-0.321, RAW= 317.9, 1.8, CAL= 320.6, 2.5, ROT= 189.4, -2.5
2025-06-18T18:34:49.786Z,1750271689.786 [DAT](INFO): got valid direction response:
18:34:50.4032 LVL= 28800, 20833, 25042, 32755, AGC= 68, IDX= 512,-0.11,-1.753,-0.207,-1.331,-1.012, PHS=-0.653, 0.852,-0.321, RAW= 317.9, 1.8, CAL= 320.6, 2.5, ROT= 189.4, -2.5
2025-06-18T18:34:49.786Z,1750271689.786 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:49.787Z,1750271689.787 [DAT](INFO): direction in FSK: [-0.985633,-0.163170,0.043619]
2025-06-18T18:34:49.813Z,1750271689.813 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:49.820Z,1750271689.820 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:49.820Z,1750271689.820 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:49.981Z,1750271689.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.503167 s,
deltaX: -0.100000 m,
approachRate: -0.198742 m/s,
rangeRepo size: 4
2025-06-18T18:34:49.983Z,1750271689.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276146 m,
bearing: 152.299971 deg,
lat: 36.905891 deg,
lon: -122.115753 deg,
deltaT: 0.503167 s,
deltaX: -0.099112 m,
approachRate: -0.196975 m/s,
posRepo size: 4
2025-06-18T18:34:49.983Z,1750271689.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:50.017Z,1750271690.017 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:50.017Z,1750271690.017 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:50.017Z,1750271690.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:50.270Z,1750271690.270 [DAT](INFO): DAT read: Rx Time:18:34:50.9033
2025-06-18T18:34:50.270Z,1750271690.270 [DAT](INFO): Rx dataTimestamp_ set to:1750271690.269937
2025-06-18T18:34:50.272Z,1750271690.272 [DAT](INFO): DAT read: Bearing 181.7, -9.1 (Local)
2025-06-18T18:34:50.272Z,1750271690.272 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.7, -9.1 (Local)
2025-06-18T18:34:50.274Z,1750271690.274 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:34:50.279Z,1750271690.279 [DAT](INFO): DAT read: 18:34:50.9033 LVL= 30128, 26609, 30930, 32755, AGC= 67, IDX= 513,-0.11,-0.831, 0.885,-0.598, 0.031, PHS=-0.774, 0.901,-0.632, RAW= 325.6, 6.3, CAL= 328.3, 9.1, ROT= 181.7, -9.1
2025-06-18T18:34:50.281Z,1750271690.281 [DAT](INFO): got valid direction response:
18:34:50.9033 LVL= 30128, 26609, 30930, 32755, AGC= 67, IDX= 513,-0.11,-0.831, 0.885,-0.598, 0.031, PHS=-0.774, 0.901,-0.632, RAW= 325.6, 6.3, CAL= 328.3, 9.1, ROT= 181.7, -9.1
2025-06-18T18:34:50.281Z,1750271690.281 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:50.282Z,1750271690.282 [DAT](INFO): direction in FSK: [-0.986979,-0.029293,0.158158]
2025-06-18T18:34:50.282Z,1750271690.282 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:50.286Z,1750271690.286 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:50.286Z,1750271690.286 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:50.437Z,1750271690.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504223 s,
deltaX: 0.100000 m,
approachRate: 0.198326 m/s,
rangeRepo size: 4
2025-06-18T18:34:50.439Z,1750271690.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375233 m,
bearing: 145.830109 deg,
lat: 36.905890 deg,
lon: -122.115753 deg,
deltaT: 0.504223 s,
deltaX: 0.099087 m,
approachRate: 0.196514 m/s,
posRepo size: 4
2025-06-18T18:34:50.439Z,1750271690.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:50.521Z,1750271690.521 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:50.521Z,1750271690.521 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:50.521Z,1750271690.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:50.777Z,1750271690.777 [DAT](INFO): DAT read: Rx Time:18:34:51.4032
2025-06-18T18:34:50.777Z,1750271690.777 [DAT](INFO): Rx dataTimestamp_ set to:1750271690.777190
2025-06-18T18:34:50.779Z,1750271690.779 [DAT](INFO): DAT read: Bearing 174.0, 3.4 (Local)
2025-06-18T18:34:50.779Z,1750271690.779 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.0, 3.4 (Local)
2025-06-18T18:34:50.781Z,1750271690.781 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:50.787Z,1750271690.787 [DAT](INFO): DAT read: 18:34:51.4032 LVL= 29024, 25697, 25970, 32755, AGC= 66, IDX= 512,-0.13,-1.685, 0.490,-1.784,-1.033, PHS=-0.564, 1.570,-0.754, RAW= 334.2, -2.3, CAL= 336.0, -3.4, ROT= 174.0, 3.4
2025-06-18T18:34:50.789Z,1750271690.789 [DAT](INFO): got valid direction response:
18:34:51.4032 LVL= 29024, 25697, 25970, 32755, AGC= 66, IDX= 512,-0.13,-1.685, 0.490,-1.784,-1.033, PHS=-0.564, 1.570,-0.754, RAW= 334.2, -2.3, CAL= 336.0, -3.4, ROT= 174.0, 3.4
2025-06-18T18:34:50.789Z,1750271690.789 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:50.791Z,1750271690.791 [DAT](INFO): direction in FSK: [-0.992771,0.104345,-0.059306]
2025-06-18T18:34:50.791Z,1750271690.791 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:50.795Z,1750271690.795 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:50.795Z,1750271690.795 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:50.923Z,1750271690.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.507253 s,
deltaX: -0.100000 m,
approachRate: -0.197141 m/s,
rangeRepo size: 4
2025-06-18T18:34:50.930Z,1750271690.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276131 m,
bearing: 135.739084 deg,
lat: 36.905891 deg,
lon: -122.115753 deg,
deltaT: 0.507253 s,
deltaX: -0.099102 m,
approachRate: -0.195370 m/s,
posRepo size: 4
2025-06-18T18:34:50.930Z,1750271690.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:51.025Z,1750271691.025 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:51.025Z,1750271691.025 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:51.025Z,1750271691.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:51.277Z,1750271691.277 [DAT](INFO): DAT read: Rx Time:18:34:51.9033
2025-06-18T18:34:51.278Z,1750271691.278 [DAT](INFO): Rx dataTimestamp_ set to:1750271691.277596
2025-06-18T18:34:51.279Z,1750271691.279 [DAT](INFO): DAT read: Bearing 174.4, 6.4 (Local)
2025-06-18T18:34:51.279Z,1750271691.279 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.4, 6.4 (Local)
2025-06-18T18:34:51.282Z,1750271691.282 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:34:51.286Z,1750271691.286 [DAT](INFO): DAT read: 18:34:51.9033 LVL= 30144, 26721, 26450, 32755, AGC= 65, IDX= 513,-0.17,-1.091, 0.829,-1.140,-0.571, PHS=-0.432, 1.447,-0.572, RAW= 333.6, -4.6, CAL= 335.6, -6.4, ROT= 174.4, 6.4
2025-06-18T18:34:51.287Z,1750271691.287 [DAT](INFO): got valid direction response:
18:34:51.9033 LVL= 30144, 26721, 26450, 32755, AGC= 65, IDX= 513,-0.17,-1.091, 0.829,-1.140,-0.571, PHS=-0.432, 1.447,-0.572, RAW= 333.6, -4.6, CAL= 335.6, -6.4, ROT= 174.4, 6.4
2025-06-18T18:34:51.288Z,1750271691.288 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:51.289Z,1750271691.289 [DAT](INFO): direction in FSK: [-0.989025,0.096975,-0.111469]
2025-06-18T18:34:51.289Z,1750271691.289 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:51.292Z,1750271691.292 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:51.293Z,1750271691.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:51.461Z,1750271691.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.500406 s,
deltaX: 0.100000 m,
approachRate: 0.199838 m/s,
rangeRepo size: 4
2025-06-18T18:34:51.463Z,1750271691.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375217 m,
bearing: 135.564736 deg,
lat: 36.905891 deg,
lon: -122.115753 deg,
deltaT: 0.500406 s,
deltaX: 0.099087 m,
approachRate: 0.198013 m/s,
posRepo size: 4
2025-06-18T18:34:51.463Z,1750271691.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:51.529Z,1750271691.529 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:51.529Z,1750271691.529 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:51.529Z,1750271691.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:51.781Z,1750271691.781 [DAT](INFO): DAT read: Rx Time:18:34:52.4032
2025-06-18T18:34:51.782Z,1750271691.782 [DAT](INFO): Rx dataTimestamp_ set to:1750271691.781601
2025-06-18T18:34:51.783Z,1750271691.783 [DAT](INFO): DAT read: Bearing 166.6, 5.4 (Local)
2025-06-18T18:34:51.783Z,1750271691.783 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.6, 5.4 (Local)
2025-06-18T18:34:51.786Z,1750271691.786 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1
2025-06-18T18:34:51.799Z,1750271691.799 [DAT](INFO): DAT read: 18:34:52.4032 LVL= 24160, 28881, 24418, 32755, AGC= 65, IDX= 512,-0.28,-1.494, 0.123,-1.844,-1.139, PHS=-0.267, 1.310,-0.708, RAW= 342.0, -3.7, CAL= 343.4, -5.4, ROT= 166.6, 5.4
2025-06-18T18:34:51.801Z,1750271691.801 [DAT](INFO): got valid direction response:
18:34:52.4032 LVL= 24160, 28881, 24418, 32755, AGC= 65, IDX= 512,-0.28,-1.494, 0.123,-1.844,-1.139, PHS=-0.267, 1.310,-0.708, RAW= 342.0, -3.7, CAL= 343.4, -5.4, ROT= 166.6, 5.4
2025-06-18T18:34:51.801Z,1750271691.801 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:51.802Z,1750271691.802 [DAT](INFO): direction in FSK: [-0.968459,0.230719,-0.094108]
2025-06-18T18:34:51.802Z,1750271691.802 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:51.865Z,1750271691.865 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:51.865Z,1750271691.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:51.991Z,1750271691.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504005 s,
deltaX: -0.100000 m,
approachRate: -0.198411 m/s,
rangeRepo size: 4
2025-06-18T18:34:51.997Z,1750271691.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276136 m,
bearing: 127.922731 deg,
lat: 36.905891 deg,
lon: -122.115753 deg,
deltaT: 0.504005 s,
deltaX: -0.099081 m,
approachRate: -0.196587 m/s,
posRepo size: 4
2025-06-18T18:34:51.998Z,1750271691.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:52.033Z,1750271692.033 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:52.033Z,1750271692.033 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:52.033Z,1750271692.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:52.285Z,1750271692.285 [DAT](INFO): DAT read: Rx Time:18:34:52.9033
2025-06-18T18:34:52.286Z,1750271692.286 [DAT](INFO): Rx dataTimestamp_ set to:1750271692.285286
2025-06-18T18:34:52.287Z,1750271692.287 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:34:52.287Z,1750271692.287 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:34:52.288Z,1750271692.288 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:52.288Z,1750271692.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:52.428Z,1750271692.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.503685 s,
deltaX: 0.100000 m,
approachRate: 0.198538 m/s,
rangeRepo size: 4
2025-06-18T18:34:52.429Z,1750271692.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:52.537Z,1750271692.537 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:52.537Z,1750271692.537 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:52.537Z,1750271692.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:52.790Z,1750271692.790 [DAT](INFO): DAT read: Rx Time:18:34:53.4032
2025-06-18T18:34:52.790Z,1750271692.790 [DAT](INFO): Rx dataTimestamp_ set to:1750271692.789717
2025-06-18T18:34:52.791Z,1750271692.791 [DAT](INFO): DAT read: Bearing 174.0, 9.5 (Local)
2025-06-18T18:34:52.792Z,1750271692.792 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.0, 9.5 (Local)
2025-06-18T18:34:52.794Z,1750271692.794 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.1
2025-06-18T18:34:52.799Z,1750271692.799 [DAT](INFO): DAT read: 18:34:53.4032 LVL= 27056, 21649, 26578, 32755, AGC= 65, IDX= 511, 0.42, 1.768,-2.573, 1.710, 2.213, PHS=-0.358, 1.544,-0.506, RAW= 333.7, -6.9, CAL= 336.0, -9.5, ROT= 174.0, 9.5
2025-06-18T18:34:52.800Z,1750271692.800 [DAT](INFO): got valid direction response:
18:34:53.4032 LVL= 27056, 21649, 26578, 32755, AGC= 65, IDX= 511, 0.42, 1.768,-2.573, 1.710, 2.213, PHS=-0.358, 1.544,-0.506, RAW= 333.7, -6.9, CAL= 336.0, -9.5, ROT= 174.0, 9.5
2025-06-18T18:34:52.800Z,1750271692.800 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:52.801Z,1750271692.801 [DAT](INFO): direction in FSK: [-0.980883,0.103095,-0.165048]
2025-06-18T18:34:52.801Z,1750271692.801 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:52.805Z,1750271692.805 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:52.805Z,1750271692.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:52.821Z,1750271692.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504431 s,
deltaX: -0.100000 m,
approachRate: -0.198244 m/s,
rangeRepo size: 4
2025-06-18T18:34:52.823Z,1750271692.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276123 m,
bearing: 134.144332 deg,
lat: 36.905891 deg,
lon: -122.115753 deg,
deltaT: 1.008116 s,
deltaX: -0.000013 m,
approachRate: -0.000013 m/s,
posRepo size: 4
2025-06-18T18:34:52.824Z,1750271692.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:53.041Z,1750271693.041 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:53.041Z,1750271693.041 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:53.041Z,1750271693.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:53.248Z,1750271693.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:53.293Z,1750271693.293 [DAT](INFO): DAT read: Rx Time:18:34:53.9031
2025-06-18T18:34:53.294Z,1750271693.294 [DAT](INFO): Rx dataTimestamp_ set to:1750271693.293530
2025-06-18T18:34:53.295Z,1750271693.295 [DAT](INFO): DAT read: Bearing 174.7, 8.3 (Local)
2025-06-18T18:34:53.295Z,1750271693.295 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.7, 8.3 (Local)
2025-06-18T18:34:53.298Z,1750271693.298 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed -0.2
2025-06-18T18:34:53.302Z,1750271693.302 [DAT](INFO): DAT read: 18:34:53.9031 LVL= 30080, 19521, 30626, 32755, AGC= 66, IDX= 511, 0.35, 1.915,-2.373, 1.884, 2.415, PHS=-0.412, 1.542,-0.534, RAW= 333.0, -6.0, CAL= 335.3, -8.3, ROT= 174.7, 8.3
2025-06-18T18:34:53.303Z,1750271693.303 [DAT](INFO): got valid direction response:
18:34:53.9031 LVL= 30080, 19521, 30626, 32755, AGC= 66, IDX= 511, 0.35, 1.915,-2.373, 1.884, 2.415, PHS=-0.412, 1.542,-0.534, RAW= 333.0, -6.0, CAL= 335.3, -8.3, ROT= 174.7, 8.3
2025-06-18T18:34:53.304Z,1750271693.304 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:53.305Z,1750271693.305 [DAT](INFO): direction in FSK: [-0.985295,0.091403,-0.144356]
2025-06-18T18:34:53.305Z,1750271693.305 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:53.308Z,1750271693.308 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:53.309Z,1750271693.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:53.544Z,1750271693.544 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:53.545Z,1750271693.545 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:53.545Z,1750271693.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:53.673Z,1750271693.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.503813 s,
deltaX: -0.200001 m,
approachRate: -0.396974 m/s,
rangeRepo size: 4
2025-06-18T18:34:53.675Z,1750271693.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077971 m,
bearing: 134.889097 deg,
lat: 36.905895 deg,
lon: -122.115753 deg,
deltaT: 0.503813 s,
deltaX: -0.198153 m,
approachRate: -0.393306 m/s,
posRepo size: 4
2025-06-18T18:34:53.675Z,1750271693.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:34:53.797Z,1750271693.797 [DAT](INFO): DAT read: Rx Time:18:34:54.4030
2025-06-18T18:34:53.798Z,1750271693.798 [DAT](INFO): Rx dataTimestamp_ set to:1750271693.797583
2025-06-18T18:34:53.799Z,1750271693.799 [DAT](INFO): DAT read: Bearing 174.9, 8.6 (Local)
2025-06-18T18:34:53.799Z,1750271693.799 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.9, 8.6 (Local)
2025-06-18T18:34:53.802Z,1750271693.802 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1
2025-06-18T18:34:53.807Z,1750271693.807 [DAT](INFO): DAT read: 18:34:54.4030 LVL= 30816, 24513, 28306, 32755, AGC= 66, IDX= 510, 0.38,-0.212, 1.745,-0.234, 0.274, PHS=-0.398, 1.518,-0.511, RAW= 332.8, -6.2, CAL= 335.1, -8.6, ROT= 174.9, 8.6
2025-06-18T18:34:53.808Z,1750271693.808 [DAT](INFO): got valid direction response:
18:34:54.4030 LVL= 30816, 24513, 28306, 32755, AGC= 66, IDX= 510, 0.38,-0.212, 1.745,-0.234, 0.274, PHS=-0.398, 1.518,-0.511, RAW= 332.8, -6.2, CAL= 335.1, -8.6, ROT= 174.9, 8.6
2025-06-18T18:34:53.808Z,1750271693.808 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:53.809Z,1750271693.809 [DAT](INFO): direction in FSK: [-0.984842,0.087895,-0.149535]
2025-06-18T18:34:53.809Z,1750271693.809 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:53.813Z,1750271693.813 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:53.813Z,1750271693.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:54.049Z,1750271694.049 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:54.049Z,1750271694.049 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:54.049Z,1750271694.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:54.202Z,1750271694.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.504053 s,
deltaX: -0.099998 m,
approachRate: -0.198389 m/s,
rangeRepo size: 4
2025-06-18T18:34:54.204Z,1750271694.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.978886 m,
bearing: 135.028092 deg,
lat: 36.905896 deg,
lon: -122.115753 deg,
deltaT: 0.504053 s,
deltaX: -0.099085 m,
approachRate: -0.196576 m/s,
posRepo size: 4
2025-06-18T18:34:54.205Z,1750271694.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.98 m.
2025-06-18T18:34:54.305Z,1750271694.305 [DAT](INFO): DAT read: Rx Time:18:34:54.9033
2025-06-18T18:34:54.306Z,1750271694.306 [DAT](INFO): Rx dataTimestamp_ set to:1750271694.305536
2025-06-18T18:34:54.307Z,1750271694.307 [DAT](INFO): DAT read: Bearing 173.9, 5.5 (Local)
2025-06-18T18:34:54.307Z,1750271694.307 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.9, 5.5 (Local)
2025-06-18T18:34:54.310Z,1750271694.310 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed -0.1
2025-06-18T18:34:54.315Z,1750271694.315 [DAT](INFO): DAT read: 18:34:54.9033 LVL= 27120, 22257, 22578, 32755, AGC= 64, IDX= 512,-0.38,-3.082,-1.150, 3.128,-2.544, PHS=-0.450, 1.441,-0.615, RAW= 334.1, -3.8, CAL= 336.1, -5.5, ROT= 173.9, 5.5
2025-06-18T18:34:54.324Z,1750271694.324 [DAT](INFO): got valid direction response:
18:34:54.9033 LVL= 27120, 22257, 22578, 32755, AGC= 64, IDX= 512,-0.38,-3.082,-1.150, 3.128,-2.544, PHS=-0.450, 1.441,-0.615, RAW= 334.1, -3.8, CAL= 336.1, -5.5, ROT= 173.9, 5.5
2025-06-18T18:34:54.324Z,1750271694.324 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:54.325Z,1750271694.325 [DAT](INFO): direction in FSK: [-0.989760,0.105775,-0.095846]
2025-06-18T18:34:54.326Z,1750271694.326 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:54.333Z,1750271694.333 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:54.333Z,1750271694.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:54.552Z,1750271694.552 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:54.553Z,1750271694.553 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:54.553Z,1750271694.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:54.716Z,1750271694.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.507953 s,
deltaX: 0.400000 m,
approachRate: 0.787474 m/s,
rangeRepo size: 4
2025-06-18T18:34:54.718Z,1750271694.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375229 m,
bearing: 134.499939 deg,
lat: 36.905896 deg,
lon: -122.115751 deg,
deltaT: 0.507953 s,
deltaX: 0.396343 m,
approachRate: 0.780275 m/s,
posRepo size: 4
2025-06-18T18:34:54.719Z,1750271694.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:54.806Z,1750271694.806 [DAT](INFO): DAT read: Rx Time:18:34:55.4032
2025-06-18T18:34:54.807Z,1750271694.807 [DAT](INFO): Rx dataTimestamp_ set to:1750271694.806895
2025-06-18T18:34:54.809Z,1750271694.809 [DAT](INFO): DAT read: Bearing 175.7, 7.6 (Local)
2025-06-18T18:34:54.810Z,1750271694.810 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.7, 7.6 (Local)
2025-06-18T18:34:54.814Z,1750271694.814 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed -0.4
2025-06-18T18:34:54.819Z,1750271694.819 [DAT](INFO): DAT read: 18:34:55.4032 LVL= 26912, 22977, 25682, 32755, AGC= 66, IDX= 511,-0.21, 2.010,-2.306, 2.022, 2.535, PHS=-0.437, 1.489,-0.516, RAW= 332.0, -5.5, CAL= 334.3, -7.6, ROT= 175.7, 7.6
2025-06-18T18:34:54.837Z,1750271694.837 [DAT](INFO): got valid direction response:
18:34:55.4032 LVL= 26912, 22977, 25682, 32755, AGC= 66, IDX= 511,-0.21, 2.010,-2.306, 2.022, 2.535, PHS=-0.437, 1.489,-0.516, RAW= 332.0, -5.5, CAL= 334.3, -7.6, ROT= 175.7, 7.6
2025-06-18T18:34:54.837Z,1750271694.837 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:54.839Z,1750271694.839 [DAT](INFO): direction in FSK: [-0.988425,0.074320,-0.132256]
2025-06-18T18:34:54.839Z,1750271694.839 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:54.847Z,1750271694.847 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:54.852Z,1750271694.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:55.048Z,1750271695.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.501359 s,
deltaX: -0.100000 m,
approachRate: -0.199459 m/s,
rangeRepo size: 4
2025-06-18T18:34:55.050Z,1750271695.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276142 m,
bearing: 135.787774 deg,
lat: 36.905895 deg,
lon: -122.115754 deg,
deltaT: 0.501359 s,
deltaX: -0.099087 m,
approachRate: -0.197636 m/s,
posRepo size: 4
2025-06-18T18:34:55.051Z,1750271695.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:55.057Z,1750271695.057 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:55.057Z,1750271695.057 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:55.057Z,1750271695.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:55.309Z,1750271695.309 [DAT](INFO): DAT read: Rx Time:18:34:55.9033
2025-06-18T18:34:55.310Z,1750271695.310 [DAT](INFO): Rx dataTimestamp_ set to:1750271695.309522
2025-06-18T18:34:55.311Z,1750271695.311 [DAT](INFO): DAT read: Bearing 170.2, 4.2 (Local)
2025-06-18T18:34:55.311Z,1750271695.311 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.2, 4.2 (Local)
2025-06-18T18:34:55.314Z,1750271695.314 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:34:55.318Z,1750271695.318 [DAT](INFO): DAT read: 18:34:55.9033 LVL= 29776, 23457, 27122, 32755, AGC= 67, IDX= 512,-0.09, 0.951, 2.997, 0.678, 1.483, PHS=-0.444, 1.561,-0.808, RAW= 338.2, -2.8, CAL= 339.8, -4.2, ROT= 170.2, 4.2
2025-06-18T18:34:55.319Z,1750271695.319 [DAT](INFO): got valid direction response:
18:34:55.9033 LVL= 29776, 23457, 27122, 32755, AGC= 67, IDX= 512,-0.09, 0.951, 2.997, 0.678, 1.483, PHS=-0.444, 1.561,-0.808, RAW= 338.2, -2.8, CAL= 339.8, -4.2, ROT= 170.2, 4.2
2025-06-18T18:34:55.320Z,1750271695.320 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:55.321Z,1750271695.321 [DAT](INFO): direction in FSK: [-0.982762,0.169752,-0.073238]
2025-06-18T18:34:55.321Z,1750271695.321 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:55.325Z,1750271695.325 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:55.325Z,1750271695.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:55.506Z,1750271695.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.502627 s,
deltaX: 0.100000 m,
approachRate: 0.198955 m/s,
rangeRepo size: 4
2025-06-18T18:34:55.512Z,1750271695.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375229 m,
bearing: 130.944662 deg,
lat: 36.905895 deg,
lon: -122.115754 deg,
deltaT: 0.502627 s,
deltaX: 0.099087 m,
approachRate: 0.197138 m/s,
posRepo size: 4
2025-06-18T18:34:55.512Z,1750271695.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:55.561Z,1750271695.561 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:55.562Z,1750271695.562 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:55.562Z,1750271695.562 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:55.814Z,1750271695.814 [DAT](INFO): DAT read: Rx Time:18:34:56.4032
2025-06-18T18:34:55.814Z,1750271695.814 [DAT](INFO): Rx dataTimestamp_ set to:1750271695.813739
2025-06-18T18:34:55.815Z,1750271695.815 [DAT](INFO): DAT read: Bearing 176.0, 7.1 (Local)
2025-06-18T18:34:55.816Z,1750271695.816 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.0, 7.1 (Local)
2025-06-18T18:34:55.818Z,1750271695.818 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1
2025-06-18T18:34:55.823Z,1750271695.823 [DAT](INFO): DAT read: 18:34:56.4032 LVL= 27120, 26865, 27506, 32755, AGC= 67, IDX= 511,-0.00, 2.197,-2.141, 2.218, 2.732, PHS=-0.448, 1.457,-0.517, RAW= 331.8, -5.1, CAL= 334.0, -7.1, ROT= 176.0, 7.1
2025-06-18T18:34:55.824Z,1750271695.824 [DAT](INFO): got valid direction response:
18:34:56.4032 LVL= 27120, 26865, 27506, 32755, AGC= 67, IDX= 511,-0.00, 2.197,-2.141, 2.218, 2.732, PHS=-0.448, 1.457,-0.517, RAW= 331.8, -5.1, CAL= 334.0, -7.1, ROT= 176.0, 7.1
2025-06-18T18:34:55.824Z,1750271695.824 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:55.825Z,1750271695.825 [DAT](INFO): direction in FSK: [-0.989915,0.069222,-0.123601]
2025-06-18T18:34:55.826Z,1750271695.826 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:55.830Z,1750271695.830 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:55.830Z,1750271695.830 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:55.857Z,1750271695.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504217 s,
deltaX: -0.100000 m,
approachRate: -0.198328 m/s,
rangeRepo size: 4
2025-06-18T18:34:55.864Z,1750271695.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276154 m,
bearing: 136.039154 deg,
lat: 36.905893 deg,
lon: -122.115756 deg,
deltaT: 0.504217 s,
deltaX: -0.099075 m,
approachRate: -0.196493 m/s,
posRepo size: 4
2025-06-18T18:34:55.865Z,1750271695.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:56.065Z,1750271696.065 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:56.065Z,1750271696.065 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:56.065Z,1750271696.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:56.265Z,1750271696.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:56.317Z,1750271696.317 [DAT](INFO): DAT read: Rx Time:18:34:56.9033
2025-06-18T18:34:56.318Z,1750271696.318 [DAT](INFO): Rx dataTimestamp_ set to:1750271696.317309
2025-06-18T18:34:56.319Z,1750271696.319 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:34:56.319Z,1750271696.319 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:34:56.320Z,1750271696.320 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:56.320Z,1750271696.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:56.569Z,1750271696.569 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:56.569Z,1750271696.569 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:56.569Z,1750271696.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:56.695Z,1750271696.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.503570 s,
deltaX: 0.100000 m,
approachRate: 0.198583 m/s,
rangeRepo size: 4
2025-06-18T18:34:56.695Z,1750271696.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:56.821Z,1750271696.821 [DAT](INFO): DAT read: Rx Time:18:34:57.4032
2025-06-18T18:34:56.822Z,1750271696.822 [DAT](INFO): Rx dataTimestamp_ set to:1750271696.821660
2025-06-18T18:34:56.823Z,1750271696.823 [DAT](INFO): DAT read: Bearing 176.1, 6.2 (Local)
2025-06-18T18:34:56.824Z,1750271696.824 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.1, 6.2 (Local)
2025-06-18T18:34:56.826Z,1750271696.826 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1
2025-06-18T18:34:56.831Z,1750271696.831 [DAT](INFO): DAT read: 18:34:57.4032 LVL= 32016, 27121, 24850, 32755, AGC= 67, IDX= 511, 0.24,-2.768,-0.806,-2.746,-2.205, PHS=-0.475, 1.446,-0.544, RAW= 331.7, -4.4, CAL= 333.9, -6.2, ROT= 176.1, 6.2
2025-06-18T18:34:56.832Z,1750271696.832 [DAT](INFO): got valid direction response:
18:34:57.4032 LVL= 32016, 27121, 24850, 32755, AGC= 67, IDX= 511, 0.24,-2.768,-0.806,-2.746,-2.205, PHS=-0.475, 1.446,-0.544, RAW= 331.7, -4.4, CAL= 333.9, -6.2, ROT= 176.1, 6.2
2025-06-18T18:34:56.832Z,1750271696.832 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:56.833Z,1750271696.833 [DAT](INFO): direction in FSK: [-0.991849,0.067617,-0.107999]
2025-06-18T18:34:56.834Z,1750271696.834 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:56.849Z,1750271696.849 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:56.849Z,1750271696.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:57.042Z,1750271697.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504351 s,
deltaX: -0.100000 m,
approachRate: -0.198275 m/s,
rangeRepo size: 4
2025-06-18T18:34:57.045Z,1750271697.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276154 m,
bearing: 136.150314 deg,
lat: 36.905891 deg,
lon: -122.115756 deg,
deltaT: 1.007921 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:34:57.045Z,1750271697.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:57.086Z,1750271697.086 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:57.086Z,1750271697.086 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:57.087Z,1750271697.087 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:57.337Z,1750271697.337 [DAT](INFO): DAT read: Rx Time:18:34:57.9032
2025-06-18T18:34:57.338Z,1750271697.338 [DAT](INFO): Rx dataTimestamp_ set to:1750271697.337658
2025-06-18T18:34:57.339Z,1750271697.339 [DAT](INFO): DAT read: Bearing 175.6, 7.0 (Local)
2025-06-18T18:34:57.340Z,1750271697.340 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.6, 7.0 (Local)
2025-06-18T18:34:57.342Z,1750271697.342 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:57.347Z,1750271697.347 [DAT](INFO): DAT read: 18:34:57.9032 LVL= 30112, 28385, 27010, 32755, AGC= 67, IDX= 511, 0.32,-2.623,-0.685,-2.617,-2.092, PHS=-0.443, 1.454,-0.528, RAW= 332.2, -5.0, CAL= 334.4, -7.0, ROT= 175.6, 7.0
2025-06-18T18:34:57.363Z,1750271697.363 [DAT](INFO): got valid direction response:
18:34:57.9032 LVL= 30112, 28385, 27010, 32755, AGC= 67, IDX= 511, 0.32,-2.623,-0.685,-2.617,-2.092, PHS=-0.443, 1.454,-0.528, RAW= 332.2, -5.0, CAL= 334.4, -7.0, ROT= 175.6, 7.0
2025-06-18T18:34:57.363Z,1750271697.363 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:57.364Z,1750271697.364 [DAT](INFO): direction in FSK: [-0.989621,0.076147,-0.121869]
2025-06-18T18:34:57.364Z,1750271697.364 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:57.389Z,1750271697.389 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:57.389Z,1750271697.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:57.516Z,1750271697.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.515998 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:57.519Z,1750271697.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276154 m,
bearing: 135.381340 deg,
lat: 36.905891 deg,
lon: -122.115756 deg,
deltaT: 0.515998 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:34:57.519Z,1750271697.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:57.589Z,1750271697.589 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:57.589Z,1750271697.589 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:57.590Z,1750271697.590 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:57.842Z,1750271697.842 [DAT](INFO): DAT read: Rx Time:18:34:58.4032
2025-06-18T18:34:57.842Z,1750271697.842 [DAT](INFO): Rx dataTimestamp_ set to:1750271697.841874
2025-06-18T18:34:57.843Z,1750271697.843 [DAT](INFO): DAT read: Bearing 175.9, 6.2 (Local)
2025-06-18T18:34:57.844Z,1750271697.844 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.9, 6.2 (Local)
2025-06-18T18:34:57.846Z,1750271697.846 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:57.852Z,1750271697.852 [DAT](INFO): DAT read: 18:34:58.4032 LVL= 25200, 22417, 24642, 32755, AGC= 67, IDX= 510, 0.38,-3.100,-1.139,-3.085,-2.540, PHS=-0.471, 1.448,-0.548, RAW= 331.9, -4.4, CAL= 334.1, -6.2, ROT= 175.9, 6.2
2025-06-18T18:34:57.864Z,1750271697.864 [DAT](INFO): got valid direction response:
18:34:58.4032 LVL= 25200, 22417, 24642, 32755, AGC= 67, IDX= 510, 0.38,-3.100,-1.139,-3.085,-2.540, PHS=-0.471, 1.448,-0.548, RAW= 331.9, -4.4, CAL= 334.1, -6.2, ROT= 175.9, 6.2
2025-06-18T18:34:57.865Z,1750271697.865 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:57.866Z,1750271697.866 [DAT](INFO): direction in FSK: [-0.991607,0.071079,-0.107999]
2025-06-18T18:34:57.867Z,1750271697.867 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:57.889Z,1750271697.889 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:57.889Z,1750271697.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:57.898Z,1750271697.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504216 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:34:57.900Z,1750271697.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276163 m,
bearing: 135.755242 deg,
lat: 36.905891 deg,
lon: -122.115755 deg,
deltaT: 0.504216 s,
deltaX: 0.000010 m,
approachRate: 0.000019 m/s,
posRepo size: 4
2025-06-18T18:34:57.901Z,1750271697.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:58.093Z,1750271698.093 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:58.094Z,1750271698.094 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:58.094Z,1750271698.094 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:58.315Z,1750271698.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:34:58.346Z,1750271698.346 [DAT](INFO): DAT read: Rx Time:18:3:8.933
2025-06-18T18:34:58.347Z,1750271698.347 [DAT](INFO): Rx dataTimestamp_ set to:1750271698.346468
2025-06-18T18:34:58.348Z,1750271698.348 [DAT](INFO): DAT read: Bearing 176.1, 6.6 (Local)
2025-06-18T18:34:58.349Z,1750271698.349 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.1, 6.6 (Local)
2025-06-18T18:34:58.351Z,1750271698.351 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:34:58.363Z,1750271698.363 [DAT](INFO): DAT read: 18:34:58.9033 LVL= 28960, 24625, 26850, 32755, AGC= 67, IDX= 511, 0.38,-0.757, 1.227,-0.732,-0.198, PHS=-0.471, 1.472,-0.537, RAW= 331.6, -4.7, CAL= 333.9, -6.6, ROT= 176.1, 6.6
2025-06-18T18:34:58.369Z,1750271698.369 [DAT](INFO): got valid direction response:
18:34:58.9033 LVL= 28960, 24625, 26850, 32755, AGC= 67, IDX= 511, 0.38,-0.757, 1.227,-0.732,-0.198, PHS=-0.471, 1.472,-0.537, RAW= 331.6, -4.7, CAL= 333.9, -6.6, ROT= 176.1, 6.6
2025-06-18T18:34:58.370Z,1750271698.370 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:34:58.371Z,1750271698.371 [DAT](INFO): direction in FSK: [-0.991072,0.067564,-0.114937]
2025-06-18T18:34:58.376Z,1750271698.376 [DAT](INFO): publishing direction and range info
2025-06-18T18:34:58.379Z,1750271698.379 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:58.384Z,1750271698.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:58.602Z,1750271698.602 [DAT](INFO): DAT read: Rx Time:18:34:59.4032
2025-06-18T18:34:58.605Z,1750271698.605 [DAT](INFO): Rx dataTimestamp_ set to:1750271698.603040
2025-06-18T18:34:58.607Z,1750271698.607 [DAT](INFO): DAT read: Bearing 176.6, 6.6 (Local)
2025-06-18T18:34:58.614Z,1750271698.614 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.6, 6.6 (Local)
2025-06-18T18:34:58.614Z,1750271698.614 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:58.620Z,1750271698.620 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:58.621Z,1750271698.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:58.819Z,1750271698.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504594 s,
deltaX: 0.100000 m,
approachRate: 0.198180 m/s,
rangeRepo size: 4
2025-06-18T18:34:58.823Z,1750271698.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375252 m,
bearing: 135.744363 deg,
lat: 36.905891 deg,
lon: -122.115755 deg,
deltaT: 0.504594 s,
deltaX: 0.099089 m,
approachRate: 0.196373 m/s,
posRepo size: 4
2025-06-18T18:34:58.824Z,1750271698.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:58.851Z,1750271698.851 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:58.858Z,1750271698.858 [DAT](INFO): DAT read: 18:34:59.4032 LVL= 28656, 269 25154, 32755, AGC= 68, IDX= 510, 0.42,-1.034, 0.948,-0.988,-0.468, PHS=-0.478, 1.463,-0.524, RAW= 331.2, -4.7, CAL= 333.4, -6.6, ROT= 176.6, 6.6
2025-06-18T18:34:58.859Z,1750271698.859 [DAT](INFO): unknown deviceResponse_: 18:34:59.4032 LVL= 28656, 269 25154, 32755, AGC= 68, IDX= 510, 0.42,-1.034, 0.948,-0.988,-0.468, PHS=-0.478, 1.463,-0.524, RAW= 331.2, -4.7, CAL= 333.4, -6.6, ROT= 176.6, 6.6
2025-06-18T18:34:58.860Z,1750271698.860 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:34:58.861Z,1750271698.861 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:58.861Z,1750271698.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:59.106Z,1750271699.106 [DAT](INFO): DAT read: Rx Time:18:34:59.9033
2025-06-18T18:34:59.108Z,1750271699.108 [DAT](INFO): Rx dataTimestamp_ set to:1750271699.107030
2025-06-18T18:34:59.110Z,1750271699.110 [DAT](INFO): DAT read: Bearing 176.5, 7.1 (Local)
2025-06-18T18:34:59.112Z,1750271699.112 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.5, 7.1 (Local)
2025-06-18T18:34:59.113Z,1750271699.113 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:59.114Z,1750271699.114 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:59.115Z,1750271699.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:59.179Z,1750271699.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.501776 s,
deltaX: -0.100000 m,
approachRate: -0.199293 m/s,
rangeRepo size: 4
2025-06-18T18:34:59.179Z,1750271699.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:59.354Z,1750271699.354 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed -03
2025-06-18T18:34:59.359Z,1750271699.359 [DAT](INFO): DAT read: 1834:59.9033 LVL= 30160, 27185, 25954, 32755, AGC= 66, IDX= 511, 0.49, 0.019, 1.960, 0.063, 0.563, PHS=-0.456, 1.443,-0.503, RAW= 331.2, -5.1, CAL= 333.5, -7.1, ROT= 176.5, 7.1
2025-06-18T18:34:59.360Z,1750271699.360 [DAT](INFO): unknown deviceResponse_: 1834:59.9033 LVL= 30160, 27185, 25954, 32755, AGC= 66, IDX= 511, 0.49, 0.019, 1.960, 0.063, 0.563, PHS=-0.456, 1.443,-0.503, RAW= 331.2, -5.1, CAL= 333.5, -7.1, ROT= 176.5, 7.1
2025-06-18T18:34:59.361Z,1750271699.361 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:34:59.361Z,1750271699.361 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:59.361Z,1750271699.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:59.549Z,1750271699.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504073 s,
deltaX: 0.100000 m,
approachRate: 0.198385 m/s,
rangeRepo size: 4
2025-06-18T18:34:59.549Z,1750271699.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:34:59.610Z,1750271699.610 [DAT](INFO): DAT read: Rx Time:18:35:00.4032
2025-06-18T18:34:59.612Z,1750271699.612 [DAT](INFO): Rx dataTimestamp_ set to:1750271699.610660
2025-06-18T18:34:59.615Z,1750271699.615 [DAT](INFO): DAT read: Bearing 176.4, 6.0 (Local)
2025-06-18T18:34:59.618Z,1750271699.618 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.4, 6.0 (Local)
2025-06-18T18:34:59.626Z,1750271699.626 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:34:59.653Z,1750271699.653 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:34:59.655Z,1750271699.655 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:59.655Z,1750271699.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:34:59.862Z,1750271699.862 [DAT](INFO): DAT read: 18:35:00.4032 LVL= 32752, 29601, 31378, 32755, AGC= 67, IDX= 510, 0.46,-0.694, 1.236,-0.656,-0.128, PHS=-0.478, 1.411,-0.531, RAW= 331.4, -4.2, CAL= 333.6, -6.0, ROT= 176.4, 6.0
2025-06-18T18:34:59.863Z,1750271699.863 [DAT](INFO): got valid direction response:
18:35:00.4032 LVL= 32752, 29601, 31378, 32755, AGC= 67, IDX= 510, 0.46,-0.694, 1.236,-0.656,-0.128, PHS=-0.478, 1.411,-0.531, RAW= 331.4, -4.2, CAL= 333.6, -6.0, ROT= 176.4, 6.0
2025-06-18T18:34:59.864Z,1750271699.864 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:34:59.865Z,1750271699.865 [DAT](INFO): direction in FSK: [-0.992559,0.062447,-0.104528]
2025-06-18T18:34:59.869Z,1750271699.869 [DAT](INFO): Reached modem response timeout
2025-06-18T18:34:59.870Z,1750271699.870 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:34:59.870Z,1750271699.870 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:00.112Z,1750271700.112 [DAT](INFO): DAT read: Rx Time:18:35:00.9034
2025-06-18T18:35:00.113Z,1750271700.113 [DAT](INFO): Rx dataTimestamp_ set to:1750271700.112268
2025-06-18T18:35:00.116Z,1750271700.116 [DAT](INFO): DAT read: Bearing 183.0, 0.9 (Local)
2025-06-18T18:35:00.117Z,1750271700.117 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.0, 0.9 (Local)
2025-06-18T18:35:00.122Z,1750271700.122 [DAT](INFO): DAT read: Range 10 to 50 : 24.8 m (trip time 16.5 ms) speed -0.4
2025-06-18T18:35:00.124Z,1750271700.124 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:35:00.127Z,1750271700.127 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:00.132Z,1750271700.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:00.159Z,1750271700.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.799999 m,
deltaT: 0.759951 s,
deltaX: 0.199999 m,
approachRate: 0.263173 m/s,
rangeRepo size: 4
2025-06-18T18:35:00.169Z,1750271700.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276178 m,
bearing: 135.927959 deg,
lat: 36.905891 deg,
lon: -122.115755 deg,
deltaT: 1.264192 s,
deltaX: -0.099073 m,
approachRate: -0.078369 m/s,
posRepo size: 4
2025-06-18T18:35:00.169Z,1750271700.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:35:00.365Z,1750271700.365 [DAT](INFO): DAT read: 18:35:00.9034 LVL= 27792, 23249, 22450, 32755, AGC= 67, IDX= 512,-0.47,-1.868,048,1.552,-0.970, PHS=-0.810, 1.445,-0.585, RAW= 324.8, -0.5, CAL= 327.0, -0.9, ROT= 183.0, 0.9
2025-06-18T18:35:00.366Z,1750271700.366 [DAT](INFO): got valid direction response:
18:35:00.9034 LVL= 27792, 23249, 22450, 32755, AGC= 67, IDX= 512,-0.47,-1.868,048,1.552,-0.970, PHS=-0.810, 1.445,-0.585, RAW= 324.8, -0.5, CAL= 327.0, -0.9, ROT= 183.0, 0.9
2025-06-18T18:35:00.366Z,1750271700.366 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:35:00.367Z,1750271700.367 [DAT](INFO): direction in FSK: [-0.998506,-0.052330,-0.015707]
2025-06-18T18:35:00.370Z,1750271700.370 [DAT](INFO): Reached modem response timeout
2025-06-18T18:35:00.371Z,1750271700.371 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:00.371Z,1750271700.371 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:00.581Z,1750271700.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:35:00.618Z,1750271700.618 [DAT](INFO): DAT read: Rx Time:18:35:01.4033
2025-06-18T18:35:00.620Z,1750271700.620 [DAT](INFO): Rx dataTimestamp_ set to:1750271700.619016
2025-06-18T18:35:00.624Z,1750271700.624 [DAT](INFO): DAT read: Bearing 177.5, 6.5 (Local)
2025-06-18T18:35:00.625Z,1750271700.625 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.5, 6.5 (Local)
2025-06-18T18:35:00.634Z,1750271700.634 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed -0.7
2025-06-18T18:35:00.645Z,1750271700.645 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:35:00.655Z,1750271700.655 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:00.655Z,1750271700.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:00.871Z,1750271700.871 [DAT](INFO): DAT read: 18:35:01.4033 LVL= 27040, 24753, 24434, 32755, AGC= 68, IDX= 511,-0.42,-2.164,-0.260,-2.080,-1.601, PHS=-0.475, 1.388,-0.482, RAW= 330.2, -4.7, CAL= 332.5, -6.5, ROT= 177.5, 6.5
2025-06-18T18:35:00.873Z,1750271700.873 [DAT](INFO): got valid direction response:
18:35:01.4033 LVL= 27040, 24753, 24434, 32755, AGC= 68, IDX= 511,-0.42,-2.164,-0.260,-2.080,-1.601, PHS=-0.475, 1.388,-0.482, RAW= 330.2, -4.7, CAL= 332.5, -6.5, ROT= 177.5, 6.5
2025-06-18T18:35:00.874Z,1750271700.874 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:35:00.875Z,1750271700.875 [DAT](INFO): direction in FSK: [-0.992626,0.043339,-0.113203]
2025-06-18T18:35:00.882Z,1750271700.882 [DAT](INFO): Reached modem response timeout
2025-06-18T18:35:00.882Z,1750271700.882 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:00.882Z,1750271700.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:01.001Z,1750271701.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.506748 s,
deltaX: -0.199999 m,
approachRate: -0.394671 m/s,
rangeRepo size: 4
2025-06-18T18:35:01.003Z,1750271701.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375263 m,
bearing: 136.829798 deg,
lat: 36.905891 deg,
lon: -122.115755 deg,
deltaT: 1.008356 s,
deltaX: 0.099085 m,
approachRate: 0.098264 m/s,
posRepo size: 4
2025-06-18T18:35:01.003Z,1750271701.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:35:01.121Z,1750271701.121 [DAT](INFO): DAT read: Rx Time:18:35:01.9033
2025-06-18T18:35:01.123Z,1750271701.123 [DAT](INFO): Rx dataTimestamp_ set to:1750271701.121443
2025-06-18T18:35:01.128Z,1750271701.128 [DAT](INFO): DAT read: Bearing 177.4, 6.8 (Local)
2025-06-18T18:35:01.130Z,1750271701.130 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.4, 6.8 (Local)
2025-06-18T18:35:01.136Z,1750271701.136 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:35:01.139Z,1750271701.139 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:35:01.150Z,1750271701.150 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:01.150Z,1750271701.150 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:01.373Z,1750271701.373 [DAT](INFO): DAT read: 18:35:01.9033 LVL= 31536, 23537, 28770, 32755, AGC= 65, IDX= 511,-0.39,-2.077,-0.160,-1.996,-1.519, PHS=-0.470, 1.406,-0.481, RAW= 330.3, -4.9, CAL= 332.6, -6.8, ROT=17.4, 6.8
2025-06-18T18:35:01.374Z,1750271701.374 [DAT](INFO): got valid direction response:
18:35:01.9033 LVL= 31536, 23537, 28770, 32755, AGC= 65, IDX= 511,-0.39,-2.077,-0.160,-1.996,-1.519, PHS=-0.470, 1.406,-0.481, RAW= 330.3, -4.9, CAL= 332.6, -6.8, ROT=17.4, 6.8
2025-06-18T18:35:01.374Z,1750271701.374 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:35:01.375Z,1750271701.375 [DAT](INFO): direction in FSK: [0.947528,0.296937,-0.118404]
2025-06-18T18:35:01.379Z,1750271701.379 [DAT](INFO): Reached modem response timeout
2025-06-18T18:35:01.379Z,1750271701.379 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:01.379Z,1750271701.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:01.451Z,1750271701.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.502427 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:35:01.457Z,1750271701.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375263 m,
bearing: 338.771058 deg,
lat: 36.905891 deg,
lon: -122.115758 deg,
deltaT: 0.502427 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:35:01.458Z,1750271701.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:35:01.625Z,1750271701.625 [DAT](INFO): DAT read: Rx Time:18:35:02.4032
2025-06-18T18:35:01.627Z,1750271701.627 [DAT](INFO): Rx dataTimestamp_ set to:1750271701.625646
2025-06-18T18:35:01.631Z,1750271701.631 [DAT](INFO): DAT read: Bearing 177.6, 5.3 (Local)
2025-06-18T18:35:01.632Z,1750271701.632 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.6, 5.3 (Local)
2025-06-18T18:35:01.638Z,1750271701.638 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.1
2025-06-18T18:35:01.642Z,1750271701.642 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:35:01.644Z,1750271701.644 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:01.645Z,1750271701.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:01.770Z,1750271701.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504203 s,
deltaX: -0.100000 m,
approachRate: -0.198334 m/s,
rangeRepo size: 4
2025-06-18T18:35:01.771Z,1750271701.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:35:01.879Z,1750271701.879 [DAT](INFO): DAT read: 18:35:02.4032 LVL= 32752, 24177, 32754, 32755, AGC= 69, IDX= 510,-0.40, 3.067,-1.306,-3.133,-2.624, PHS=-0.505, 1.365,-0.512, RAW= 330.2, -38,CAL= 332.4, -5.3, ROT= 177.6, 5.3
2025-06-18T18:35:01.881Z,1750271701.881 [DAT](INFO): got valid direction response:
18:35:02.4032 LVL= 32752, 24177, 32754, 32755, AGC= 69, IDX= 510,-0.40, 3.067,-1.306,-3.133,-2.624, PHS=-0.505, 1.365,-0.512, RAW= 330.2, -38,CAL= 332.4, -5.3, ROT= 177.6, 5.3
2025-06-18T18:35:01.881Z,1750271701.881 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:35:01.883Z,1750271701.883 [DAT](INFO): direction in FSK: [-0.994851,0.041697,-0.092371]
2025-06-18T18:35:01.887Z,1750271701.887 [DAT](INFO): Reached modem response timeout
2025-06-18T18:35:01.887Z,1750271701.887 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:01.897Z,1750271701.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:02.129Z,1750271702.129 [DAT](INFO): DAT read: Rx Time:18:35:02.9033
2025-06-18T18:35:02.130Z,1750271702.130 [DAT](INFO): Rx dataTimestamp_ set to:1750271702.129201
2025-06-18T18:35:02.134Z,1750271702.134 [DAT](INFO): DAT read: Bearing 177.0, 6.1 (Local)
2025-06-18T18:35:02.135Z,1750271702.135 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.0, 6.1 (Local)
2025-06-18T18:35:02.145Z,1750271702.145 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0
2025-06-18T18:35:02.147Z,1750271702.147 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:35:02.180Z,1750271702.180 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:02.181Z,1750271702.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:02.263Z,1750271702.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.503555 s,
deltaX: 0.100000 m,
approachRate: 0.198589 m/s,
rangeRepo size: 4
2025-06-18T18:35:02.285Z,1750271702.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375237 m,
bearing: 137.072606 deg,
lat: 36.905889 deg,
lon: -122.115758 deg,
deltaT: 1.007758 s,
deltaX: -0.000027 m,
approachRate: -0.000026 m/s,
posRepo size: 4
2025-06-18T18:35:02.287Z,1750271702.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:35:02.383Z,1750271702.383 [DAT](INFO): DAT read: 18:35:02.9033 LVL= 27632, 24289, 27122, 32755, AGC= 68, IDX= 511,-0.30, 3.046,-1.344, 3.110,-2.673, PHS=-0.476, 1.376,-0.503, RAW= 330.7, -4.3, CAL= 333.0, -6.1, ROT= 177.0, 6.1
2025-06-18T18:35:02.384Z,1750271702.384 [DAT](INFO): got valid direction response:
18:35:02.9033 LVL= 27632, 24289, 27122, 32755, AGC= 68, IDX= 511,-0.30, 3.046,-1.344, 3.110,-2.673, PHS=-0.476, 1.376,-0.503, RAW= 330.7, -4.3, CAL= 333.0, -6.1, ROT= 177.0, 6.1
2025-06-18T18:35:02.385Z,1750271702.385 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:35:02.386Z,1750271702.386 [DAT](INFO): direction in FSK: [-0.992975,0.052040,-0.106264]
2025-06-18T18:35:02.389Z,1750271702.389 [DAT](INFO): Reached modem response timeout
2025-06-18T18:35:02.389Z,1750271702.389 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:02.389Z,1750271702.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:02.633Z,1750271702.633 [DAT](INFO): DAT read: Rx Time:18:35:03.4032
2025-06-18T18:35:02.634Z,1750271702.634 [DAT](INFO): Rx dataTimestamp_ set to:1750271702.633543
2025-06-18T18:35:02.639Z,1750271702.639 [DAT](INFO): DAT read: Bearing 178.0, 4.9 (Local)
2025-06-18T18:35:02.640Z,1750271702.640 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.0, 4.9 (Local)
2025-06-18T18:35:02.647Z,1750271702.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:35:02.654Z,1750271702.654 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:35:02.667Z,1750271702.667 [DAT](INFO): DAT read: 18:35:03.4032 LVL= 30512, 28657, 29010, 32755, AGC= 68, IDX= 510,-0.29, 1.836,-2.508, 1.935, 2.451, PHS=-0.527, 1.371,-0.519, RAW= 329.8, -3.5, CAL= 332.0, -4.9, ROT= 178.0, 4.9
2025-06-18T18:35:02.682Z,1750271702.682 [DAT](INFO): got valid direction response:
18:35:03.4032 LVL= 30512, 28657, 29010, 32755, AGC= 68, IDX= 510,-0.29, 1.836,-2.508, 1.935, 2.451, PHS=-0.527, 1.371,-0.519, RAW= 329.8, -3.5, CAL= 332.0, -4.9, ROT= 178.0, 4.9
2025-06-18T18:35:02.683Z,1750271702.683 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:35:02.688Z,1750271702.688 [DAT](INFO): direction in FSK: [-0.995738,0.034772,-0.085417]
2025-06-18T18:35:02.688Z,1750271702.688 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:02.691Z,1750271702.691 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:02.691Z,1750271702.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:02.881Z,1750271702.881 [DAT](INFO): Reached modem response timeout
2025-06-18T18:35:02.881Z,1750271702.881 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:02.882Z,1750271702.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:02.997Z,1750271702.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.504342 s,
deltaX: -0.100000 m,
approachRate: -0.198279 m/s,
rangeRepo size: 4
2025-06-18T18:35:02.999Z,1750271702.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276161 m,
bearing: 137.490946 deg,
lat: 36.905888 deg,
lon: -122.115760 deg,
deltaT: 0.504342 s,
deltaX: -0.099075 m,
approachRate: -0.196445 m/s,
posRepo size: 4
2025-06-18T18:35:03.004Z,1750271703.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:35:03.032Z,1750271703.032 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:35:03.137Z,1750271703.137 [DAT](INFO): DAT read: Rx Time:18:35:03.9033
2025-06-18T18:35:03.139Z,1750271703.139 [DAT](INFO): Rx dataTimestamp_ set to:1750271703.138084
2025-06-18T18:35:03.147Z,1750271703.147 [DAT](INFO): DAT read: Bearing 178.4, 5.6 (Local)
2025-06-18T18:35:03.151Z,1750271703.151 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.4, 5.6 (Local)
2025-06-18T18:35:03.158Z,1750271703.158 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.1
2025-06-18T18:35:03.167Z,1750271703.167 [DAT](INFO): DAT read: 18:35:03.9033 LVL= 32752, 32465, 26818, 32755, AGC= 67, IDX= 511,-0.30, 2.737,-1.582, 2.854,-2.935, PHS=-0.524, 1.400,-0.497, RAW= 329.3, -4.0, CAL= 331.6, -5.6, ROT= 178.4, 5.6
2025-06-18T18:35:03.173Z,1750271703.173 [DAT](INFO): got valid direction response:
18:35:03.9033 LVL= 32752, 32465, 26818, 32755, AGC= 67, IDX= 511,-0.30, 2.737,-1.582, 2.854,-2.935, PHS=-0.524, 1.400,-0.497, RAW= 329.3, -4.0, CAL= 331.6, -5.6, ROT= 178.4, 5.6
2025-06-18T18:35:03.173Z,1750271703.173 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:35:03.174Z,1750271703.174 [DAT](INFO): direction in FSK: [-0.994839,0.027789,-0.097583]
2025-06-18T18:35:03.174Z,1750271703.174 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:03.182Z,1750271703.182 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:03.182Z,1750271703.182 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:03.385Z,1750271703.385 [DAT](INFO): Reached modem response timeout
2025-06-18T18:35:03.385Z,1750271703.385 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:03.385Z,1750271703.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:03.453Z,1750271703.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504541 s,
deltaX: 0.100000 m,
approachRate: 0.198201 m/s,
rangeRepo size: 4
2025-06-18T18:35:03.455Z,1750271703.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375248 m,
bearing: 137.742540 deg,
lat: 36.905888 deg,
lon: -122.115760 deg,
deltaT: 0.504541 s,
deltaX: 0.099087 m,
approachRate: 0.196390 m/s,
posRepo size: 4
2025-06-18T18:35:03.460Z,1750271703.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:35:03.641Z,1750271703.641 [DAT](INFO): DAT read: Rx Time:18:35:04.4032
2025-06-18T18:35:03.643Z,1750271703.643 [DAT](INFO): Rx dataTimestamp_ set to:1750271703.641711
2025-06-18T18:35:03.647Z,1750271703.647 [DAT](INFO): DAT read: Bearing 178.8, 5.4 (Local)
2025-06-18T18:35:03.648Z,1750271703.648 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.8, 5.4 (Local)
2025-06-18T18:35:03.775Z,1750271703.775 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0
2025-06-18T18:35:03.806Z,1750271703.806 [DAT](INFO): DAT read: 18:35:04.4032 LVL= 30160, 30881, 30162, 32755, AGC= 67, IDX= 510,-0.37, 1.985,-2.334, 2.118, 2.607, PHS=-0.534, 1.389,-0.492, RAW= 328.9, -3.8, CAL= 331.2, -5.4, ROT= 178.8, 5.4
2025-06-18T18:35:03.807Z,1750271703.807 [DAT](INFO): got valid direction response:
18:35:04.4032 LVL= 30160, 30881, 30162, 32755, AGC= 67, IDX= 510,-0.37, 1.985,-2.334, 2.118, 2.607, PHS=-0.534, 1.389,-0.492, RAW= 328.9, -3.8, CAL= 331.2, -5.4, ROT= 178.8, 5.4
2025-06-18T18:35:03.807Z,1750271703.807 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:35:03.822Z,1750271703.822 [DAT](INFO): direction in FSK: [-0.995344,0.020849,-0.094108]
2025-06-18T18:35:03.822Z,1750271703.822 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:03.835Z,1750271703.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.503627 s,
deltaX: -0.100000 m,
approachRate: -0.198560 m/s,
rangeRepo size: 4
2025-06-18T18:35:03.842Z,1750271703.842 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:03.842Z,1750271703.842 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:03.850Z,1750271703.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276123 m,
bearing: 138.087130 deg,
lat: 36.905887 deg,
lon: -122.115760 deg,
deltaT: 0.503627 s,
deltaX: -0.099125 m,
approachRate: -0.196822 m/s,
posRepo size: 4
2025-06-18T18:35:03.850Z,1750271703.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:35:03.889Z,1750271703.889 [DAT](INFO): Reached modem response timeout
2025-06-18T18:35:03.890Z,1750271703.890 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:03.890Z,1750271703.890 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:04.036Z,1750271704.036 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:35:04.145Z,1750271704.145 [DAT](INFO): DAT read: Rx Time:18:35:04.9032
2025-06-18T18:35:04.147Z,1750271704.147 [DAT](INFO): Rx dataTimestamp_ set to:1750271704.145549
2025-06-18T18:35:04.151Z,1750271704.151 [DAT](INFO): DAT read: Bearing 178.5, 5.5 (Local)
2025-06-18T18:35:04.152Z,1750271704.152 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.5, 5.5 (Local)
2025-06-18T18:35:04.156Z,1750271704.156 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1
2025-06-18T18:35:04.164Z,1750271704.164 [DAT](INFO): DAT read: 18:35:04.9032 LVL= 27264, 24241, 23634, 32755, AGC= 68, IDX= 510,-0.46, 2.969,-1.381, 3.090,-2.706, PHS=-0.520, 1.372,-0.490, RAW= 329.2, -3.9, CAL= 331.5, -5.5, ROT= 178.5, 5.5
2025-06-18T18:35:04.166Z,1750271704.166 [DAT](INFO): got valid direction response:
18:35:04.9032 LVL= 27264, 24241, 23634, 32755, AGC= 68, IDX= 510,-0.46, 2.969,-1.381, 3.090,-2.706, PHS=-0.520, 1.372,-0.490, RAW= 329.2, -3.9, CAL= 331.5, -5.5, ROT= 178.5, 5.5
2025-06-18T18:35:04.167Z,1750271704.167 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:35:04.171Z,1750271704.171 [DAT](INFO): direction in FSK: [-0.995055,0.026056,-0.095846]
2025-06-18T18:35:04.172Z,1750271704.172 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:04.175Z,1750271704.175 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:04.175Z,1750271704.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:04.350Z,1750271704.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.503838 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:35:04.357Z,1750271704.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.276123 m,
bearing: 137.726721 deg,
lat: 36.905887 deg,
lon: -122.115760 deg,
deltaT: 0.503838 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:35:04.358Z,1750271704.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.28 m.
2025-06-18T18:35:04.392Z,1750271704.392 [DAT](INFO): Reached modem response timeout
2025-06-18T18:35:04.393Z,1750271704.393 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:04.393Z,1750271704.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:04.651Z,1750271704.651 [DAT](INFO): DAT read: Rx Time:18:35:05.4031
2025-06-18T18:35:04.653Z,1750271704.653 [DAT](INFO): Rx dataTimestamp_ set to:1750271704.651295
2025-06-18T18:35:04.655Z,1750271704.655 [DAT](INFO): DAT read: Bearing 178.7, 5.9 (Local)
2025-06-18T18:35:04.656Z,1750271704.656 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.7, 5.9 (Local)
2025-06-18T18:35:04.658Z,1750271704.658 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:35:04.667Z,1750271704.667 [DAT](INFO): DAT read: 18:35:05.4031 LVL= 27008, 24689, 24418, 32755, AGC= 67, IDX= 508, 0.41,-2.903,-0.954,-2.772,-2.296, PHS=-0.519, 1.389,-0.479, RAW= 329.0, -4.2, CAL= 331.3, -5.9, ROT= 178.7, 5.9
2025-06-18T18:35:04.676Z,1750271704.676 [DAT](INFO): got valid direction response:
18:35:05.4031 LVL= 27008, 24689, 24418, 32755, AGC= 67, IDX= 508, 0.41,-2.903,-0.954,-2.772,-2.296, PHS=-0.519, 1.389,-0.479, RAW= 329.0, -4.2, CAL= 331.3, -5.9, ROT= 178.7, 5.9
2025-06-18T18:35:04.676Z,1750271704.676 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:35:04.677Z,1750271704.677 [DAT](INFO): direction in FSK: [-0.994447,0.022567,-0.102793]
2025-06-18T18:35:04.677Z,1750271704.677 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:04.700Z,1750271704.700 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:04.701Z,1750271704.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:04.744Z,1750271704.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.505746 s,
deltaX: -0.200001 m,
approachRate: -0.395457 m/s,
rangeRepo size: 4
2025-06-18T18:35:04.746Z,1750271704.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077976 m,
bearing: 137.802055 deg,
lat: 36.905887 deg,
lon: -122.115760 deg,
deltaT: 0.505746 s,
deltaX: -0.198147 m,
approachRate: -0.391791 m/s,
posRepo size: 4
2025-06-18T18:35:04.747Z,1750271704.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:04.898Z,1750271704.898 [DAT](INFO): Reached modem response timeout
2025-06-18T18:35:04.898Z,1750271704.898 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:04.898Z,1750271704.898 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:05.082Z,1750271705.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:05.154Z,1750271705.154 [DAT](INFO): DAT read: Rx Time:18:35:05.9031
2025-06-18T18:35:05.155Z,1750271705.155 [DAT](INFO): Rx dataTimestamp_ set to:1750271705.154751
2025-06-18T18:35:05.157Z,1750271705.157 [DAT](INFO): DAT read: Bearing 178.0, 5.8 (Local)
2025-06-18T18:35:05.157Z,1750271705.157 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.0, 5.8 (Local)
2025-06-18T18:35:05.161Z,1750271705.161 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0
2025-06-18T18:35:05.171Z,1750271705.171 [DAT](INFO): DAT read: 18:35:05.9031 LVL= 30912, 24961, 24018, 32755, AGC= 68, IDX= 509, 0.27,-1.138, 0.786,-1.034,-0.545, PHS=-0.505, 1.378,-0.492, RAW= 329.7, -4.1, CAL= 332.0, -5.8, ROT= 178.0, 5.8
2025-06-18T18:35:05.177Z,1750271705.177 [DAT](INFO): got valid direction response:
18:35:05.9031 LVL= 30912, 24961, 24018, 32755, AGC= 68, IDX= 509, 0.27,-1.138, 0.786,-1.034,-0.545, PHS=-0.505, 1.378,-0.492, RAW= 329.7, -4.1, CAL= 332.0, -5.8, ROT= 178.0, 5.8
2025-06-18T18:35:05.178Z,1750271705.178 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:35:05.179Z,1750271705.179 [DAT](INFO): direction in FSK: [-0.994275,0.034721,-0.101056]
2025-06-18T18:35:05.187Z,1750271705.187 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:05.195Z,1750271705.195 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:05.200Z,1750271705.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:05.401Z,1750271705.401 [DAT](INFO): Reached modem response timeout
2025-06-18T18:35:05.401Z,1750271705.401 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:05.401Z,1750271705.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:05.543Z,1750271705.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.503456 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:35:05.549Z,1750271705.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077976 m,
bearing: 137.082651 deg,
lat: 36.905887 deg,
lon: -122.115760 deg,
deltaT: 0.503456 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:35:05.550Z,1750271705.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:05.656Z,1750271705.656 [DAT](INFO): DAT read: Rx Time:18:35:06.4031
2025-06-18T18:35:05.656Z,1750271705.656 [DAT](INFO): Rx dataTimestamp_ set to:1750271705.656120
2025-06-18T18:35:05.658Z,1750271705.658 [DAT](INFO): DAT read: Bearing 177.5, 5.5 (Local)
2025-06-18T18:35:05.659Z,1750271705.659 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.5, 5.5 (Local)
2025-06-18T18:35:05.662Z,1750271705.662 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.2
2025-06-18T18:35:05.692Z,1750271705.692 [DAT](INFO): DAT read: 18:35:06.4031 LVL= 26912, 24609, 23778, 32755, AGC= 67, IDX= 508, 0.24,-2.651,-0.750,-2.569,-2.067, PHS=-0.496, 1.364,-0.505, RAW= 330.2, -3.9, CAL= 332.5, -5.5, ROT= 177.5, 5.5
2025-06-18T18:35:05.693Z,1750271705.693 [DAT](INFO): got valid direction response:
18:35:06.4031 LVL= 26912, 24609, 23778, 32755, AGC= 67, IDX= 508, 0.24,-2.651,-0.750,-2.569,-2.067, PHS=-0.496, 1.364,-0.505, RAW= 330.2, -3.9, CAL= 332.5, -5.5, ROT= 177.5, 5.5
2025-06-18T18:35:05.694Z,1750271705.694 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:35:05.695Z,1750271705.695 [DAT](INFO): direction in FSK: [-0.994449,0.043418,-0.095846]
2025-06-18T18:35:05.695Z,1750271705.695 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:05.712Z,1750271705.712 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:05.712Z,1750271705.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:05.904Z,1750271705.904 [DAT](INFO): Reached modem response timeout
2025-06-18T18:35:05.905Z,1750271705.905 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:35:05.905Z,1750271705.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:05.946Z,1750271705.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.501369 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:35:05.952Z,1750271705.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077951 m,
bearing: 136.529610 deg,
lat: 36.905888 deg,
lon: -122.115760 deg,
deltaT: 0.501369 s,
deltaX: -0.000025 m,
approachRate: -0.000049 m/s,
posRepo size: 4
2025-06-18T18:35:05.953Z,1750271705.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:06.157Z,1750271706.157 [DAT](INFO): DAT read: user:1318>
2025-06-18T18:35:06.158Z,1750271706.158 [DAT](INFO): DAT read: Tx time:18:35:07.2927
2025-06-18T18:35:06.158Z,1750271706.158 [DAT](INFO): Ping request sent.
2025-06-18T18:35:06.158Z,1750271706.158 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:06.158Z,1750271706.158 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:06.159Z,1750271706.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-06-18T18:35:06.354Z,1750271706.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:06.409Z,1750271706.409 [DAT](INFO): DAT read: TxSync time:18:35:07.2919
2025-06-18T18:35:06.410Z,1750271706.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251732
2025-06-18T18:35:06.661Z,1750271706.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502397
2025-06-18T18:35:06.727Z,1750271706.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:06.917Z,1750271706.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758588
2025-06-18T18:35:07.102Z,1750271707.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:07.165Z,1750271707.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006657
2025-06-18T18:35:07.417Z,1750271707.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258506
2025-06-18T18:35:07.538Z,1750271707.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:07.669Z,1750271707.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510547
2025-06-18T18:35:07.921Z,1750271707.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762667
2025-06-18T18:35:07.939Z,1750271707.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:08.173Z,1750271708.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014457
2025-06-18T18:35:08.318Z,1750271708.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:08.425Z,1750271708.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267211
2025-06-18T18:35:08.677Z,1750271708.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518577
2025-06-18T18:35:08.746Z,1750271708.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:08.929Z,1750271708.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770537
2025-06-18T18:35:09.136Z,1750271709.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:09.182Z,1750271709.182 [DAT](INFO): DAT read: Rx Time:18:35:09.7293
2025-06-18T18:35:09.183Z,1750271709.183 [DAT](INFO): Rx dataTimestamp_ set to:1750271709.182289
2025-06-18T18:35:09.183Z,1750271709.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025210
2025-06-18T18:35:09.435Z,1750271709.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276640
2025-06-18T18:35:09.567Z,1750271709.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:09.691Z,1750271709.691 [DAT](INFO): DAT read: 18:35:09.7293 LVL= 22368, 24881, 21218, 32755, AGC= 64, IDX= 489, 0.22,-0.939, 1.035,-0.791,-0.314, PHS=-0.537, 1.396,-0.479, RAW= 328.5, -4.0, CAL= 330.9, -5.7, ROT= 179.1, 5.7
2025-06-18T18:35:09.695Z,1750271709.695 [DAT](INFO): got valid direction response:
18:35:09.7293 LVL= 22368, 24881, 21218, 32755, AGC= 64, IDX= 489, 0.22,-0.939, 1.035,-0.791,-0.314, PHS=-0.537, 1.396,-0.479, RAW= 328.5, -4.0, CAL= 330.9, -5.7, ROT= 179.1, 5.7
2025-06-18T18:35:09.698Z,1750271709.698 [DAT](INFO): DAT read: Bearing 179.1, 5.7 (Local)
2025-06-18T18:35:09.698Z,1750271709.698 [DAT](INFO): Local bearing/azimuth received:
Bearing 179.1, 5.7 (Local)
2025-06-18T18:35:09.704Z,1750271709.704 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (Round-trip 32.5 ms) speed 0.0 m/s
2025-06-18T18:35:09.705Z,1750271709.705 [DAT](INFO): DAT read: user:1319>
2025-06-18T18:35:09.706Z,1750271709.706 [DAT](INFO): DAT read: Tx time:18:35:10.8427
2025-06-18T18:35:09.706Z,1750271709.706 [DAT](INFO): Ping request sent.
2025-06-18T18:35:09.706Z,1750271709.706 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:09.706Z,1750271709.706 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:35:09.707Z,1750271709.707 [DAT](INFO): direction in FSK: [-0.994933,0.015630,-0.099320]
2025-06-18T18:35:09.712Z,1750271709.712 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:09.712Z,1750271709.712 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:09.715Z,1750271709.715 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:09.715Z,1750271709.715 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:09.937Z,1750271709.937 [DAT](INFO): DAT read: TxSync time:18:35:10.8419
2025-06-18T18:35:09.999Z,1750271709.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 4.028331 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:35:10.006Z,1750271710.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077955 m,
bearing: 137.497742 deg,
lat: 36.905888 deg,
lon: -122.115760 deg,
deltaT: 4.028331 s,
deltaX: 0.000004 m,
approachRate: 0.000001 m/s,
posRepo size: 4
2025-06-18T18:35:10.006Z,1750271710.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:10.338Z,1750271710.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:10.765Z,1750271710.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:11.144Z,1750271711.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:11.594Z,1750271711.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:12.103Z,1750271712.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:12.546Z,1750271712.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:12.709Z,1750271712.709 [DAT](INFO): DAT read: Rx Time:18:35:13.2793
2025-06-18T18:35:12.710Z,1750271712.710 [DAT](INFO): Rx dataTimestamp_ set to:1750271712.709694
2025-06-18T18:35:12.975Z,1750271712.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:13.227Z,1750271713.227 [DAT](INFO): DAT read: 18:35:13.2793 LVL= 29344, 24193, 22002, 32755, AGC= 67, IDX= 441,-0.20,-2.978,-1.112,-2.853,-2.434, PHS=-0.455, 1.369,-0.422, RAW= 329.1, -5.5, CAL= 331.6, -7.6, ROT= 178.4, 7.6
2025-06-18T18:35:13.228Z,1750271713.228 [DAT](INFO): got valid direction response:
18:35:13.2793 LVL= 29344, 24193, 22002, 32755, AGC= 67, IDX= 441,-0.20,-2.978,-1.112,-2.853,-2.434, PHS=-0.455, 1.369,-0.422, RAW= 329.1, -5.5, CAL= 331.6, -7.6, ROT= 178.4, 7.6
2025-06-18T18:35:13.229Z,1750271713.229 [DAT](INFO): DAT read: Bearing 178.4, 7.6 (Local)
2025-06-18T18:35:13.230Z,1750271713.230 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.4, 7.6 (Local)
2025-06-18T18:35:13.231Z,1750271713.231 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (Round-trip 32.5 ms) speed 0.0 m/s
2025-06-18T18:35:13.232Z,1750271713.232 [DAT](INFO): DAT read: user:1320>
2025-06-18T18:35:13.233Z,1750271713.233 [DAT](INFO): DAT read: Tx time:18:35:14.3927
2025-06-18T18:35:13.233Z,1750271713.233 [DAT](INFO): Ping request sent.
2025-06-18T18:35:13.233Z,1750271713.233 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:13.233Z,1750271713.233 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-18T18:35:13.234Z,1750271713.234 [DAT](INFO): direction in FSK: [-0.990829,0.027676,-0.132256]
2025-06-18T18:35:13.235Z,1750271713.235 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:13.235Z,1750271713.235 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:13.238Z,1750271713.238 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:13.238Z,1750271713.238 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:13.416Z,1750271713.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 3.529087 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:35:13.419Z,1750271713.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077965 m,
bearing: 135.689435 deg,
lat: 36.905889 deg,
lon: -122.115760 deg,
deltaT: 3.529087 s,
deltaX: 0.000010 m,
approachRate: 0.000003 m/s,
posRepo size: 4
2025-06-18T18:35:13.434Z,1750271713.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:13.468Z,1750271713.468 [DAT](INFO): DAT read: TxSync time:18:35:14.3919
2025-06-18T18:35:13.835Z,1750271713.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:14.159Z,1750271714.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:14.609Z,1750271714.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:14.996Z,1750271714.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:15.386Z,1750271715.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:15.835Z,1750271715.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:16.178Z,1750271716.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:16.238Z,1750271716.238 [DAT](INFO): DAT read: Rx Time:18:35:16.8293
2025-06-18T18:35:16.238Z,1750271716.238 [DAT](INFO): Rx dataTimestamp_ set to:1750271716.238056
2025-06-18T18:35:16.603Z,1750271716.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:17.006Z,1750271717.006 [DAT](INFO): DAT read: 18:35:16.8293 LVL= 26464, 22641, 21650, 32755, AGC= 66, IDX= 441, 0.09,-1.755, 0.286,-1.515,-1.090, PHS=-0.577, 1.423,-0.427, RAW= 326.2, -4.4, CAL= 328.8, -6.1, ROT= 181.2, 6.1
2025-06-18T18:35:17.007Z,1750271717.007 [DAT](INFO): got valid direction response:
18:35:16.8293 LVL= 26464, 22641, 21650, 32755, AGC= 66, IDX= 441, 0.09,-1.755, 0.286,-1.515,-1.090, PHS=-0.577, 1.423,-0.427, RAW= 326.2, -4.4, CAL= 328.8, -6.1, ROT= 181.2, 6.1
2025-06-18T18:35:17.008Z,1750271717.008 [DAT](INFO): DAT read: Bearing 181.2, 6.1 (Local)
2025-06-18T18:35:17.008Z,1750271717.008 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.2, 6.1 (Local)
2025-06-18T18:35:17.010Z,1750271717.010 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (Round-trip 32.5 ms) speed 0.0 m/s
2025-06-18T18:35:17.011Z,1750271717.011 [DAT](INFO): DAT read: user:1321>
2025-06-18T18:35:17.020Z,1750271717.020 [DAT](INFO): DAT read: Tx time:18:35:17.9427
2025-06-18T18:35:17.020Z,1750271717.020 [DAT](INFO): Ping request sent.
2025-06-18T18:35:17.020Z,1750271717.020 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:17.021Z,1750271717.021 [DAT](INFO): DAT read: TxSync time:18:35:17.9419
2025-06-18T18:35:17.021Z,1750271717.021 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-18T18:35:17.022Z,1750271717.022 [DAT](INFO): direction in FSK: [-0.994120,-0.020824,-0.106264]
2025-06-18T18:35:17.023Z,1750271717.023 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:17.023Z,1750271717.023 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:17.026Z,1750271717.026 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:17.026Z,1750271717.026 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:17.030Z,1750271717.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 3.782769 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:35:17.030Z,1750271717.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:17.397Z,1750271717.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:17.830Z,1750271717.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:18.192Z,1750271718.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:18.636Z,1750271718.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:19.013Z,1750271719.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:19.423Z,1750271719.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:19.769Z,1750271719.769 [DAT](INFO): DAT read: Rx Time:18:35:20.3793
2025-06-18T18:35:19.770Z,1750271719.770 [DAT](INFO): Rx dataTimestamp_ set to:1750271719.769296
2025-06-18T18:35:19.856Z,1750271719.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:20.214Z,1750271720.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:20.547Z,1750271720.547 [DAT](INFO): DAT read: 18:35:20.3793 LVL= 24048, 23841, 22770, 32755, AGC= 67, IDX= 440,-0.05,-3.103,-1.025,-2.865,-2.397, PHS=-0.618, 1.419,-0.471, RAW= 326.3, -3.4, CAL= 328.8, -4.8, ROT= 181.2, 4.8
2025-06-18T18:35:20.550Z,1750271720.550 [DAT](INFO): got valid direction response:
18:35:20.3793 LVL= 24048, 23841, 22770, 32755, AGC= 67, IDX= 440,-0.05,-3.103,-1.025,-2.865,-2.397, PHS=-0.618, 1.419,-0.471, RAW= 326.3, -3.4, CAL= 328.8, -4.8, ROT= 181.2, 4.8
2025-06-18T18:35:20.582Z,1750271720.582 [DAT](INFO): DAT read: Bearing 181.2, 4.8 (Local)
2025-06-18T18:35:20.583Z,1750271720.583 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.2, 4.8 (Local)
2025-06-18T18:35:20.606Z,1750271720.606 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (Round-trip 32.4 ms) speed -0.4 m/s
2025-06-18T18:35:20.607Z,1750271720.607 [DAT](INFO): DAT read: user:1322>
2025-06-18T18:35:20.607Z,1750271720.607 [DAT](INFO): DAT read: Tx time:18:35:21.4928
2025-06-18T18:35:20.612Z,1750271720.612 [DAT](INFO): Ping request sent.
2025-06-18T18:35:20.612Z,1750271720.612 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:20.613Z,1750271720.613 [DAT](INFO): DAT read: TxSync time:18:35:21.4920
2025-06-18T18:35:20.613Z,1750271720.613 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-18T18:35:20.614Z,1750271720.614 [DAT](INFO): direction in FSK: [-0.996274,-0.020869,-0.083678]
2025-06-18T18:35:20.615Z,1750271720.615 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:20.615Z,1750271720.615 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:20.623Z,1750271720.623 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:20.623Z,1750271720.623 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:20.766Z,1750271720.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 3.529589 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:35:20.773Z,1750271720.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.077953 m,
bearing: 137.992418 deg,
lat: 36.905887 deg,
lon: -122.115761 deg,
deltaT: 7.312358 s,
deltaX: -0.000011 m,
approachRate: -0.000002 m/s,
posRepo size: 4
2025-06-18T18:35:20.774Z,1750271720.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:21.030Z,1750271721.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:21.434Z,1750271721.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:21.865Z,1750271721.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:22.264Z,1750271722.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:22.703Z,1750271722.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:23.070Z,1750271723.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:23.297Z,1750271723.297 [DAT](INFO): DAT read: Rx Time:18:35:23.9291
2025-06-18T18:35:23.297Z,1750271723.297 [DAT](INFO): Rx dataTimestamp_ set to:1750271723.297107
2025-06-18T18:35:23.475Z,1750271723.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:23.948Z,1750271723.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m.
2025-06-18T18:35:24.059Z,1750271724.059 [DAT](INFO): DAT read: 18:35:23.9291 LVL= 21888, 19361, 19394, 32755, AGC= 65, IDX= 438,-0.18, 0.130, 2.234, 0.387, 0.842, PHS=-0.623, 1.440,-0.458, RAW= 325.9, -3.7, CAL= 328.4, -5.1, ROT= 181.6, 5.1
2025-06-18T18:35:24.060Z,1750271724.060 [DAT](INFO): got valid direction response:
18:35:23.9291 LVL= 21888, 19361, 19394, 32755, AGC= 65, IDX= 438,-0.18, 0.130, 2.234, 0.387, 0.842, PHS=-0.623, 1.440,-0.458, RAW= 325.9, -3.7, CAL= 328.4, -5.1, ROT= 181.6, 5.1
2025-06-18T18:35:24.061Z,1750271724.061 [DAT](INFO): DAT read: Bearing 181.6, 5.1 (Local)
2025-06-18T18:35:24.061Z,1750271724.061 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.6, 5.1 (Local)
2025-06-18T18:35:24.063Z,1750271724.063 [DAT](INFO): DAT read: Range 10 to 50 : 24.1 m (Round-trip 32.2 ms) speed 0.0 m/s
2025-06-18T18:35:24.063Z,1750271724.063 [DAT](INFO): DAT read: user:1323>
2025-06-18T18:35:24.064Z,1750271724.064 [DAT](INFO): DAT read: Tx time:18:35:25.0428
2025-06-18T18:35:24.065Z,1750271724.065 [DAT](INFO): Ping request sent.
2025-06-18T18:35:24.065Z,1750271724.065 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:24.065Z,1750271724.065 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-18T18:35:24.066Z,1750271724.066 [DAT](INFO): direction in FSK: [-0.995653,-0.027811,-0.088894]
2025-06-18T18:35:24.066Z,1750271724.066 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:24.066Z,1750271724.066 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:24.078Z,1750271724.078 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:24.078Z,1750271724.078 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:24.305Z,1750271724.305 [DAT](INFO): DAT read: TxSync time:18:35:25.0420
2025-06-18T18:35:24.315Z,1750271724.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.100000 m,
deltaT: 3.526340 s,
deltaX: -0.199999 m,
approachRate: -0.056716 m/s,
rangeRepo size: 4
2025-06-18T18:35:24.317Z,1750271724.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.879831 m,
bearing: 137.961666 deg,
lat: 36.905885 deg,
lon: -122.115762 deg,
deltaT: 3.526340 s,
deltaX: -0.198122 m,
approachRate: -0.056183 m/s,
posRepo size: 4
2025-06-18T18:35:24.318Z,1750271724.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m.
2025-06-18T18:35:24.733Z,1750271724.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m.
2025-06-18T18:35:25.109Z,1750271725.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m.
2025-06-18T18:35:25.566Z,1750271725.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m.
2025-06-18T18:35:25.970Z,1750271725.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m.
2025-06-18T18:35:26.353Z,1750271726.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m.
2025-06-18T18:35:26.765Z,1750271726.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m.
2025-06-18T18:35:26.826Z,1750271726.826 [DAT](INFO): DAT read: Rx Time:18:35:27.4791
2025-06-18T18:35:26.827Z,1750271726.827 [DAT](INFO): Rx dataTimestamp_ set to:1750271726.826390
2025-06-18T18:35:27.181Z,1750271727.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m.
2025-06-18T18:35:27.521Z,1750271727.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m.
2025-06-18T18:35:27.587Z,1750271727.587 [DAT](INFO): DAT read: 18:35:27.4791 LVL= 27808, 23537, 23474, 32755, AGC= 68, IDX= 437,-0.04,-1.575, 0.549,-1.255,-0.890, PHS=-0.597, 1.486,-0.368, RAW= 324.2, -5.3, CAL= 327.1, -7.3, ROT= 182.9, 7.3
2025-06-18T18:35:27.588Z,1750271727.588 [DAT](INFO): got valid direction response:
18:35:27.4791 LVL= 27808, 23537, 23474, 32755, AGC= 68, IDX= 437,-0.04,-1.575, 0.549,-1.255,-0.890, PHS=-0.597, 1.486,-0.368, RAW= 324.2, -5.3, CAL= 327.1, -7.3, ROT= 182.9, 7.3
2025-06-18T18:35:27.589Z,1750271727.589 [DAT](INFO): DAT read: Bearing 182.9, 7.3 (Local)
2025-06-18T18:35:27.589Z,1750271727.589 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.9, 7.3 (Local)
2025-06-18T18:35:27.591Z,1750271727.591 [DAT](INFO): DAT read: Range 10 to 50 : 24.0 m (Round-trip 32.1 ms) speed 0.0 m/s
2025-06-18T18:35:27.592Z,1750271727.592 [DAT](INFO): DAT read: user:1324>
2025-06-18T18:35:27.592Z,1750271727.592 [DAT](INFO): DAT read: Tx time:18:35:28.5928
2025-06-18T18:35:27.593Z,1750271727.593 [DAT](INFO): Ping request sent.
2025-06-18T18:35:27.593Z,1750271727.593 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:27.593Z,1750271727.593 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-18T18:35:27.594Z,1750271727.594 [DAT](INFO): direction in FSK: [-0.990624,-0.050183,-0.127065]
2025-06-18T18:35:27.594Z,1750271727.594 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:27.595Z,1750271727.595 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:27.610Z,1750271727.610 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:27.610Z,1750271727.610 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:27.833Z,1750271727.833 [DAT](INFO): DAT read: TxSync time:18:35:28.5920
2025-06-18T18:35:28.011Z,1750271728.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.000000 m,
deltaT: 3.528133 s,
deltaX: -0.100000 m,
approachRate: -0.028344 m/s,
rangeRepo size: 4
2025-06-18T18:35:28.021Z,1750271728.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.780733 m,
bearing: 138.393743 deg,
lat: 36.905884 deg,
lon: -122.115763 deg,
deltaT: 3.528133 s,
deltaX: -0.099098 m,
approachRate: -0.028088 m/s,
posRepo size: 4
2025-06-18T18:35:28.022Z,1750271728.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:28.345Z,1750271728.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:28.770Z,1750271728.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:29.140Z,1750271729.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:29.539Z,1750271729.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:30.019Z,1750271730.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:30.340Z,1750271730.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:30.605Z,1750271730.605 [DAT](INFO): DAT read: Rx Time:18:35:31.0291
2025-06-18T18:35:30.605Z,1750271730.605 [DAT](INFO): Rx dataTimestamp_ set to:1750271730.605110
2025-06-18T18:35:30.800Z,1750271730.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:31.115Z,1750271731.115 [DAT](INFO): DAT read: 18:35:31.0291 LVL= 26896, 26289, 20402, 32755, AGC= 67, IDX= 437,-0.45, 1.440,-2.725, 1.726, 2.156, PHS=-0.627, 1.450,-0.433, RAW= 325.1, -4.0, CAL= 327.8, -5.5, ROT= 182.2, 5.5
2025-06-18T18:35:31.116Z,1750271731.116 [DAT](INFO): got valid direction response:
18:35:31.0291 LVL= 26896, 26289, 20402, 32755, AGC= 67, IDX= 437,-0.45, 1.440,-2.725, 1.726, 2.156, PHS=-0.627, 1.450,-0.433, RAW= 325.1, -4.0, CAL= 327.8, -5.5, ROT= 182.2, 5.5
2025-06-18T18:35:31.117Z,1750271731.117 [DAT](INFO): DAT read: Bearing 182.2, 5.5 (Local)
2025-06-18T18:35:31.117Z,1750271731.117 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.2, 5.5 (Local)
2025-06-18T18:35:31.118Z,1750271731.118 [DAT](INFO): DAT read: Range 10 to 50 : 24.0 m (Round-trip 32.1 ms) speed 0.0 m/s
2025-06-18T18:35:31.119Z,1750271731.119 [DAT](INFO): DAT read: user:1325>
2025-06-18T18:35:31.124Z,1750271731.124 [DAT](INFO): DAT read: Tx time:18:35:32.1429
2025-06-18T18:35:31.124Z,1750271731.124 [DAT](INFO): Ping request sent.
2025-06-18T18:35:31.124Z,1750271731.124 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:31.125Z,1750271731.125 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-18T18:35:31.126Z,1750271731.126 [DAT](INFO): direction in FSK: [-0.994663,-0.038211,-0.095846]
2025-06-18T18:35:31.126Z,1750271731.126 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:31.126Z,1750271731.126 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:31.130Z,1750271731.130 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:31.130Z,1750271731.130 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:31.270Z,1750271731.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.000000 m,
deltaT: 3.527814 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:35:31.281Z,1750271731.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.780737 m,
bearing: 138.155437 deg,
lat: 36.905884 deg,
lon: -122.115763 deg,
deltaT: 3.527814 s,
deltaX: 0.000004 m,
approachRate: 0.000001 m/s,
posRepo size: 4
2025-06-18T18:35:31.281Z,1750271731.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:31.362Z,1750271731.362 [DAT](INFO): DAT read: TxSync time:18:35:32.1421
2025-06-18T18:35:31.557Z,1750271731.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:31.985Z,1750271731.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:32.385Z,1750271732.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:32.818Z,1750271732.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:33.179Z,1750271733.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:33.599Z,1750271733.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:34.005Z,1750271734.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:34.133Z,1750271734.133 [DAT](INFO): DAT read: Rx Time:18:35:34.5791
2025-06-18T18:35:34.134Z,1750271734.134 [DAT](INFO): Rx dataTimestamp_ set to:1750271734.133289
2025-06-18T18:35:34.156Z,1750271734.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:35:34.386Z,1750271734.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:34.643Z,1750271734.643 [DAT](INFO): DAT read: 18:35:34.5791 LVL= 32752, 32753, 30882, 32755, AGC= 66, IDX= 436,-0.40, 1.794,-2.466, 2.089, 2.475, PHS=-0.593, 1.390,-0.389, RAW= 324.6, -4.4, CAL= 327.4, -6.1, ROT= 182.6, 6.1
2025-06-18T18:35:34.644Z,1750271734.644 [DAT](INFO): got valid direction response:
18:35:34.5791 LVL= 32752, 32753, 30882, 32755, AGC= 66, IDX= 436,-0.40, 1.794,-2.466, 2.089, 2.475, PHS=-0.593, 1.390,-0.389, RAW= 324.6, -4.4, CAL= 327.4, -6.1, ROT= 182.6, 6.1
2025-06-18T18:35:34.645Z,1750271734.645 [DAT](INFO): DAT read: Bearing 182.6, 6.1 (Local)
2025-06-18T18:35:34.645Z,1750271734.645 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.6, 6.1 (Local)
2025-06-18T18:35:34.647Z,1750271734.647 [DAT](INFO): DAT read: Range 10 to 50 : 24.0 m (Round-trip 32.0 ms) speed 0.0 m/s
2025-06-18T18:35:34.647Z,1750271734.647 [DAT](INFO): DAT read: user:1326>
2025-06-18T18:35:34.648Z,1750271734.648 [DAT](INFO): DAT read: Tx time:18:35:35.6929
2025-06-18T18:35:34.649Z,1750271734.649 [DAT](INFO): Ping request sent.
2025-06-18T18:35:34.649Z,1750271734.649 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:34.649Z,1750271734.649 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-18T18:35:34.650Z,1750271734.650 [DAT](INFO): direction in FSK: [-0.993314,-0.045106,-0.106264]
2025-06-18T18:35:34.650Z,1750271734.650 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:34.651Z,1750271734.651 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:34.654Z,1750271734.654 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:34.654Z,1750271734.654 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:34.890Z,1750271734.890 [DAT](INFO): DAT read: TxSync time:18:35:35.6921
2025-06-18T18:35:34.922Z,1750271734.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.000000 m,
deltaT: 3.528037 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:35:34.937Z,1750271734.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.780743 m,
bearing: 138.449697 deg,
lat: 36.905884 deg,
lon: -122.115764 deg,
deltaT: 3.528037 s,
deltaX: 0.000006 m,
approachRate: 0.000002 m/s,
posRepo size: 4
2025-06-18T18:35:34.946Z,1750271734.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:35.160Z,1750271735.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:35:35.233Z,1750271735.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:35.615Z,1750271735.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:36.047Z,1750271736.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:36.441Z,1750271736.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:36.887Z,1750271736.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:37.251Z,1750271737.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:37.642Z,1750271737.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:37.661Z,1750271737.661 [DAT](INFO): DAT read: Rx Time:18:35:38.1289
2025-06-18T18:35:37.662Z,1750271737.662 [DAT](INFO): Rx dataTimestamp_ set to:1750271737.661239
2025-06-18T18:35:38.130Z,1750271738.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:35:38.175Z,1750271738.175 [DAT](INFO): DAT read: 18:35:38.1289 LVL= 25040, 23841, 20514, 32755, AGC= 67, IDX= 433, 0.26,-0.777, 1.344,-0.498, 0.023, PHS=-0.712, 1.367,-0.524, RAW= 325.3, -1.3, CAL= 327.5, -2.0, ROT= 182.5, 2.0
2025-06-18T18:35:38.177Z,1750271738.177 [DAT](INFO): got valid direction response:
18:35:38.1289 LVL= 25040, 23841, 20514, 32755, AGC= 67, IDX= 433, 0.26,-0.777, 1.344,-0.498, 0.023, PHS=-0.712, 1.367,-0.524, RAW= 325.3, -1.3, CAL= 327.5, -2.0, ROT= 182.5, 2.0
2025-06-18T18:35:38.178Z,1750271738.178 [DAT](INFO): DAT read: Bearing 182.5, 2.0 (Local)
2025-06-18T18:35:38.178Z,1750271738.178 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.5, 2.0 (Local)
2025-06-18T18:35:38.179Z,1750271738.179 [DAT](INFO): DAT read: Range 10 to 50 : 23.8 m (Round-trip 31.8 ms) speed 0.0 m/s
2025-06-18T18:35:38.180Z,1750271738.180 [DAT](INFO): DAT read: user:1327>
2025-06-18T18:35:38.181Z,1750271738.181 [DAT](INFO): DAT read: Tx time:18:35:39.2429
2025-06-18T18:35:38.181Z,1750271738.181 [DAT](INFO): Ping request sent.
2025-06-18T18:35:38.181Z,1750271738.181 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:38.182Z,1750271738.182 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-18T18:35:38.183Z,1750271738.183 [DAT](INFO): direction in FSK: [-0.998440,-0.043593,-0.034899]
2025-06-18T18:35:38.183Z,1750271738.183 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:38.183Z,1750271738.183 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:38.198Z,1750271738.198 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:38.199Z,1750271738.199 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:38.417Z,1750271738.417 [DAT](INFO): DAT read: TxSync time:18:35:39.2421
2025-06-18T18:35:38.461Z,1750271738.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.799999 m,
deltaT: 3.528533 s,
deltaX: -0.200001 m,
approachRate: -0.056681 m/s,
rangeRepo size: 4
2025-06-18T18:35:38.463Z,1750271738.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.582535 m,
bearing: 139.269173 deg,
lat: 36.905884 deg,
lon: -122.115765 deg,
deltaT: 3.528533 s,
deltaX: -0.198208 m,
approachRate: -0.056173 m/s,
posRepo size: 4
2025-06-18T18:35:38.463Z,1750271738.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m.
2025-06-18T18:35:38.980Z,1750271738.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m.
2025-06-18T18:35:39.286Z,1750271739.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m.
2025-06-18T18:35:39.675Z,1750271739.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:35:39.677Z,1750271739.677 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:35:39.677Z,1750271739.677 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:35:39.677Z,1750271739.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:35:39.700Z,1750271739.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m.
2025-06-18T18:35:39.929Z,1750271739.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747375
2025-06-18T18:35:40.124Z,1750271740.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m.
2025-06-18T18:35:40.182Z,1750271740.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999884
2025-06-18T18:35:40.433Z,1750271740.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251286
2025-06-18T18:35:40.467Z,1750271740.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m.
2025-06-18T18:35:40.685Z,1750271740.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503230
2025-06-18T18:35:40.937Z,1750271740.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755356
2025-06-18T18:35:41.006Z,1750271741.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m.
2025-06-18T18:35:41.189Z,1750271741.189 [DAT](INFO): DAT read: Rx Time:18:35:41.6788
2025-06-18T18:35:41.189Z,1750271741.189 [DAT](INFO): Rx dataTimestamp_ set to:1750271741.189066
2025-06-18T18:35:41.190Z,1750271741.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008413
2025-06-18T18:35:41.297Z,1750271741.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m.
2025-06-18T18:35:41.441Z,1750271741.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259272
2025-06-18T18:35:41.701Z,1750271741.701 [DAT](INFO): DAT read: 18:35:41.6788 LVL= 25168, 27249, 24562, 32755, AGC= 68, IDX= 433,-0.22,-1.131, 0.929,-0.863,-0.397, PHS=-0.646, 1.373,-0.468, RAW= 325.5, -2.7, CAL= 327.9, -3.9, ROT= 182.1, 3.9
2025-06-18T18:35:41.702Z,1750271741.702 [DAT](INFO): got valid direction response:
18:35:41.6788 LVL= 25168, 27249, 24562, 32755, AGC= 68, IDX= 433,-0.22,-1.131, 0.929,-0.863,-0.397, PHS=-0.646, 1.373,-0.468, RAW= 325.5, -2.7, CAL= 327.9, -3.9, ROT= 182.1, 3.9
2025-06-18T18:35:41.703Z,1750271741.703 [DAT](INFO): DAT read: Bearing 182.1, 3.9 (Local)
2025-06-18T18:35:41.704Z,1750271741.704 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.1, 3.9 (Local)
2025-06-18T18:35:41.706Z,1750271741.706 [DAT](INFO): DAT read: Range 10 to 50 : 23.7 m (Round-trip 31.7 ms) speed 0.1 m/s
2025-06-18T18:35:41.707Z,1750271741.707 [DAT](INFO): DAT read: user:1328>
2025-06-18T18:35:41.707Z,1750271741.707 [DAT](INFO): DAT read: Tx time:18:35:42.7929
2025-06-18T18:35:41.708Z,1750271741.708 [DAT](INFO): Ping request sent.
2025-06-18T18:35:41.708Z,1750271741.708 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:41.708Z,1750271741.708 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:35:41.709Z,1750271741.709 [DAT](INFO): direction in FSK: [-0.997014,-0.036559,-0.068015]
2025-06-18T18:35:41.710Z,1750271741.710 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:41.710Z,1750271741.710 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:41.733Z,1750271741.733 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:41.733Z,1750271741.733 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:41.753Z,1750271741.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.700001 m,
deltaT: 3.527594 s,
deltaX: -0.099998 m,
approachRate: -0.028348 m/s,
rangeRepo size: 4
2025-06-18T18:35:41.755Z,1750271741.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.483450 m,
bearing: 138.850918 deg,
lat: 36.905882 deg,
lon: -122.115765 deg,
deltaT: 3.527594 s,
deltaX: -0.099085 m,
approachRate: -0.028089 m/s,
posRepo size: 4
2025-06-18T18:35:41.761Z,1750271741.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:41.945Z,1750271741.945 [DAT](INFO): DAT read: TxSync time:18:35:42.7921
2025-06-18T18:35:42.148Z,1750271742.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:42.509Z,1750271742.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:42.983Z,1750271742.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:43.312Z,1750271743.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:43.784Z,1750271743.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:44.197Z,1750271744.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:44.597Z,1750271744.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:44.717Z,1750271744.717 [DAT](INFO): DAT read: Rx Time:18:35:45.2288
2025-06-18T18:35:44.718Z,1750271744.718 [DAT](INFO): Rx dataTimestamp_ set to:1750271744.717370
2025-06-18T18:35:45.037Z,1750271745.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:45.231Z,1750271745.231 [DAT](INFO): DAT read: 18:35:45.2288 LVL= 27632, 24977, 26562, 32755, AGC= 65, IDX= 447, 0.16, 1.110,-3.126, 1.330, 1.824, PHS=-0.627, 1.380,-0.497, RAW= 326.7, -2.7, CAL= 329.0, -3.8, ROT= 181.0, 3.8
2025-06-18T18:35:45.232Z,1750271745.232 [DAT](INFO): got valid direction response:
18:35:45.2288 LVL= 27632, 24977, 26562, 32755, AGC= 65, IDX= 447, 0.16, 1.110,-3.126, 1.330, 1.824, PHS=-0.627, 1.380,-0.497, RAW= 326.7, -2.7, CAL= 329.0, -3.8, ROT= 181.0, 3.8
2025-06-18T18:35:45.233Z,1750271745.233 [DAT](INFO): DAT read: Bearing 181.0, 3.8 (Local)
2025-06-18T18:35:45.234Z,1750271745.234 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.0, 3.8 (Local)
2025-06-18T18:35:45.235Z,1750271745.235 [DAT](INFO): DAT read: Range 10 to 50 : 23.7 m (Round-trip 31.6 ms) speed -0.2 m/s
2025-06-18T18:35:45.236Z,1750271745.236 [DAT](INFO): DAT read: user:1329>
2025-06-18T18:35:45.237Z,1750271745.237 [DAT](INFO): DAT read: Tx time:18:35:46.3430
2025-06-18T18:35:45.237Z,1750271745.237 [DAT](INFO): Ping request sent.
2025-06-18T18:35:45.237Z,1750271745.237 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:45.237Z,1750271745.237 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-18T18:35:45.238Z,1750271745.238 [DAT](INFO): direction in FSK: [-0.997649,-0.017414,-0.066274]
2025-06-18T18:35:45.239Z,1750271745.239 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:45.239Z,1750271745.239 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:45.242Z,1750271745.242 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:45.242Z,1750271745.242 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:45.445Z,1750271745.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.700001 m,
deltaT: 3.528362 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:35:45.447Z,1750271745.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.483366 m,
bearing: 137.647322 deg,
lat: 36.905882 deg,
lon: -122.115765 deg,
deltaT: 3.528362 s,
deltaX: -0.000084 m,
approachRate: -0.000024 m/s,
posRepo size: 4
2025-06-18T18:35:45.447Z,1750271745.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:45.473Z,1750271745.473 [DAT](INFO): DAT read: TxSync time:18:35:46.3422
2025-06-18T18:35:45.825Z,1750271745.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:46.251Z,1750271746.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:46.639Z,1750271746.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:47.063Z,1750271747.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:47.487Z,1750271747.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:47.850Z,1750271747.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:48.246Z,1750271748.246 [DAT](INFO): DAT read: Rx Time:18:35:48.7785
2025-06-18T18:35:48.246Z,1750271748.246 [DAT](INFO): Rx dataTimestamp_ set to:1750271748.246013
2025-06-18T18:35:48.309Z,1750271748.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:48.649Z,1750271748.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m.
2025-06-18T18:35:48.759Z,1750271748.759 [DAT](INFO): DAT read: 18:35:48.7785 LVL= 27440, 21905, 21330, 32755, AGC= 66, IDX= 429, 0.38, 0.454, 2.607, 0.735, 1.210, PHS=-0.667, 1.445,-0.477, RAW= 325.3, -3.0, CAL= 327.8, -4.3, ROT= 182.2, 4.3
2025-06-18T18:35:48.761Z,1750271748.761 [DAT](INFO): got valid direction response:
18:35:48.7785 LVL= 27440, 21905, 21330, 32755, AGC= 66, IDX= 429, 0.38, 0.454, 2.607, 0.735, 1.210, PHS=-0.667, 1.445,-0.477, RAW= 325.3, -3.0, CAL= 327.8, -4.3, ROT= 182.2, 4.3
2025-06-18T18:35:48.762Z,1750271748.762 [DAT](INFO): DAT read: Bearing 182.2, 4.3 (Local)
2025-06-18T18:35:48.763Z,1750271748.763 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.2, 4.3 (Local)
2025-06-18T18:35:48.777Z,1750271748.777 [DAT](INFO): DAT read: Range 10 to 50 : 23.4 m (Round-trip 31.3 ms) speed 0.0 m/s
2025-06-18T18:35:48.778Z,1750271748.778 [DAT](INFO): DAT read: user:1330>
2025-06-18T18:35:48.779Z,1750271748.779 [DAT](INFO): DAT read: Tx time:18:35:49.8930
2025-06-18T18:35:48.779Z,1750271748.779 [DAT](INFO): Ping request sent.
2025-06-18T18:35:48.780Z,1750271748.780 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:48.789Z,1750271748.789 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-18T18:35:48.790Z,1750271748.790 [DAT](INFO): direction in FSK: [-0.996450,-0.038280,-0.074979]
2025-06-18T18:35:48.790Z,1750271748.790 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:48.791Z,1750271748.791 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:48.799Z,1750271748.799 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:48.804Z,1750271748.804 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:49.004Z,1750271749.004 [DAT](INFO): DAT read: TxSync time:18:35:49.8922
2025-06-18T18:35:49.091Z,1750271749.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.400000 m,
deltaT: 3.528030 s,
deltaX: -0.300001 m,
approachRate: -0.085034 m/s,
rangeRepo size: 4
2025-06-18T18:35:49.094Z,1750271749.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.186138 m,
bearing: 138.819937 deg,
lat: 36.905882 deg,
lon: -122.115765 deg,
deltaT: 3.528030 s,
deltaX: -0.297228 m,
approachRate: -0.084248 m/s,
posRepo size: 4
2025-06-18T18:35:49.094Z,1750271749.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:49.458Z,1750271749.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:49.874Z,1750271749.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:50.357Z,1750271750.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:50.671Z,1750271750.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:51.097Z,1750271751.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:51.492Z,1750271751.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:51.773Z,1750271751.773 [DAT](INFO): DAT read: Rx Time:18:35:52.3285
2025-06-18T18:35:51.773Z,1750271751.773 [DAT](INFO): Rx dataTimestamp_ set to:1750271751.773116
2025-06-18T18:35:51.908Z,1750271751.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:52.283Z,1750271752.283 [DAT](INFO): DAT read: 18:35:52.3285 LVL= 32576, 32241, 26450, 32755, AGC= 66, IDX= 445,-0.48, 1.236,-3.110, 1.446, 1.860, PHS=-0.535, 1.361,-0.417, RAW= 326.8, -4.5, CAL= 329.4, -6.3, ROT= 180.6, 6.3
2025-06-18T18:35:52.285Z,1750271752.285 [DAT](INFO): got valid direction response:
18:35:52.3285 LVL= 32576, 32241, 26450, 32755, AGC= 66, IDX= 445,-0.48, 1.236,-3.110, 1.446, 1.860, PHS=-0.535, 1.361,-0.417, RAW= 326.8, -4.5, CAL= 329.4, -6.3, ROT= 180.6, 6.3
2025-06-18T18:35:52.286Z,1750271752.286 [DAT](INFO): DAT read: Bearing 180.6, 6.3 (Local)
2025-06-18T18:35:52.286Z,1750271752.286 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.6, 6.3 (Local)
2025-06-18T18:35:52.288Z,1750271752.288 [DAT](INFO): DAT read: Range 10 to 50 : 23.4 m (Round-trip 31.3 ms) speed 0.1 m/s
2025-06-18T18:35:52.288Z,1750271752.288 [DAT](INFO): DAT read: user:1331>
2025-06-18T18:35:52.289Z,1750271752.289 [DAT](INFO): DAT read: Tx time:18:35:53.4430
2025-06-18T18:35:52.289Z,1750271752.289 [DAT](INFO): Ping request sent.
2025-06-18T18:35:52.290Z,1750271752.290 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:52.290Z,1750271752.290 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-18T18:35:52.291Z,1750271752.291 [DAT](INFO): direction in FSK: [-0.993906,-0.010409,-0.109734]
2025-06-18T18:35:52.291Z,1750271752.291 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:52.291Z,1750271752.291 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:52.307Z,1750271752.307 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:52.307Z,1750271752.307 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:52.529Z,1750271752.529 [DAT](INFO): DAT read: TxSync time:18:35:53.4422
2025-06-18T18:35:52.581Z,1750271752.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.400000 m,
deltaT: 3.527601 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:35:52.588Z,1750271752.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.186155 m,
bearing: 136.925381 deg,
lat: 36.905882 deg,
lon: -122.115765 deg,
deltaT: 3.527601 s,
deltaX: 0.000017 m,
approachRate: 0.000005 m/s,
posRepo size: 4
2025-06-18T18:35:52.588Z,1750271752.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:52.886Z,1750271752.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:53.291Z,1750271753.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:53.685Z,1750271753.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:54.205Z,1750271754.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:54.511Z,1750271754.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:54.898Z,1750271754.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:55.309Z,1750271755.309 [DAT](INFO): DAT read: Rx Time:18:35:55.8785
2025-06-18T18:35:55.310Z,1750271755.310 [DAT](INFO): Rx dataTimestamp_ set to:1750271755.309480
2025-06-18T18:35:55.324Z,1750271755.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:55.685Z,1750271755.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:55.835Z,1750271755.835 [DAT](INFO): DAT read: 18:35:55.8785 LVL= 26288, 20769, 27026, 32755, AGC= 65, IDX= 443, 0.43, 2.075,-2.039, 2.377, 2.904, PHS=-0.741, 1.387,-0.530, RAW= 324.8, -1.2, CAL= 327.1, -1.8, ROT= 182.9, 1.8
2025-06-18T18:35:55.836Z,1750271755.836 [DAT](INFO): got valid direction response:
18:35:55.8785 LVL= 26288, 20769, 27026, 32755, AGC= 65, IDX= 443, 0.43, 2.075,-2.039, 2.377, 2.904, PHS=-0.741, 1.387,-0.530, RAW= 324.8, -1.2, CAL= 327.1, -1.8, ROT= 182.9, 1.8
2025-06-18T18:35:55.837Z,1750271755.837 [DAT](INFO): DAT read: Bearing 182.9, 1.8 (Local)
2025-06-18T18:35:55.837Z,1750271755.837 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.9, 1.8 (Local)
2025-06-18T18:35:55.839Z,1750271755.839 [DAT](INFO): DAT read: Range 10 to 50 : 23.4 m (Round-trip 31.2 ms) speed 0.0 m/s
2025-06-18T18:35:55.840Z,1750271755.840 [DAT](INFO): DAT read: user:1332>
2025-06-18T18:35:55.841Z,1750271755.841 [DAT](INFO): DAT read: Tx time:18:35:56.9931
2025-06-18T18:35:55.841Z,1750271755.841 [DAT](INFO): Ping request sent.
2025-06-18T18:35:55.841Z,1750271755.841 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:55.841Z,1750271755.841 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-18T18:35:55.842Z,1750271755.842 [DAT](INFO): direction in FSK: [-0.998227,-0.050568,-0.031411]
2025-06-18T18:35:55.843Z,1750271755.843 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:55.843Z,1750271755.843 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:55.846Z,1750271755.846 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:55.846Z,1750271755.846 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:56.084Z,1750271756.084 [DAT](INFO): DAT read: TxSync time:18:35:56.9923
2025-06-18T18:35:56.178Z,1750271756.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.400000 m,
deltaT: 3.550765 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:35:56.184Z,1750271756.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.186127 m,
bearing: 140.121334 deg,
lat: 36.905882 deg,
lon: -122.115765 deg,
deltaT: 3.550765 s,
deltaX: -0.000029 m,
approachRate: -0.000008 m/s,
posRepo size: 4
2025-06-18T18:35:56.185Z,1750271756.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:56.513Z,1750271756.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:56.918Z,1750271756.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:57.353Z,1750271757.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:57.706Z,1750271757.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:58.174Z,1750271758.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:58.540Z,1750271758.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:58.853Z,1750271758.853 [DAT](INFO): DAT read: Rx Time:18:35:59.4283
2025-06-18T18:35:58.853Z,1750271758.853 [DAT](INFO): Rx dataTimestamp_ set to:1750271758.853009
2025-06-18T18:35:58.950Z,1750271758.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-18T18:35:59.378Z,1750271759.378 [DAT](INFO): DAT read: 18:35:59.4283 LVL= 32752, 24945, 26530, 32755, AGC= 66, IDX= 442,-0.07,-0.153, 1.983, 0.125, 0.512, PHS=-0.576, 1.518,-0.390, RAW= 325.4, -5.5, CAL= 328.2, -7.7, ROT= 181.8, 7.7
2025-06-18T18:35:59.379Z,1750271759.379 [DAT](INFO): got valid direction response:
18:35:59.4283 LVL= 32752, 24945, 26530, 32755, AGC= 66, IDX= 442,-0.07,-0.153, 1.983, 0.125, 0.512, PHS=-0.576, 1.518,-0.390, RAW= 325.4, -5.5, CAL= 328.2, -7.7, ROT= 181.8, 7.7
2025-06-18T18:35:59.399Z,1750271759.399 [DAT](INFO): DAT read: Bearing 181.8, 7.7 (Local)
2025-06-18T18:35:59.399Z,1750271759.399 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.8, 7.7 (Local)
2025-06-18T18:35:59.401Z,1750271759.401 [DAT](INFO): DAT read: Range 10 to 50 : 23.2 m (Round-trip 31.0 ms) speed 0.0 m/s
2025-06-18T18:35:59.401Z,1750271759.401 [DAT](INFO): DAT read: user:1333>
2025-06-18T18:35:59.402Z,1750271759.402 [DAT](INFO): DAT read: Tx time:18:36:00.5431
2025-06-18T18:35:59.402Z,1750271759.402 [DAT](INFO): Ping request sent.
2025-06-18T18:35:59.402Z,1750271759.402 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:35:59.403Z,1750271759.403 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-18T18:35:59.412Z,1750271759.412 [DAT](INFO): direction in FSK: [-0.990494,-0.031128,-0.133986]
2025-06-18T18:35:59.412Z,1750271759.412 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:59.413Z,1750271759.413 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:59.424Z,1750271759.424 [DAT](INFO): publishing transmit ping time
2025-06-18T18:35:59.425Z,1750271759.425 [DAT](INFO): publishing direction and range info
2025-06-18T18:35:59.473Z,1750271759.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.200001 m,
deltaT: 3.530944 s,
deltaX: -0.199999 m,
approachRate: -0.056642 m/s,
rangeRepo size: 4
2025-06-18T18:35:59.475Z,1750271759.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.987915 m,
bearing: 137.705895 deg,
lat: 36.905883 deg,
lon: -122.115764 deg,
deltaT: 3.530944 s,
deltaX: -0.198212 m,
approachRate: -0.056136 m/s,
posRepo size: 4
2025-06-18T18:35:59.488Z,1750271759.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-18T18:35:59.609Z,1750271759.609 [DAT](INFO): DAT read: TxSync time:18:36:00.5423
2025-06-18T18:35:59.771Z,1750271759.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-18T18:36:00.247Z,1750271760.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-18T18:36:00.569Z,1750271760.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-18T18:36:00.979Z,1750271760.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-18T18:36:01.410Z,1750271761.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-18T18:36:01.787Z,1750271761.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-18T18:36:02.254Z,1750271762.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-18T18:36:02.381Z,1750271762.381 [DAT](INFO): DAT read: Rx Time:18:36:02.9781
2025-06-18T18:36:02.381Z,1750271762.381 [DAT](INFO): Rx dataTimestamp_ set to:1750271762.381046
2025-06-18T18:36:02.646Z,1750271762.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-18T18:36:03.015Z,1750271763.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m.
2025-06-18T18:36:03.143Z,1750271763.143 [DAT](INFO): DAT read: 18:36:02.9781 LVL= 26096, 26001, 24674, 32755, AGC= 68, IDX= 440, 0.22, 2.892,-1.301,-3.067,-2.641, PHS=-0.662, 1.388,-0.428, RAW= 324.0, -3.1, CAL= 326.6, -4.4, ROT= 183.4, 4.4
2025-06-18T18:36:03.144Z,1750271763.144 [DAT](INFO): got valid direction response:
18:36:02.9781 LVL= 26096, 26001, 24674, 32755, AGC= 68, IDX= 440, 0.22, 2.892,-1.301,-3.067,-2.641, PHS=-0.662, 1.388,-0.428, RAW= 324.0, -3.1, CAL= 326.6, -4.4, ROT= 183.4, 4.4
2025-06-18T18:36:03.146Z,1750271763.146 [DAT](INFO): DAT read: Bearing 183.4, 4.4 (Local)
2025-06-18T18:36:03.146Z,1750271763.146 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.4, 4.4 (Local)
2025-06-18T18:36:03.162Z,1750271763.162 [DAT](INFO): DAT read: Range 10 to 50 : 23.1 m (Round-trip 30.8 ms) speed -0.2 m/s
2025-06-18T18:36:03.165Z,1750271763.165 [DAT](INFO): DAT read: user:1334>
2025-06-18T18:36:03.167Z,1750271763.167 [DAT](INFO): DAT read: Tx time:18:36:04.0931
2025-06-18T18:36:03.169Z,1750271763.169 [DAT](INFO): Ping request sent.
2025-06-18T18:36:03.170Z,1750271763.170 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:03.171Z,1750271763.171 [DAT](INFO): DAT read: TxSync time:18:36:04.0923
2025-06-18T18:36:03.178Z,1750271763.178 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-18T18:36:03.205Z,1750271763.205 [DAT](INFO): direction in FSK: [-0.995298,-0.059131,-0.076719]
2025-06-18T18:36:03.206Z,1750271763.206 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:03.207Z,1750271763.207 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:03.234Z,1750271763.234 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:03.235Z,1750271763.235 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:03.455Z,1750271763.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.100000 m,
deltaT: 3.778385 s,
deltaX: -0.100000 m,
approachRate: -0.026466 m/s,
rangeRepo size: 4
2025-06-18T18:36:03.458Z,1750271763.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.888849 m,
bearing: 139.331110 deg,
lat: 36.905881 deg,
lon: -122.115768 deg,
deltaT: 3.778385 s,
deltaX: -0.099066 m,
approachRate: -0.026219 m/s,
posRepo size: 4
2025-06-18T18:36:03.458Z,1750271763.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m.
2025-06-18T18:36:03.797Z,1750271763.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m.
2025-06-18T18:36:04.269Z,1750271764.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m.
2025-06-18T18:36:04.621Z,1750271764.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m.
2025-06-18T18:36:05.020Z,1750271765.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m.
2025-06-18T18:36:05.280Z,1750271765.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:36:05.438Z,1750271765.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m.
2025-06-18T18:36:05.907Z,1750271765.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m.
2025-06-18T18:36:05.909Z,1750271765.909 [DAT](INFO): DAT read: Rx Time:18:36:06.5280
2025-06-18T18:36:05.909Z,1750271765.909 [DAT](INFO): Rx dataTimestamp_ set to:1750271765.909184
2025-06-18T18:36:06.284Z,1750271766.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:36:06.313Z,1750271766.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m.
2025-06-18T18:36:06.674Z,1750271766.674 [DAT](INFO): DAT read: 18:36:06.5280 LVL= 22544, 23377, 20642, 32755, AGC= 66, IDX= 423, 0.15, 1.155,-3.029, 1.456, 1.882, PHS=-0.639, 1.420,-0.429, RAW= 324.7, -3.6, CAL= 327.3, -5.1, ROT= 182.7, 5.1
2025-06-18T18:36:06.676Z,1750271766.676 [DAT](INFO): got valid direction response:
18:36:06.5280 LVL= 22544, 23377, 20642, 32755, AGC= 66, IDX= 423, 0.15, 1.155,-3.029, 1.456, 1.882, PHS=-0.639, 1.420,-0.429, RAW= 324.7, -3.6, CAL= 327.3, -5.1, ROT= 182.7, 5.1
2025-06-18T18:36:06.677Z,1750271766.677 [DAT](INFO): DAT read: Bearing 182.7, 5.1 (Local)
2025-06-18T18:36:06.678Z,1750271766.678 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.7, 5.1 (Local)
2025-06-18T18:36:06.679Z,1750271766.679 [DAT](INFO): DAT read: Range 10 to 50 : 23.0 m (Round-trip 30.7 ms) speed 0.0 m/s
2025-06-18T18:36:06.684Z,1750271766.684 [DAT](INFO): DAT read: user:1335>
2025-06-18T18:36:06.685Z,1750271766.685 [DAT](INFO): DAT read: Tx time:18:36:07.6431
2025-06-18T18:36:06.685Z,1750271766.685 [DAT](INFO): Ping request sent.
2025-06-18T18:36:06.685Z,1750271766.685 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:06.686Z,1750271766.686 [DAT](INFO): DAT read: TxSync time:18:36:07.6423
2025-06-18T18:36:06.686Z,1750271766.686 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-18T18:36:06.687Z,1750271766.687 [DAT](INFO): direction in FSK: [-0.994935,-0.046920,-0.088894]
2025-06-18T18:36:06.696Z,1750271766.696 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:06.696Z,1750271766.696 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:06.699Z,1750271766.699 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:06.699Z,1750271766.699 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:06.703Z,1750271766.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m.
2025-06-18T18:36:07.105Z,1750271767.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.000000 m,
deltaT: 3.527832 s,
deltaX: -0.100000 m,
approachRate: -0.028346 m/s,
rangeRepo size: 4
2025-06-18T18:36:07.107Z,1750271767.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.789772 m,
bearing: 138.300239 deg,
lat: 36.905882 deg,
lon: -122.115764 deg,
deltaT: 3.527832 s,
deltaX: -0.099077 m,
approachRate: -0.028084 m/s,
posRepo size: 4
2025-06-18T18:36:07.107Z,1750271767.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.79 m.
2025-06-18T18:36:07.502Z,1750271767.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.79 m.
2025-06-18T18:36:07.868Z,1750271767.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.79 m.
2025-06-18T18:36:08.326Z,1750271768.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.79 m.
2025-06-18T18:36:08.665Z,1750271768.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.79 m.
2025-06-18T18:36:09.061Z,1750271769.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.79 m.
2025-06-18T18:36:09.437Z,1750271769.437 [DAT](INFO): DAT read: Rx Time:18:36:10.0779
2025-06-18T18:36:09.437Z,1750271769.437 [DAT](INFO): Rx dataTimestamp_ set to:1750271769.437139
2025-06-18T18:36:09.492Z,1750271769.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.79 m.
2025-06-18T18:36:09.853Z,1750271769.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.79 m.
2025-06-18T18:36:10.198Z,1750271770.198 [DAT](INFO): DAT read: 18:36:10.0779 LVL= 31280, 32753, 25634, 32755, AGC= 66, IDX= 437,-0.28,-1.384, 0.839,-1.037,-0.561, PHS=-0.735, 1.447,-0.479, RAW= 323.9, -2.3, CAL= 326.4, -3.3, ROT= 183.6, 3.3
2025-06-18T18:36:10.200Z,1750271770.200 [DAT](INFO): got valid direction response:
18:36:10.0779 LVL= 31280, 32753, 25634, 32755, AGC= 66, IDX= 437,-0.28,-1.384, 0.839,-1.037,-0.561, PHS=-0.735, 1.447,-0.479, RAW= 323.9, -2.3, CAL= 326.4, -3.3, ROT= 183.6, 3.3
2025-06-18T18:36:10.201Z,1750271770.201 [DAT](INFO): DAT read: Bearing 183.6, 3.3 (Local)
2025-06-18T18:36:10.201Z,1750271770.201 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.6, 3.3 (Local)
2025-06-18T18:36:10.202Z,1750271770.202 [DAT](INFO): DAT read: Range 10 to 50 : 22.8 m (Round-trip 30.5 ms) speed 0.1 m/s
2025-06-18T18:36:10.203Z,1750271770.203 [DAT](INFO): DAT read: user:1336>
2025-06-18T18:36:10.204Z,1750271770.204 [DAT](INFO): DAT read: Tx time:18:36:11.1932
2025-06-18T18:36:10.204Z,1750271770.204 [DAT](INFO): Ping request sent.
2025-06-18T18:36:10.204Z,1750271770.204 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:10.205Z,1750271770.205 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-18T18:36:10.206Z,1750271770.206 [DAT](INFO): direction in FSK: [-0.996372,-0.062687,-0.057564]
2025-06-18T18:36:10.206Z,1750271770.206 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:10.206Z,1750271770.206 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:10.210Z,1750271770.210 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:10.210Z,1750271770.210 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:10.371Z,1750271770.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.799999 m,
deltaT: 3.527886 s,
deltaX: -0.200001 m,
approachRate: -0.056691 m/s,
rangeRepo size: 4
2025-06-18T18:36:10.377Z,1750271770.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.591585 m,
bearing: 139.649551 deg,
lat: 36.905879 deg,
lon: -122.115768 deg,
deltaT: 3.527886 s,
deltaX: -0.198187 m,
approachRate: -0.056177 m/s,
posRepo size: 4
2025-06-18T18:36:10.378Z,1750271770.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:10.446Z,1750271770.446 [DAT](INFO): DAT read: TxSync time:18:36:11.1924
2025-06-18T18:36:10.695Z,1750271770.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:11.079Z,1750271771.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:11.490Z,1750271771.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:11.901Z,1750271771.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:12.276Z,1750271772.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:12.719Z,1750271772.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:13.094Z,1750271773.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:13.217Z,1750271773.217 [DAT](INFO): DAT read: Rx Time:18:36:13.6278
2025-06-18T18:36:13.217Z,1750271773.217 [DAT](INFO): Rx dataTimestamp_ set to:1750271773.216972
2025-06-18T18:36:13.603Z,1750271773.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:13.727Z,1750271773.727 [DAT](INFO): DAT read: 18:36:13.6278 LVL= 24272, 22513, 27058, 32755, AGC= 66, IDX= 436,-0.47,-0.691, 1.454,-0.339, 0.010, PHS=-0.613, 1.491,-0.353, RAW= 323.5, -5.3, CAL= 326.5, -7.4, ROT= 183.5, 7.4
2025-06-18T18:36:13.728Z,1750271773.728 [DAT](INFO): got valid direction response:
18:36:13.6278 LVL= 24272, 22513, 27058, 32755, AGC= 66, IDX= 436,-0.47,-0.691, 1.454,-0.339, 0.010, PHS=-0.613, 1.491,-0.353, RAW= 323.5, -5.3, CAL= 326.5, -7.4, ROT= 183.5, 7.4
2025-06-18T18:36:13.729Z,1750271773.729 [DAT](INFO): DAT read: Bearing 183.5, 7.4 (Local)
2025-06-18T18:36:13.729Z,1750271773.729 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.5, 7.4 (Local)
2025-06-18T18:36:13.731Z,1750271773.731 [DAT](INFO): DAT read: Range 10 to 50 : 22.8 m (Round-trip 30.4 ms) speed -0.1 m/s
2025-06-18T18:36:13.731Z,1750271773.731 [DAT](INFO): DAT read: user:1337>
2025-06-18T18:36:13.732Z,1750271773.732 [DAT](INFO): DAT read: Tx time:18:36:14.7432
2025-06-18T18:36:13.733Z,1750271773.733 [DAT](INFO): Ping request sent.
2025-06-18T18:36:13.733Z,1750271773.733 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:13.733Z,1750271773.733 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-18T18:36:13.734Z,1750271773.734 [DAT](INFO): direction in FSK: [-0.989821,-0.060540,-0.128796]
2025-06-18T18:36:13.734Z,1750271773.734 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:13.735Z,1750271773.735 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:13.738Z,1750271773.738 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:13.738Z,1750271773.738 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:13.953Z,1750271773.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.799999 m,
deltaT: 3.528143 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:36:13.955Z,1750271773.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.591566 m,
bearing: 138.608141 deg,
lat: 36.905882 deg,
lon: -122.115766 deg,
deltaT: 3.528143 s,
deltaX: -0.000019 m,
approachRate: -0.000005 m/s,
posRepo size: 4
2025-06-18T18:36:13.955Z,1750271773.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:13.973Z,1750271773.973 [DAT](INFO): DAT read: TxSync time:18:36:14.7424
2025-06-18T18:36:14.358Z,1750271774.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:14.759Z,1750271774.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:15.118Z,1750271775.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:15.551Z,1750271775.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:15.922Z,1750271775.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:16.318Z,1750271776.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:16.745Z,1750271776.745 [DAT](INFO): DAT read: Rx Time:18:36:17.1776
2025-06-18T18:36:16.745Z,1750271776.745 [DAT](INFO): Rx dataTimestamp_ set to:1750271776.745212
2025-06-18T18:36:16.756Z,1750271776.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:17.150Z,1750271777.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:17.255Z,1750271777.255 [DAT](INFO): DAT read: 18:36:17.1776 LVL= 28304, 26225, 21218, 32755, AGC= 65, IDX= 417, 0.21,-2.918,-0.721,-2.587,-2.094, PHS=-0.736, 1.420,-0.496, RAW= 324.2, -1.9, CAL= 326.6, -2.7, ROT= 183.4, 2.7
2025-06-18T18:36:17.256Z,1750271777.256 [DAT](INFO): got valid direction response:
18:36:17.1776 LVL= 28304, 26225, 21218, 32755, AGC= 65, IDX= 417, 0.21,-2.918,-0.721,-2.587,-2.094, PHS=-0.736, 1.420,-0.496, RAW= 324.2, -1.9, CAL= 326.6, -2.7, ROT= 183.4, 2.7
2025-06-18T18:36:17.257Z,1750271777.257 [DAT](INFO): DAT read: $Error in header
2025-06-18T18:36:17.257Z,1750271777.257 [DAT](INFO): Received a bad header
2025-06-18T18:36:17.268Z,1750271777.268 [DAT](INFO): #Rx 11: Read direction message, but no range.
2025-06-18T18:36:17.269Z,1750271777.269 [DAT](INFO): direction in FSK: [-0.997132,-0.059240,-0.047106]
2025-06-18T18:36:17.585Z,1750271777.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:17.939Z,1750271777.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:18.347Z,1750271778.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:18.774Z,1750271778.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:19.227Z,1750271779.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:19.612Z,1750271779.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:20.017Z,1750271780.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:20.381Z,1750271780.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:20.789Z,1750271780.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:21.183Z,1750271781.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:21.603Z,1750271781.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:21.981Z,1750271781.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:22.386Z,1750271782.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:22.814Z,1750271782.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:23.213Z,1750271783.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:23.637Z,1750271783.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:24.007Z,1750271784.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:24.413Z,1750271784.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:24.561Z,1750271784.561 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:36:24.561Z,1750271784.561 [DAT](INFO): response not received
2025-06-18T18:36:24.562Z,1750271784.562 [DAT](INFO): DAT read: user:1339>
2025-06-18T18:36:24.562Z,1750271784.562 [DAT](INFO): DAT read: Tx time:18:36:25.6934
2025-06-18T18:36:24.563Z,1750271784.563 [DAT](INFO): Ping request sent.
2025-06-18T18:36:24.563Z,1750271784.563 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:24.563Z,1750271784.563 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:24.813Z,1750271784.813 [DAT](INFO): DAT read: TxSync time:18:36:25.6926
2025-06-18T18:36:24.847Z,1750271784.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:25.214Z,1750271785.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:25.678Z,1750271785.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:26.106Z,1750271786.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:26.483Z,1750271786.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:26.904Z,1750271786.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:27.257Z,1750271787.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:27.585Z,1750271787.585 [DAT](INFO): DAT read: Rx Time:18:36:28.1272
2025-06-18T18:36:27.585Z,1750271787.585 [DAT](INFO): Rx dataTimestamp_ set to:1750271787.584976
2025-06-18T18:36:27.681Z,1750271787.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m.
2025-06-18T18:36:28.095Z,1750271788.095 [DAT](INFO): DAT read: 18:36:28.1272 LVL= 30032, 23233, 26850, 32755, AGC= 65, IDX= 412, 0.18,-1.640, 0.430,-1.260,-0.876, PHS=-0.676, 1.353,-0.387, RAW= 322.4, -3.1, CAL= 325.2, -4.3, ROT= 184.8, 4.3
2025-06-18T18:36:28.096Z,1750271788.096 [DAT](INFO): got valid direction response:
18:36:28.1272 LVL= 30032, 23233, 26850, 32755, AGC= 65, IDX= 412, 0.18,-1.640, 0.430,-1.260,-0.876, PHS=-0.676, 1.353,-0.387, RAW= 322.4, -3.1, CAL= 325.2, -4.3, ROT= 184.8, 4.3
2025-06-18T18:36:28.097Z,1750271788.097 [DAT](INFO): DAT read: Bearing 184.8, 4.3 (Local)
2025-06-18T18:36:28.097Z,1750271788.097 [DAT](INFO): Local bearing/azimuth received:
Bearing 184.8, 4.3 (Local)
2025-06-18T18:36:28.099Z,1750271788.099 [DAT](INFO): DAT read: Range 10 to 50 : 22.2 m (Round-trip 29.6 ms) speed -0.1 m/s
2025-06-18T18:36:28.100Z,1750271788.100 [DAT](INFO): DAT read: user:1340>
2025-06-18T18:36:28.101Z,1750271788.101 [DAT](INFO): DAT read: Tx time:18:36:29.2434
2025-06-18T18:36:28.101Z,1750271788.101 [DAT](INFO): Ping request sent.
2025-06-18T18:36:28.101Z,1750271788.101 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:28.101Z,1750271788.101 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-18T18:36:28.102Z,1750271788.102 [DAT](INFO): direction in FSK: [-0.993688,-0.083442,-0.074979]
2025-06-18T18:36:28.103Z,1750271788.103 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:28.103Z,1750271788.103 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:28.107Z,1750271788.107 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:28.107Z,1750271788.107 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:28.145Z,1750271788.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.200001 m,
deltaT: 14.368072 s,
deltaX: -0.599998 m,
approachRate: -0.041759 m/s,
rangeRepo size: 4
2025-06-18T18:36:28.147Z,1750271788.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.997053 m,
bearing: 140.258509 deg,
lat: 36.905879 deg,
lon: -122.115768 deg,
deltaT: 14.368072 s,
deltaX: -0.594513 m,
approachRate: -0.041377 m/s,
posRepo size: 4
2025-06-18T18:36:28.147Z,1750271788.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:36:28.341Z,1750271788.341 [DAT](INFO): DAT read: TxSync time:18:36:29.2426
2025-06-18T18:36:28.482Z,1750271788.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:36:28.907Z,1750271788.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:36:29.261Z,1750271789.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:36:29.680Z,1750271789.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:36:30.063Z,1750271790.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:36:30.466Z,1750271790.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:36:30.907Z,1750271790.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:36:31.114Z,1750271791.114 [DAT](INFO): DAT read: Rx Time:18:36:31.6770
2025-06-18T18:36:31.115Z,1750271791.115 [DAT](INFO): Rx dataTimestamp_ set to:1750271791.114431
2025-06-18T18:36:31.288Z,1750271791.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-06-18T18:36:31.640Z,1750271791.640 [DAT](INFO): DAT read: 18:36:31.6770 LVL= 26448, 27633, 27810, 32755, AGC= 66, IDX= 426,-0.02, 0.654, 2.646, 0.953, 1.361, PHS=-0.619, 1.332,-0.411, RAW= 324.4, -3.3, CAL= 327.0, -4.6, ROT= 183.0, 4.6
2025-06-18T18:36:31.641Z,1750271791.641 [DAT](INFO): got valid direction response:
18:36:31.6770 LVL= 26448, 27633, 27810, 32755, AGC= 66, IDX= 426,-0.02, 0.654, 2.646, 0.953, 1.361, PHS=-0.619, 1.332,-0.411, RAW= 324.4, -3.3, CAL= 327.0, -4.6, ROT= 183.0, 4.6
2025-06-18T18:36:31.642Z,1750271791.642 [DAT](INFO): DAT read: Bearing 183.0, 4.6 (Local)
2025-06-18T18:36:31.643Z,1750271791.643 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.0, 4.6 (Local)
2025-06-18T18:36:31.656Z,1750271791.656 [DAT](INFO): DAT read: Range 10 to 50 : 22.0 m (Round-trip 29.4 ms) speed 0.1 m/s
2025-06-18T18:36:31.657Z,1750271791.657 [DAT](INFO): DAT read: user:1341>
2025-06-18T18:36:31.658Z,1750271791.658 [DAT](INFO): DAT read: Tx time:18:36:32.7934
2025-06-18T18:36:31.658Z,1750271791.658 [DAT](INFO): Ping request sent.
2025-06-18T18:36:31.658Z,1750271791.658 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:31.658Z,1750271791.658 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-18T18:36:31.659Z,1750271791.659 [DAT](INFO): direction in FSK: [-0.995413,-0.052167,-0.080199]
2025-06-18T18:36:31.664Z,1750271791.664 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:31.664Z,1750271791.664 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:31.667Z,1750271791.667 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:31.667Z,1750271791.667 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:31.804Z,1750271791.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.000000 m,
deltaT: 3.530052 s,
deltaX: -0.200001 m,
approachRate: -0.056657 m/s,
rangeRepo size: 4
2025-06-18T18:36:31.806Z,1750271791.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.798876 m,
bearing: 138.372782 deg,
lat: 36.905882 deg,
lon: -122.115766 deg,
deltaT: 3.530052 s,
deltaX: -0.198177 m,
approachRate: -0.056140 m/s,
posRepo size: 4
2025-06-18T18:36:31.807Z,1750271791.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:36:31.870Z,1750271791.870 [DAT](INFO): DAT read: TxSync time:18:36:32.7926
2025-06-18T18:36:32.094Z,1750271792.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:36:32.483Z,1750271792.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:36:32.944Z,1750271792.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:36:33.304Z,1750271793.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:36:33.733Z,1750271793.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:36:34.108Z,1750271794.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:36:34.519Z,1750271794.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:36:34.643Z,1750271794.643 [DAT](INFO): DAT read: Rx Time:18:36:35.2270
2025-06-18T18:36:34.645Z,1750271794.645 [DAT](INFO): Rx dataTimestamp_ set to:1750271794.643749
2025-06-18T18:36:34.940Z,1750271794.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:36:35.169Z,1750271795.169 [DAT](INFO): DAT read: 18:36:35.2270 LVL= 32752, 26641, 28210, 32755, AGC= 66, IDX= 440, 0.31,-0.122, 1.994, 0.279, 0.673, PHS=-0.707, 1.368,-0.397, RAW= 322.0, -2.8, CAL= 324.7, -3.9, ROT= 185.3, 3.9
2025-06-18T18:36:35.170Z,1750271795.170 [DAT](INFO): got valid direction response:
18:36:35.2270 LVL= 32752, 26641, 28210, 32755, AGC= 66, IDX= 440, 0.31,-0.122, 1.994, 0.279, 0.673, PHS=-0.707, 1.368,-0.397, RAW= 322.0, -2.8, CAL= 324.7, -3.9, ROT= 185.3, 3.9
2025-06-18T18:36:35.171Z,1750271795.171 [DAT](INFO): DAT read: Bearing 185.3, 3.9 (Local)
2025-06-18T18:36:35.178Z,1750271795.178 [DAT](INFO): Local bearing/azimuth received:
Bearing 185.3, 3.9 (Local)
2025-06-18T18:36:35.185Z,1750271795.185 [DAT](INFO): DAT read: Range 10 to 50 : 21.9 m (Round-trip 29.3 ms) speed 0.0 m/s
2025-06-18T18:36:35.186Z,1750271795.186 [DAT](INFO): DAT read: user:1342>
2025-06-18T18:36:35.186Z,1750271795.186 [DAT](INFO): DAT read: Tx time:18:36:36.3435
2025-06-18T18:36:35.187Z,1750271795.187 [DAT](INFO): Ping request sent.
2025-06-18T18:36:35.187Z,1750271795.187 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:35.187Z,1750271795.187 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-18T18:36:35.193Z,1750271795.193 [DAT](INFO): direction in FSK: [-0.993419,-0.092157,-0.068015]
2025-06-18T18:36:35.193Z,1750271795.193 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:35.193Z,1750271795.193 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:35.207Z,1750271795.207 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:35.212Z,1750271795.212 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:35.357Z,1750271795.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.900000 m,
deltaT: 3.527398 s,
deltaX: -0.100000 m,
approachRate: -0.028350 m/s,
rangeRepo size: 4
2025-06-18T18:36:35.359Z,1750271795.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.699789 m,
bearing: 141.000232 deg,
lat: 36.905879 deg,
lon: -122.115768 deg,
deltaT: 3.527398 s,
deltaX: -0.099087 m,
approachRate: -0.028091 m/s,
posRepo size: 4
2025-06-18T18:36:35.359Z,1750271795.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:35.397Z,1750271795.397 [DAT](INFO): DAT read: TxSync time:18:36:36.3427
2025-06-18T18:36:35.776Z,1750271795.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:36.141Z,1750271796.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:36.405Z,1750271796.405 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:36:36.548Z,1750271796.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:36.972Z,1750271796.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:37.341Z,1750271797.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:37.409Z,1750271797.409 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:36:37.830Z,1750271797.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:38.169Z,1750271798.169 [DAT](INFO): DAT read: Rx Time:18:36:38.7769
2025-06-18T18:36:38.169Z,1750271798.169 [DAT](INFO): Rx dataTimestamp_ set to:1750271798.169117
2025-06-18T18:36:38.171Z,1750271798.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:38.612Z,1750271798.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:38.933Z,1750271798.933 [DAT](INFO): DAT read: 18:36:38.7769 LVL= 25648, 21921, 19522, 32755, AGC= 66, IDX= 439, 0.20, 0.174, 2.339, 0.540, 0.962, PHS=-0.700, 1.424,-0.425, RAW= 323.2, -3.0, CAL= 325.8, -4.3, ROT= 184.2, 4.3
2025-06-18T18:36:38.934Z,1750271798.934 [DAT](INFO): got valid direction response:
18:36:38.7769 LVL= 25648, 21921, 19522, 32755, AGC= 66, IDX= 439, 0.20, 0.174, 2.339, 0.540, 0.962, PHS=-0.700, 1.424,-0.425, RAW= 323.2, -3.0, CAL= 325.8, -4.3, ROT= 184.2, 4.3
2025-06-18T18:36:38.935Z,1750271798.935 [DAT](INFO): DAT read: Bearing 184.2, 4.3 (Local)
2025-06-18T18:36:38.935Z,1750271798.935 [DAT](INFO): Local bearing/azimuth received:
Bearing 184.2, 4.3 (Local)
2025-06-18T18:36:38.937Z,1750271798.937 [DAT](INFO): DAT read: Range 10 to 50 : 21.9 m (Round-trip 29.2 ms) speed 0.0 m/s
2025-06-18T18:36:38.938Z,1750271798.938 [DAT](INFO): DAT read: user:1343>
2025-06-18T18:36:38.939Z,1750271798.939 [DAT](INFO): DAT read: Tx time:18:36:39.8935
2025-06-18T18:36:38.939Z,1750271798.939 [DAT](INFO): Ping request sent.
2025-06-18T18:36:38.939Z,1750271798.939 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:38.948Z,1750271798.948 [DAT](INFO): DAT read: TxSync time:18:36:39.8927
2025-06-18T18:36:38.949Z,1750271798.949 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-18T18:36:38.950Z,1750271798.950 [DAT](INFO): direction in FSK: [-0.994507,-0.073032,-0.074979]
2025-06-18T18:36:38.950Z,1750271798.950 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:38.950Z,1750271798.950 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:38.953Z,1750271798.953 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:38.954Z,1750271798.954 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:39.126Z,1750271799.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.900000 m,
deltaT: 3.779457 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:36:39.133Z,1750271799.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.699785 m,
bearing: 139.736511 deg,
lat: 36.905878 deg,
lon: -122.115768 deg,
deltaT: 3.779457 s,
deltaX: -0.000004 m,
approachRate: -0.000001 m/s,
posRepo size: 4
2025-06-18T18:36:39.133Z,1750271799.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:39.413Z,1750271799.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:39.903Z,1750271799.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:36:39.905Z,1750271799.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:39.933Z,1750271799.933 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:36:39.933Z,1750271799.933 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:36:39.934Z,1750271799.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:36:40.185Z,1750271800.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245841
2025-06-18T18:36:40.257Z,1750271800.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:40.437Z,1750271800.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497797
2025-06-18T18:36:40.645Z,1750271800.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:40.692Z,1750271800.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753000
2025-06-18T18:36:40.941Z,1750271800.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001887
2025-06-18T18:36:41.093Z,1750271801.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:41.193Z,1750271801.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254328
2025-06-18T18:36:41.445Z,1750271801.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505951
2025-06-18T18:36:41.457Z,1750271801.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:41.697Z,1750271801.697 [DAT](INFO): DAT read: Rx Time:18:36:42.3266
2025-06-18T18:36:41.697Z,1750271801.697 [DAT](INFO): Rx dataTimestamp_ set to:1750271801.697088
2025-06-18T18:36:41.698Z,1750271801.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758994
2025-06-18T18:36:41.924Z,1750271801.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:41.957Z,1750271801.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018205
2025-06-18T18:36:42.207Z,1750271802.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267267
2025-06-18T18:36:42.294Z,1750271802.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-06-18T18:36:42.463Z,1750271802.463 [DAT](INFO): DAT read: 18:36:42.3266 LVL= 25456, 22833, 19282, 32755, AGC= 67, IDX= 437,-0.12, 2.501,-1.614, 2.851,-2.974, PHS=-0.720, 1.407,-0.461, RAW= 323.6, -2.3, CAL= 326.1, -3.3, ROT= 183.9, 3.3
2025-06-18T18:36:42.464Z,1750271802.464 [DAT](INFO): got valid direction response:
18:36:42.3266 LVL= 25456, 22833, 19282, 32755, AGC= 67, IDX= 437,-0.12, 2.501,-1.614, 2.851,-2.974, PHS=-0.720, 1.407,-0.461, RAW= 323.6, -2.3, CAL= 326.1, -3.3, ROT= 183.9, 3.3
2025-06-18T18:36:42.465Z,1750271802.465 [DAT](INFO): DAT read: Bearing 183.9, 3.3 (Local)
2025-06-18T18:36:42.465Z,1750271802.465 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.9, 3.3 (Local)
2025-06-18T18:36:42.467Z,1750271802.467 [DAT](INFO): DAT read: Range 10 to 50 : 21.7 m (Round-trip 29.0 ms) speed 0.0 m/s
2025-06-18T18:36:42.467Z,1750271802.467 [DAT](INFO): DAT read: user:1344>
2025-06-18T18:36:42.486Z,1750271802.486 [DAT](INFO): DAT read: Tx time:18:36:43.4435
2025-06-18T18:36:42.520Z,1750271802.520 [DAT](INFO): Ping request sent.
2025-06-18T18:36:42.521Z,1750271802.521 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:42.521Z,1750271802.521 [DAT](INFO): DAT read: TxSync time:18:36:43.4427
2025-06-18T18:36:42.522Z,1750271802.522 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:36:42.523Z,1750271802.523 [DAT](INFO): direction in FSK: [-0.996030,-0.067902,-0.057564]
2025-06-18T18:36:42.523Z,1750271802.523 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:42.523Z,1750271802.523 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:42.531Z,1750271802.531 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:42.531Z,1750271802.531 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:42.681Z,1750271802.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.700001 m,
deltaT: 3.530990 s,
deltaX: -0.199999 m,
approachRate: -0.056641 m/s,
rangeRepo size: 4
2025-06-18T18:36:42.683Z,1750271802.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.501637 m,
bearing: 139.693356 deg,
lat: 36.905878 deg,
lon: -122.115768 deg,
deltaT: 3.530990 s,
deltaX: -0.198149 m,
approachRate: -0.056117 m/s,
posRepo size: 4
2025-06-18T18:36:42.683Z,1750271802.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m.
2025-06-18T18:36:43.103Z,1750271803.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m.
2025-06-18T18:36:43.476Z,1750271803.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m.
2025-06-18T18:36:43.912Z,1750271803.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m.
2025-06-18T18:36:44.297Z,1750271804.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m.
2025-06-18T18:36:44.686Z,1750271804.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m.
2025-06-18T18:36:45.114Z,1750271805.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m.
2025-06-18T18:36:45.229Z,1750271805.229 [DAT](INFO): DAT read: Rx Time:18:36:45.8764
2025-06-18T18:36:45.230Z,1750271805.230 [DAT](INFO): Rx dataTimestamp_ set to:1750271805.229453
2025-06-18T18:36:45.501Z,1750271805.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m.
2025-06-18T18:36:45.936Z,1750271805.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m.
2025-06-18T18:36:45.994Z,1750271805.994 [DAT](INFO): DAT read: 18:36:45.8764 LVL= 29424, 24689, 26786, 32755, AGC= 66, IDX= 434, 0.28, 2.893,-1.283,-3.078,-2.619, PHS=-0.682, 1.383,-0.461, RAW= 324.4, -2.5, CAL= 326.9, -3.5, ROT= 183.1, 3.5
2025-06-18T18:36:45.995Z,1750271805.995 [DAT](INFO): got valid direction response:
18:36:45.8764 LVL= 29424, 24689, 26786, 32755, AGC= 66, IDX= 434, 0.28, 2.893,-1.283,-3.078,-2.619, PHS=-0.682, 1.383,-0.461, RAW= 324.4, -2.5, CAL= 326.9, -3.5, ROT= 183.1, 3.5
2025-06-18T18:36:45.998Z,1750271805.998 [DAT](INFO): DAT read: Bearing 183.1, 3.5 (Local)
2025-06-18T18:36:45.999Z,1750271805.999 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.1, 3.5 (Local)
2025-06-18T18:36:46.004Z,1750271806.004 [DAT](INFO): DAT read: Range 10 to 50 : 21.6 m (Round-trip 28.8 ms) speed 0.0 m/s
2025-06-18T18:36:46.005Z,1750271806.005 [DAT](INFO): DAT read: user:1345>
2025-06-18T18:36:46.005Z,1750271806.005 [DAT](INFO): DAT read: Tx time:18:36:46.9935
2025-06-18T18:36:46.006Z,1750271806.006 [DAT](INFO): Ping request sent.
2025-06-18T18:36:46.006Z,1750271806.006 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:46.006Z,1750271806.006 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-18T18:36:46.007Z,1750271806.007 [DAT](INFO): direction in FSK: [-0.996674,-0.053978,-0.061049]
2025-06-18T18:36:46.007Z,1750271806.007 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:46.011Z,1750271806.011 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:46.014Z,1750271806.014 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:46.014Z,1750271806.014 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:46.237Z,1750271806.237 [DAT](INFO): DAT read: TxSync time:18:36:46.9927
2025-06-18T18:36:46.325Z,1750271806.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.600000 m,
deltaT: 3.528686 s,
deltaX: -0.100000 m,
approachRate: -0.028339 m/s,
rangeRepo size: 4
2025-06-18T18:36:46.327Z,1750271806.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.402548 m,
bearing: 139.114446 deg,
lat: 36.905878 deg,
lon: -122.115768 deg,
deltaT: 3.528686 s,
deltaX: -0.099089 m,
approachRate: -0.028081 m/s,
posRepo size: 4
2025-06-18T18:36:46.328Z,1750271806.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:36:46.711Z,1750271806.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:36:47.134Z,1750271807.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:36:47.535Z,1750271807.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:36:47.959Z,1750271807.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:36:48.374Z,1750271808.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:36:48.737Z,1750271808.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:36:49.009Z,1750271809.009 [DAT](INFO): DAT read: Rx Time:18:36:49.4263
2025-06-18T18:36:49.010Z,1750271809.010 [DAT](INFO): Rx dataTimestamp_ set to:1750271809.009270
2025-06-18T18:36:49.182Z,1750271809.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-06-18T18:36:49.519Z,1750271809.519 [DAT](INFO): DAT read: 18:36:49.4263 LVL= 29152, 28529, 20978, 32755, AGC= 66, IDX= 433, 0.03,-0.036, 2.140, 0.310, 0.727, PHS=-0.675, 1.460,-0.420, RAW= 323.7, -3.6, CAL= 326.4, -5.1, ROT= 183.6, 5.1
2025-06-18T18:36:49.520Z,1750271809.520 [DAT](INFO): got valid direction response:
18:36:49.4263 LVL= 29152, 28529, 20978, 32755, AGC= 66, IDX= 433, 0.03,-0.036, 2.140, 0.310, 0.727, PHS=-0.675, 1.460,-0.420, RAW= 323.7, -3.6, CAL= 326.4, -5.1, ROT= 183.6, 5.1
2025-06-18T18:36:49.521Z,1750271809.521 [DAT](INFO): DAT read: Bearing 183.6, 5.1 (Local)
2025-06-18T18:36:49.522Z,1750271809.522 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.6, 5.1 (Local)
2025-06-18T18:36:49.523Z,1750271809.523 [DAT](INFO): DAT read: Range 10 to 50 : 21.4 m (Round-trip 28.6 ms) speed 0.0 m/s
2025-06-18T18:36:49.524Z,1750271809.524 [DAT](INFO): DAT read: user:1346>
2025-06-18T18:36:49.525Z,1750271809.525 [DAT](INFO): DAT read: Tx time:18:36:50.5436
2025-06-18T18:36:49.525Z,1750271809.525 [DAT](INFO): Ping request sent.
2025-06-18T18:36:49.525Z,1750271809.525 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:49.526Z,1750271809.526 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-18T18:36:49.527Z,1750271809.527 [DAT](INFO): direction in FSK: [-0.994076,-0.062542,-0.088894]
2025-06-18T18:36:49.527Z,1750271809.527 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:49.527Z,1750271809.527 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:49.530Z,1750271809.530 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:49.531Z,1750271809.531 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:49.649Z,1750271809.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.400000 m,
deltaT: 3.527386 s,
deltaX: -0.200001 m,
approachRate: -0.056699 m/s,
rangeRepo size: 4
2025-06-18T18:36:49.651Z,1750271809.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.204428 m,
bearing: 139.266184 deg,
lat: 36.905878 deg,
lon: -122.115768 deg,
deltaT: 3.527386 s,
deltaX: -0.198120 m,
approachRate: -0.056166 m/s,
posRepo size: 4
2025-06-18T18:36:49.651Z,1750271809.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.20 m.
2025-06-18T18:36:49.765Z,1750271809.765 [DAT](INFO): DAT read: TxSync time:18:36:50.5428
2025-06-18T18:36:49.982Z,1750271809.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.20 m.
2025-06-18T18:36:50.415Z,1750271810.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.20 m.
2025-06-18T18:36:50.787Z,1750271810.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.20 m.
2025-06-18T18:36:51.251Z,1750271811.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.20 m.
2025-06-18T18:36:51.607Z,1750271811.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.20 m.
2025-06-18T18:36:52.007Z,1750271812.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.20 m.
2025-06-18T18:36:52.395Z,1750271812.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.20 m.
2025-06-18T18:36:52.542Z,1750271812.542 [DAT](INFO): DAT read: Rx Time:18:36:52.9761
2025-06-18T18:36:52.543Z,1750271812.543 [DAT](INFO): Rx dataTimestamp_ set to:1750271812.542099
2025-06-18T18:36:52.775Z,1750271812.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.20 m.
2025-06-18T18:36:53.055Z,1750271813.055 [DAT](INFO): DAT read: 18:36:52.9761 LVL= 32752, 31553, 28146, 32755, AGC= 65, IDX= 447,-0.19, 1.867,-2.450, 2.194, 2.511, PHS=-0.556, 1.369,-0.320, RAW= 323.5, -5.5, CAL= 326.5, -7.6, ROT= 183.5, 7.6
2025-06-18T18:36:53.060Z,1750271813.060 [DAT](INFO): got valid direction response:
18:36:52.9761 LVL= 32752, 31553, 28146, 32755, AGC= 65, IDX= 447,-0.19, 1.867,-2.450, 2.194, 2.511, PHS=-0.556, 1.369,-0.320, RAW= 323.5, -5.5, CAL= 326.5, -7.6, ROT= 183.5, 7.6
2025-06-18T18:36:53.061Z,1750271813.061 [DAT](INFO): DAT read: Bearing 183.5, 7.6 (Local)
2025-06-18T18:36:53.061Z,1750271813.061 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.5, 7.6 (Local)
2025-06-18T18:36:53.063Z,1750271813.063 [DAT](INFO): DAT read: Range 10 to 50 : 21.3 m (Round-trip 28.4 ms) speed -0.1 m/s
2025-06-18T18:36:53.063Z,1750271813.063 [DAT](INFO): DAT read: user:1347>
2025-06-18T18:36:53.064Z,1750271813.064 [DAT](INFO): DAT read: Tx time:18:36:54.0936
2025-06-18T18:36:53.065Z,1750271813.065 [DAT](INFO): Ping request sent.
2025-06-18T18:36:53.065Z,1750271813.065 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:53.065Z,1750271813.065 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-18T18:36:53.066Z,1750271813.066 [DAT](INFO): direction in FSK: [-0.989367,-0.060512,-0.132256]
2025-06-18T18:36:53.066Z,1750271813.066 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:53.066Z,1750271813.066 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:53.071Z,1750271813.071 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:53.071Z,1750271813.071 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:53.252Z,1750271813.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.299999 m,
deltaT: 3.531874 s,
deltaX: -0.100000 m,
approachRate: -0.028314 m/s,
rangeRepo size: 4
2025-06-18T18:36:53.255Z,1750271813.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.105320 m,
bearing: 138.764362 deg,
lat: 36.905879 deg,
lon: -122.115767 deg,
deltaT: 3.531874 s,
deltaX: -0.099108 m,
approachRate: -0.028061 m/s,
posRepo size: 4
2025-06-18T18:36:53.255Z,1750271813.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m.
2025-06-18T18:36:53.297Z,1750271813.297 [DAT](INFO): DAT read: TxSync time:18:36:54.0928
2025-06-18T18:36:53.589Z,1750271813.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m.
2025-06-18T18:36:54.014Z,1750271814.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m.
2025-06-18T18:36:54.400Z,1750271814.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m.
2025-06-18T18:36:54.819Z,1750271814.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m.
2025-06-18T18:36:55.212Z,1750271815.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m.
2025-06-18T18:36:55.605Z,1750271815.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m.
2025-06-18T18:36:56.041Z,1750271816.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m.
2025-06-18T18:36:56.073Z,1750271816.073 [DAT](INFO): DAT read: Rx Time:18:36:56.5259
2025-06-18T18:36:56.073Z,1750271816.073 [DAT](INFO): Rx dataTimestamp_ set to:1750271816.073196
2025-06-18T18:36:56.482Z,1750271816.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m.
2025-06-18T18:36:56.584Z,1750271816.584 [DAT](INFO): DAT read: 18:36:56.5259 LVL= 20912, 21841, 21906, 32755, AGC= 65, IDX= 428, 0.29, 3.032,-1.212,-2.916,-2.564, PHS=-0.599, 1.399,-0.355, RAW= 323.6, -4.8, CAL= 326.5, -6.6, ROT= 183.5, 6.6
2025-06-18T18:36:56.585Z,1750271816.585 [DAT](INFO): got valid direction response:
18:36:56.5259 LVL= 20912, 21841, 21906, 32755, AGC= 65, IDX= 428, 0.29, 3.032,-1.212,-2.916,-2.564, PHS=-0.599, 1.399,-0.355, RAW= 323.6, -4.8, CAL= 326.5, -6.6, ROT= 183.5, 6.6
2025-06-18T18:36:56.586Z,1750271816.586 [DAT](INFO): DAT read: Bearing 183.5, 6.6 (Local)
2025-06-18T18:36:56.587Z,1750271816.587 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.5, 6.6 (Local)
2025-06-18T18:36:56.593Z,1750271816.593 [DAT](INFO): DAT read: Range 10 to 50 : 21.1 m (Round-trip 28.2 ms) speed 0.0 m/s
2025-06-18T18:36:56.594Z,1750271816.594 [DAT](INFO): DAT read: user:1348>
2025-06-18T18:36:56.594Z,1750271816.594 [DAT](INFO): DAT read: Tx time:18:36:57.6436
2025-06-18T18:36:56.595Z,1750271816.595 [DAT](INFO): Ping request sent.
2025-06-18T18:36:56.595Z,1750271816.595 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:36:56.595Z,1750271816.595 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-18T18:36:56.596Z,1750271816.596 [DAT](INFO): direction in FSK: [-0.991520,-0.060644,-0.114937]
2025-06-18T18:36:56.596Z,1750271816.596 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:56.597Z,1750271816.597 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:56.612Z,1750271816.612 [DAT](INFO): publishing transmit ping time
2025-06-18T18:36:56.612Z,1750271816.612 [DAT](INFO): publishing direction and range info
2025-06-18T18:36:56.829Z,1750271816.829 [DAT](INFO): DAT read: TxSync time:18:36:57.6428
2025-06-18T18:36:56.831Z,1750271816.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.100000 m,
deltaT: 3.532896 s,
deltaX: -0.199999 m,
approachRate: -0.056610 m/s,
rangeRepo size: 4
2025-06-18T18:36:56.833Z,1750271816.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.907148 m,
bearing: 138.910178 deg,
lat: 36.905880 deg,
lon: -122.115766 deg,
deltaT: 3.532896 s,
deltaX: -0.198172 m,
approachRate: -0.056093 m/s,
posRepo size: 4
2025-06-18T18:36:56.834Z,1750271816.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.91 m.
2025-06-18T18:36:57.233Z,1750271817.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.91 m.
2025-06-18T18:36:57.628Z,1750271817.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.91 m.
2025-06-18T18:36:58.073Z,1750271818.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.91 m.
2025-06-18T18:36:58.429Z,1750271818.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.91 m.
2025-06-18T18:36:58.836Z,1750271818.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.91 m.
2025-06-18T18:36:59.258Z,1750271819.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.91 m.
2025-06-18T18:36:59.601Z,1750271819.601 [DAT](INFO): DAT read: Rx Time:18:37:00.0758
2025-06-18T18:36:59.602Z,1750271819.602 [DAT](INFO): Rx dataTimestamp_ set to:1750271819.601308
2025-06-18T18:36:59.650Z,1750271819.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.91 m.
2025-06-18T18:37:00.087Z,1750271820.087 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 87.55, 77.04
2025-06-18T18:37:00.102Z,1750271820.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.91 m.
2025-06-18T18:37:00.119Z,1750271820.119 [DAT](INFO): DAT read: 18:37:00.0758 LVL= 25392, 20929, 22882, 32755, AGC= 67, IDX= 443,-0.15, 0.731, 2.851, 1.027, 1.458, PHS=-0.639, 1.441,-0.434, RAW= 324.9, -3.8, CAL= 327.5, -5.3, ROT= 182.5, 5.3
2025-06-18T18:37:00.120Z,1750271820.120 [DAT](INFO): got valid direction response:
18:37:00.0758 LVL= 25392, 20929, 22882, 32755, AGC= 67, IDX= 443,-0.15, 0.731, 2.851, 1.027, 1.458, PHS=-0.639, 1.441,-0.434, RAW= 324.9, -3.8, CAL= 327.5, -5.3, ROT= 182.5, 5.3
2025-06-18T18:37:00.121Z,1750271820.121 [DAT](INFO): DAT read: Bearing 182.5, 5.3 (Local)
2025-06-18T18:37:00.121Z,1750271820.121 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.5, 5.3 (Local)
2025-06-18T18:37:00.123Z,1750271820.123 [DAT](INFO): DAT read: Range 10 to 50 : 21.0 m (Round-trip 28.0 ms) speed 0.0 m/s
2025-06-18T18:37:00.123Z,1750271820.123 [DAT](INFO): DAT read: user:1349>
2025-06-18T18:37:00.124Z,1750271820.124 [DAT](INFO): DAT read: Tx time:18937
2025-06-18T18:37:00.125Z,1750271820.125 [DAT](INFO): unknown deviceResponse_: Tx time:18937
2025-06-18T18:37:00.125Z,1750271820.125 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-18T18:37:00.126Z,1750271820.126 [DAT](INFO): direction in FSK: [-0.994777,-0.043433,-0.092371]
2025-06-18T18:37:00.126Z,1750271820.126 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:00.357Z,1750271820.357 [DAT](INFO): DAT read: TxSync time:18:37:01.1929
2025-06-18T18:37:00.465Z,1750271820.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.000000 m,
deltaT: 3.527228 s,
deltaX: -0.100000 m,
approachRate: -0.028351 m/s,
rangeRepo size: 4
2025-06-18T18:37:00.467Z,1750271820.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.808064 m,
bearing: 138.061132 deg,
lat: 36.905881 deg,
lon: -122.115766 deg,
deltaT: 3.527228 s,
deltaX: -0.099085 m,
approachRate: -0.028091 m/s,
posRepo size: 4
2025-06-18T18:37:00.467Z,1750271820.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.81 m.
2025-06-18T18:37:00.875Z,1750271820.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.81 m.
2025-06-18T18:37:01.295Z,1750271821.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.81 m.
2025-06-18T18:37:01.665Z,1750271821.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.81 m.
2025-06-18T18:37:02.196Z,1750271822.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.81 m.
2025-06-18T18:37:02.505Z,1750271822.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.81 m.
2025-06-18T18:37:02.917Z,1750271822.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.81 m.
2025-06-18T18:37:03.129Z,1750271823.129 [DAT](INFO): DAT read: Rx Time:18:37:03.6256
2025-06-18T18:37:03.129Z,1750271823.129 [DAT](INFO): Rx dataTimestamp_ set to:1750271823.129113
2025-06-18T18:37:03.398Z,1750271823.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.81 m.
2025-06-18T18:37:03.639Z,1750271823.639 [DAT](INFO): DAT read: 18:37:03.6256 LVL= 23344, 25841, 21426, 32755, AGC= 67, IDX= 441,-0.27, 0.815, 3.019, 1.179, 1.597, PHS=-0.693, 1.469,-0.421, RAW= 323.4, -3.5, CAL= 326.1, -4.9, ROT= 183.9, 4.9
2025-06-18T18:37:03.640Z,1750271823.640 [DAT](INFO): got valid direction response:
18:37:03.6256 LVL= 23344, 25841, 21426, 32755, AGC= 67, IDX= 441,-0.27, 0.815, 3.019, 1.179, 1.597, PHS=-0.693, 1.469,-0.421, RAW= 323.4, -3.5, CAL= 326.1, -4.9, ROT= 183.9, 4.9
2025-06-18T18:37:03.641Z,1750271823.641 [DAT](INFO): DAT read: Bearing 183.9, 4.9 (Local)
2025-06-18T18:37:03.641Z,1750271823.641 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.9, 4.9 (Local)
2025-06-18T18:37:03.642Z,1750271823.642 [DAT](INFO): DAT read: Range 10 to 50 : 20.8 m (Round-trip 27.8 ms) speed 0.0 m/s
2025-06-18T18:37:03.643Z,1750271823.643 [DAT](INFO): DAT read: user:1350>
2025-06-18T18:37:03.648Z,1750271823.648 [DAT](INFO): DAT read: Tx time:18:37:04.7437
2025-06-18T18:37:03.648Z,1750271823.648 [DAT](INFO): Ping request sent.
2025-06-18T18:37:03.648Z,1750271823.648 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:03.649Z,1750271823.649 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-18T18:37:03.650Z,1750271823.650 [DAT](INFO): direction in FSK: [-0.994038,-0.067767,-0.085417]
2025-06-18T18:37:03.650Z,1750271823.650 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:03.650Z,1750271823.650 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:03.654Z,1750271823.654 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:03.654Z,1750271823.654 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:03.753Z,1750271823.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.799999 m,
deltaT: 3.527874 s,
deltaX: -0.200001 m,
approachRate: -0.056692 m/s,
rangeRepo size: 4
2025-06-18T18:37:03.755Z,1750271823.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.609863 m,
bearing: 139.413093 deg,
lat: 36.905881 deg,
lon: -122.115766 deg,
deltaT: 3.527874 s,
deltaX: -0.198200 m,
approachRate: -0.056181 m/s,
posRepo size: 4
2025-06-18T18:37:03.763Z,1750271823.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.61 m.
2025-06-18T18:37:03.886Z,1750271823.886 [DAT](INFO): DAT read: TxSync time:18:37:04.7429
2025-06-18T18:37:04.185Z,1750271824.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.61 m.
2025-06-18T18:37:04.525Z,1750271824.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.61 m.
2025-06-18T18:37:04.903Z,1750271824.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.61 m.
2025-06-18T18:37:05.354Z,1750271825.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.61 m.
2025-06-18T18:37:05.709Z,1750271825.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.61 m.
2025-06-18T18:37:06.178Z,1750271826.178 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -44, -12,A
2025-06-18T18:37:06.194Z,1750271826.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.61 m.
2025-06-18T18:37:06.530Z,1750271826.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.61 m.
2025-06-18T18:37:06.658Z,1750271826.658 [DAT](INFO): DAT read: Rx Time:18:37:07.1755
2025-06-18T18:37:06.658Z,1750271826.658 [DAT](INFO): Rx dataTimestamp_ set to:1750271826.657717
2025-06-18T18:37:06.938Z,1750271826.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.61 m.
2025-06-18T18:37:07.179Z,1750271827.179 [DAT](INFO): DAT read: 18:37:07.1755 LVL= 32752, 31153, 28082, 32755, AGC= 66, IDX= 439, 0.30,-0.893, 1.413,-0.553,-0.055, PHS=-0.750, 1.515,-0.501, RAW= 324.2, -2.5, CAL= 326.7, -3.6, ROT= 183.3, 3.6
2025-06-18T18:37:07.182Z,1750271827.182 [DAT](INFO): got valid direction response:
18:37:07.1755 LVL= 32752, 31153, 28082, 32755, AGC= 66, IDX= 439, 0.30,-0.893, 1.413,-0.553,-0.055, PHS=-0.750, 1.515,-0.501, RAW= 324.2, -2.5, CAL= 326.7, -3.6, ROT= 183.3, 3.6
2025-06-18T18:37:07.184Z,1750271827.184 [DAT](INFO): DAT read: Bearing 183.3, 3.6 (Local)
2025-06-18T18:37:07.184Z,1750271827.184 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.3, 3.6 (Local)
2025-06-18T18:37:07.187Z,1750271827.187 [DAT](INFO): DAT read: Range 10 to 50 : 20.7 m (Round-trip 27.7 ms) speed 0.1 m/s
2025-06-18T18:37:07.187Z,1750271827.187 [DAT](INFO): DAT read: user:1351>
2025-06-18T18:37:07.198Z,1750271827.198 [DAT](INFO): DAT read: Tx time:18:37:08.2937
2025-06-18T18:37:07.198Z,1750271827.198 [DAT](INFO): Ping request sent.
2025-06-18T18:37:07.198Z,1750271827.198 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:07.199Z,1750271827.199 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-18T18:37:07.201Z,1750271827.201 [DAT](INFO): direction in FSK: [-0.996372,-0.057450,-0.062791]
2025-06-18T18:37:07.201Z,1750271827.201 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:07.201Z,1750271827.201 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:07.218Z,1750271827.218 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:07.218Z,1750271827.218 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:07.395Z,1750271827.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.700001 m,
deltaT: 3.530350 s,
deltaX: -0.099998 m,
approachRate: -0.028325 m/s,
rangeRepo size: 4
2025-06-18T18:37:07.401Z,1750271827.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.510828 m,
bearing: 139.097991 deg,
lat: 36.905881 deg,
lon: -122.115766 deg,
deltaT: 3.530350 s,
deltaX: -0.099035 m,
approachRate: -0.028053 m/s,
posRepo size: 4
2025-06-18T18:37:07.401Z,1750271827.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:07.413Z,1750271827.413 [DAT](INFO): DAT read: TxSync time:18:37:08.2929
2025-06-18T18:37:07.528Z,1750271827.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:37:07.736Z,1750271827.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:08.217Z,1750271828.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:08.530Z,1750271828.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:08.532Z,1750271828.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:37:08.937Z,1750271828.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:09.359Z,1750271829.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:09.737Z,1750271829.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:10.188Z,1750271830.188 [DAT](INFO): DAT read: Rx Time:18:37:10.7252
2025-06-18T18:37:10.189Z,1750271830.189 [DAT](INFO): Rx dataTimestamp_ set to:1750271830.188355
2025-06-18T18:37:10.215Z,1750271830.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:10.578Z,1750271830.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:10.698Z,1750271830.698 [DAT](INFO): DAT read: 18:37:10.7253 LVL= 32752, 26449, 29554, 32755, AGC= 65, IDX= 437,-0.26, 1.111,-3.088, 1.413, 1.792, PHS=-0.592, 1.450,-0.381, RAW= 324.6, -4.9, CAL= 327.4, -6.8, ROT= 182.6, 6.8
2025-06-18T18:37:10.699Z,1750271830.699 [DAT](INFO): got valid direction response:
18:37:10.7253 LVL= 32752, 26449, 29554, 32755, AGC= 65, IDX= 437,-0.26, 1.111,-3.088, 1.413, 1.792, PHS=-0.592, 1.450,-0.381, RAW= 324.6, -4.9, CAL= 327.4, -6.8, ROT= 182.6, 6.8
2025-06-18T18:37:10.701Z,1750271830.701 [DAT](INFO): DAT read: Bearing 182.6, 6.8 (Local)
2025-06-18T18:37:10.701Z,1750271830.701 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.6, 6.8 (Local)
2025-06-18T18:37:10.703Z,1750271830.703 [DAT](INFO): DAT read: Range 10 to 50 : 20.5 m (Round-trip 27.4 ms) speed -0.1 m/s
2025-06-18T18:37:10.709Z,1750271830.709 [DAT](INFO): DAT read: user:1352>
2025-06-18T18:37:10.710Z,1750271830.710 [DAT](INFO): DAT read: Tx time:18:37:11.8438
2025-06-18T18:37:10.711Z,1750271830.711 [DAT](INFO): Ping request sent.
2025-06-18T18:37:10.711Z,1750271830.711 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:10.711Z,1750271830.711 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-18T18:37:10.717Z,1750271830.717 [DAT](INFO): direction in FSK: [-0.991943,-0.045044,-0.118404]
2025-06-18T18:37:10.717Z,1750271830.717 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:10.717Z,1750271830.717 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:10.726Z,1750271830.726 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:10.726Z,1750271830.726 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:10.941Z,1750271830.941 [DAT](INFO): DAT read: TxSync time:18:37:11.8430
2025-06-18T18:37:10.995Z,1750271830.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.500000 m,
deltaT: 3.526283 s,
deltaX: -0.200001 m,
approachRate: -0.056717 m/s,
rangeRepo size: 4
2025-06-18T18:37:11.001Z,1750271831.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.312656 m,
bearing: 137.640868 deg,
lat: 36.905881 deg,
lon: -122.115765 deg,
deltaT: 3.526283 s,
deltaX: -0.198172 m,
approachRate: -0.056198 m/s,
posRepo size: 4
2025-06-18T18:37:11.002Z,1750271831.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:11.374Z,1750271831.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:11.773Z,1750271831.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:12.166Z,1750271832.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:12.601Z,1750271832.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:12.975Z,1750271832.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:13.403Z,1750271833.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:13.717Z,1750271833.717 [DAT](INFO): DAT read: Rx Time:18:37:14.2750
2025-06-18T18:37:13.717Z,1750271833.717 [DAT](INFO): Rx dataTimestamp_ set to:1750271833.717010
2025-06-18T18:37:13.805Z,1750271833.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:14.254Z,1750271834.254 [DAT](INFO): DAT read: 18:37:14.2750 LVL= 30256, 28257, 26818, 32755, AGC= 65, IDX= 418,-0.02,-2.150,-0.017,-1.817,-1.486, PHS=-0.576, 1.516,-0.335, RAW= 323.9, -6.2, CAL= 327.0, -8.5, ROT= 183.0, 8.5
2025-06-18T18:37:14.266Z,1750271834.266 [DAT](INFO): got valid direction response:
18:37:14.2750 LVL= 30256, 28257, 26818, 32755, AGC= 65, IDX= 418,-0.02,-2.150,-0.017,-1.817,-1.486, PHS=-0.576, 1.516,-0.335, RAW= 323.9, -6.2, CAL= 327.0, -8.5, ROT= 183.0, 8.5
2025-06-18T18:37:14.267Z,1750271834.267 [DAT](INFO): DAT read: Bearing 183.0, 8.5 (Local)
2025-06-18T18:37:14.267Z,1750271834.267 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.0, 8.5 (Local)
2025-06-18T18:37:14.285Z,1750271834.285 [DAT](INFO): DAT read: Range 10 to 50 : 20.3 m (Round-trip 27.1 ms) speed 0.0 m/s
2025-06-18T18:37:14.286Z,1750271834.286 [DAT](INFO): DAT read: user:1353>
2025-06-18T18:37:14.287Z,1750271834.287 [DAT](INFO): DAT read: Tx time:18:37:15.3938
2025-06-18T18:37:14.287Z,1750271834.287 [DAT](INFO): Ping request sent.
2025-06-18T18:37:14.287Z,1750271834.287 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:14.296Z,1750271834.296 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-18T18:37:14.297Z,1750271834.297 [DAT](INFO): direction in FSK: [-0.987660,-0.051761,-0.147809]
2025-06-18T18:37:14.297Z,1750271834.297 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:14.297Z,1750271834.297 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:14.302Z,1750271834.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.299999 m,
deltaT: 3.532802 s,
deltaX: -0.200001 m,
approachRate: -0.056613 m/s,
rangeRepo size: 4
2025-06-18T18:37:14.303Z,1750271834.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:14.334Z,1750271834.334 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:14.334Z,1750271834.334 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:14.473Z,1750271834.473 [DAT](INFO): DAT read: TxSync time:18:37:15.3930
2025-06-18T18:37:14.792Z,1750271834.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:15.125Z,1750271835.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:15.555Z,1750271835.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:15.881Z,1750271835.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:16.339Z,1750271836.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:16.676Z,1750271836.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:17.067Z,1750271837.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:17.245Z,1750271837.245 [DAT](INFO): DAT read: Rx Time:18:37:17.8249
2025-06-18T18:37:17.246Z,1750271837.246 [DAT](INFO): Rx dataTimestamp_ set to:1750271837.245316
2025-06-18T18:37:17.501Z,1750271837.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-06-18T18:37:17.766Z,1750271837.766 [DAT](INFO): DAT read: 18:37:17.8249 LVL= 24400, 25745, 22658, 31219, AGC= 66, IDX= 432,-0.09, 0.541, 2.730, 0.904, 1.283, PHS=-0.654, 1.494,-0.382, RAW= 323.3, -4.6, CAL= 326.2, -6.3, ROT= 183.8, 6.3
2025-06-18T18:37:17.767Z,1750271837.767 [DAT](INFO): got valid direction response:
18:37:17.8249 LVL= 24400, 25745, 22658, 31219, AGC= 66, IDX= 432,-0.09, 0.541, 2.730, 0.904, 1.283, PHS=-0.654, 1.494,-0.382, RAW= 323.3, -4.6, CAL= 326.2, -6.3, ROT= 183.8, 6.3
2025-06-18T18:37:17.768Z,1750271837.768 [DAT](INFO): DAT read: Bearing 183.8, 6.3 (Local)
2025-06-18T18:37:17.769Z,1750271837.769 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.8, 6.3 (Local)
2025-06-18T18:37:17.770Z,1750271837.770 [DAT](INFO): DAT read: Range 10 to 50 : 20.1 m (Round-trip 26.9 ms) speed 0.0 m/s
2025-06-18T18:37:17.771Z,1750271837.771 [DAT](INFO): DAT read: user:1354>
2025-06-18T18:37:17.771Z,1750271837.771 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-18T18:37:17.774Z,1750271837.774 [DAT](INFO): direction in FSK: [-0.991776,-0.065874,-0.109734]
2025-06-18T18:37:17.775Z,1750271837.775 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:17.913Z,1750271837.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.100000 m,
deltaT: 3.528344 s,
deltaX: -0.199999 m,
approachRate: -0.056683 m/s,
rangeRepo size: 4
2025-06-18T18:37:17.915Z,1750271837.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.916328 m,
bearing: 138.494873 deg,
lat: 36.905883 deg,
lon: -122.115765 deg,
deltaT: 7.061146 s,
deltaX: -0.396328 m,
approachRate: -0.056128 m/s,
posRepo size: 4
2025-06-18T18:37:17.915Z,1750271837.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:18.002Z,1750271838.002 [DAT](INFO): DAT read: Tx time:18:37:18.9438
2025-06-18T18:37:18.003Z,1750271838.003 [DAT](INFO): Ping request sent.
2025-06-18T18:37:18.003Z,1750271838.003 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:18.003Z,1750271838.003 [DAT](INFO): DAT read: TxSync time:18:37:18.9430
2025-06-18T18:37:18.004Z,1750271838.004 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:18.341Z,1750271838.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:18.710Z,1750271838.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:19.081Z,1750271839.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:19.504Z,1750271839.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:19.908Z,1750271839.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:20.365Z,1750271840.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:20.756Z,1750271840.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:20.779Z,1750271840.779 [DAT](INFO): DAT read: Rx Time:18:37:21.3748
2025-06-18T18:37:20.779Z,1750271840.779 [DAT](INFO): Rx dataTimestamp_ set to:1750271840.779011
2025-06-18T18:37:21.168Z,1750271841.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:21.543Z,1750271841.543 [DAT](INFO): DAT read: 18:37:21.3749 LVL= 26160, 24097, 20882, 32755, AGC= 66, IDX= 447,-0.12, 0.344, 2.511, 0.718, 1.032, PHS=-0.600, 1.527,-0.316, RAW= 323.0, -6.2, CAL= 326.1, -8.5, ROT= 183.9, 8.5
2025-06-18T18:37:21.545Z,1750271841.545 [DAT](INFO): got valid direction response:
18:37:21.3749 LVL= 26160, 24097, 20882, 32755, AGC= 66, IDX= 447,-0.12, 0.344, 2.511, 0.718, 1.032, PHS=-0.600, 1.527,-0.316, RAW= 323.0, -6.2, CAL= 326.1, -8.5, ROT= 183.9, 8.5
2025-06-18T18:37:21.546Z,1750271841.546 [DAT](INFO): DAT read: Bearing 183.9, 8.5 (Local)
2025-06-18T18:37:21.546Z,1750271841.546 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.9, 8.5 (Local)
2025-06-18T18:37:21.548Z,1750271841.548 [DAT](INFO): DAT read: Range 10 to 50 : 20.1 m (Round-trip 26.8 ms) speed 0.1 m/s
2025-06-18T18:37:21.549Z,1750271841.549 [DAT](INFO): DAT read: user:1355>
2025-06-18T18:37:21.550Z,1750271841.550 [DAT](INFO): DAT read: Tx time:18:37:22.4939
2025-06-18T18:37:21.550Z,1750271841.550 [DAT](INFO): Ping request sent.
2025-06-18T18:37:21.550Z,1750271841.550 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:21.551Z,1750271841.551 [DAT](INFO): DAT read: TxSync time:18:37:22.4931
2025-06-18T18:37:21.551Z,1750271841.551 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-18T18:37:21.589Z,1750271841.589 [DAT](INFO): direction in FSK: [-0.986726,-0.067268,-0.147809]
2025-06-18T18:37:21.589Z,1750271841.589 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:21.589Z,1750271841.589 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:21.597Z,1750271841.597 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:21.597Z,1750271841.597 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:21.711Z,1750271841.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.100000 m,
deltaT: 3.786221 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:37:21.718Z,1750271841.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.916319 m,
bearing: 138.048473 deg,
lat: 36.905884 deg,
lon: -122.115763 deg,
deltaT: 3.786221 s,
deltaX: -0.000010 m,
approachRate: -0.000003 m/s,
posRepo size: 4
2025-06-18T18:37:21.718Z,1750271841.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:22.118Z,1750271842.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:22.555Z,1750271842.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:22.929Z,1750271842.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:23.338Z,1750271843.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:23.759Z,1750271843.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:24.168Z,1750271844.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:24.309Z,1750271844.309 [DAT](INFO): DAT read: Rx Time:18:37:24.9246
2025-06-18T18:37:24.309Z,1750271844.309 [DAT](INFO): Rx dataTimestamp_ set to:1750271844.309146
2025-06-18T18:37:24.586Z,1750271844.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:24.957Z,1750271844.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-06-18T18:37:25.082Z,1750271845.082 [DAT](INFO): DAT read: 18:37:24.9246 LVL= 21472, 24241, 22834, 32755, AGC= 63, IDX= 444,-0.15,-1.993, 0.158,-1.638,-1.322, PHS=-0.583, 1.527,-0.319, RAW= 323.4, -6.3, CAL= 326.5, -8.7, ROT= 183.5, 8.7
2025-06-18T18:37:25.083Z,1750271845.083 [DAT](INFO): got valid direction response:
18:37:24.9246 LVL= 21472, 24241, 22834, 32755, AGC= 63, IDX= 444,-0.15,-1.993, 0.158,-1.638,-1.322, PHS=-0.583, 1.527,-0.319, RAW= 323.4, -6.3, CAL= 326.5, -8.7, ROT= 183.5, 8.7
2025-06-18T18:37:25.102Z,1750271845.102 [DAT](INFO): DAT read: Bearing 183.5, 8.7 (Local)
2025-06-18T18:37:25.103Z,1750271845.103 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.5, 8.7 (Local)
2025-06-18T18:37:25.105Z,1750271845.105 [DAT](INFO): DAT read: Range 10 to 50 : 19.8 m (Round-trip 26.5 ms) speed -0.2 m/s
2025-06-18T18:37:25.106Z,1750271845.106 [DAT](INFO): DAT read: user:1356>
2025-06-18T18:37:25.106Z,1750271845.106 [DAT](INFO): DAT read: Tx time:18:37:26.0439
2025-06-18T18:37:25.107Z,1750271845.107 [DAT](INFO): Ping request sent.
2025-06-18T18:37:25.107Z,1750271845.107 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:25.107Z,1750271845.107 [DAT](INFO): DAT read: TxSync time:18:37:26.0431
2025-06-18T18:37:25.108Z,1750271845.108 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-18T18:37:25.109Z,1750271845.109 [DAT](INFO): direction in FSK: [-0.986650,-0.060346,-0.151261]
2025-06-18T18:37:25.109Z,1750271845.109 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:25.110Z,1750271845.110 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:25.114Z,1750271845.114 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:25.114Z,1750271845.114 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:25.452Z,1750271845.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.799999 m,
deltaT: 3.529976 s,
deltaX: -0.300001 m,
approachRate: -0.084987 m/s,
rangeRepo size: 4
2025-06-18T18:37:25.454Z,1750271845.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.619095 m,
bearing: 137.490006 deg,
lat: 36.905884 deg,
lon: -122.115762 deg,
deltaT: 3.529976 s,
deltaX: -0.297224 m,
approachRate: -0.084200 m/s,
posRepo size: 4
2025-06-18T18:37:25.455Z,1750271845.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.62 m.
2025-06-18T18:37:25.812Z,1750271845.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.62 m.
2025-06-18T18:37:26.175Z,1750271846.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.62 m.
2025-06-18T18:37:26.665Z,1750271846.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.62 m.
2025-06-18T18:37:27.024Z,1750271847.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.62 m.
2025-06-18T18:37:27.539Z,1750271847.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.62 m.
2025-06-18T18:37:27.806Z,1750271847.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.62 m.
2025-06-18T18:37:27.841Z,1750271847.841 [DAT](INFO): DAT read: Rx Time:18:37:28.4743
2025-06-18T18:37:27.841Z,1750271847.841 [DAT](INFO): Rx dataTimestamp_ set to:1750271847.841038
2025-06-18T18:37:28.218Z,1750271848.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.62 m.
2025-06-18T18:37:28.599Z,1750271848.599 [DAT](INFO): DAT read: 18:37:28.4743 LVL= 25840, 23009, 21426, 32755, AGC= 66, IDX= 425, 0.16, 1.476,-2.500, 1.902, 2.280, PHS=-0.716, 1.550,-0.382, RAW= 322.1, -4.3, CAL= 325.1, -6.0, ROT= 184.9, 6.0
2025-06-18T18:37:28.600Z,1750271848.600 [DAT](INFO): got valid direction response:
18:37:28.4743 LVL= 25840, 23009, 21426, 32755, AGC= 66, IDX= 425, 0.16, 1.476,-2.500, 1.902, 2.280, PHS=-0.716, 1.550,-0.382, RAW= 322.1, -4.3, CAL= 325.1, -6.0, ROT= 184.9, 6.0
2025-06-18T18:37:28.601Z,1750271848.601 [DAT](INFO): DAT read: Bearing 184.9, 6.0 (Local)
2025-06-18T18:37:28.602Z,1750271848.602 [DAT](INFO): Local bearing/azimuth received:
Bearing 184.9, 6.0 (Local)
2025-06-18T18:37:28.603Z,1750271848.603 [DAT](INFO): DAT read: Range 10 to 50 : 19.6 m (Round-trip 26.2 ms) speed 0.0 m/s
2025-06-18T18:37:28.604Z,1750271848.604 [DAT](INFO): DAT read: user:1357>
2025-06-18T18:37:28.605Z,1750271848.605 [DAT](INFO): DAT read: Tx time:18:37:29.5939
2025-06-18T18:37:28.605Z,1750271848.605 [DAT](INFO): Ping request sent.
2025-06-18T18:37:28.605Z,1750271848.605 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:28.605Z,1750271848.605 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-18T18:37:28.607Z,1750271848.607 [DAT](INFO): direction in FSK: [-0.990887,-0.084949,-0.104528]
2025-06-18T18:37:28.607Z,1750271848.607 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:28.616Z,1750271848.616 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:28.626Z,1750271848.626 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:28.627Z,1750271848.627 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:28.766Z,1750271848.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.600000 m,
deltaT: 3.526042 s,
deltaX: -0.199999 m,
approachRate: -0.056720 m/s,
rangeRepo size: 4
2025-06-18T18:37:28.772Z,1750271848.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.420921 m,
bearing: 139.320715 deg,
lat: 36.905884 deg,
lon: -122.115763 deg,
deltaT: 3.526042 s,
deltaX: -0.198174 m,
approachRate: -0.056203 m/s,
posRepo size: 4
2025-06-18T18:37:28.773Z,1750271848.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:28.845Z,1750271848.845 [DAT](INFO): DAT read: TxSync time:18:37:29.5931
2025-06-18T18:37:29.051Z,1750271849.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:29.525Z,1750271849.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:29.896Z,1750271849.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:30.264Z,1750271850.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:30.683Z,1750271850.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:31.061Z,1750271851.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:31.487Z,1750271851.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:31.617Z,1750271851.617 [DAT](INFO): DAT read: Rx Time:18:37:32.0242
2025-06-18T18:37:31.617Z,1750271851.617 [DAT](INFO): Rx dataTimestamp_ set to:1750271851.617089
2025-06-18T18:37:31.963Z,1750271851.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:32.130Z,1750271852.130 [DAT](INFO): DAT read: 18:37:32.0242 LVL= 27984, 30977, 23362, 32755, AGC= 65, IDX= 439, 0.25, 0.620, 2.796, 1.102, 1.358, PHS=-0.651, 1.485,-0.259, RAW= 320.1, -5.9, CAL= 323.4, -8.1, ROT= 186.6, 8.1
2025-06-18T18:37:32.131Z,1750271852.131 [DAT](INFO): got valid direction response:
18:37:32.0242 LVL= 27984, 30977, 23362, 32755, AGC= 65, IDX= 439, 0.25, 0.620, 2.796, 1.102, 1.358, PHS=-0.651, 1.485,-0.259, RAW= 320.1, -5.9, CAL= 323.4, -8.1, ROT= 186.6, 8.1
2025-06-18T18:37:32.132Z,1750271852.132 [DAT](INFO): DAT read: Bearing 186.6, 8.1 (Local)
2025-06-18T18:37:32.132Z,1750271852.132 [DAT](INFO): Local bearing/azimuth received:
Bearing 186.6, 8.1 (Local)
2025-06-18T18:37:32.134Z,1750271852.134 [DAT](INFO): DAT read: Range 10 to 50 : 19.5 m (Round-trip 26.1 ms) speed -0.1 m/s
2025-06-18T18:37:32.134Z,1750271852.134 [DAT](INFO): DAT read: user:1358>
2025-06-18T18:37:32.135Z,1750271852.135 [DAT](INFO): DAT read: Tx time:18:37:33.1439
2025-06-18T18:37:32.135Z,1750271852.135 [DAT](INFO): Ping request sent.
2025-06-18T18:37:32.136Z,1750271852.136 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:32.136Z,1750271852.136 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-18T18:37:32.137Z,1750271852.137 [DAT](INFO): direction in FSK: [-0.983463,-0.113791,-0.140901]
2025-06-18T18:37:32.137Z,1750271852.137 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:32.138Z,1750271852.138 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:32.141Z,1750271852.141 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:32.141Z,1750271852.141 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:32.305Z,1750271852.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.500000 m,
deltaT: 3.527976 s,
deltaX: -0.100000 m,
approachRate: -0.028345 m/s,
rangeRepo size: 4
2025-06-18T18:37:32.307Z,1750271852.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.321819 m,
bearing: 140.431179 deg,
lat: 36.905883 deg,
lon: -122.115765 deg,
deltaT: 3.527976 s,
deltaX: -0.099102 m,
approachRate: -0.028090 m/s,
posRepo size: 4
2025-06-18T18:37:32.307Z,1750271852.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-06-18T18:37:32.374Z,1750271852.374 [DAT](INFO): DAT read: TxSync time:18:37:33.1432
2025-06-18T18:37:32.706Z,1750271852.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-06-18T18:37:33.081Z,1750271853.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-06-18T18:37:33.490Z,1750271853.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-06-18T18:37:33.938Z,1750271853.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-06-18T18:37:34.306Z,1750271854.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-06-18T18:37:34.726Z,1750271854.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-06-18T18:37:35.101Z,1750271855.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-06-18T18:37:35.146Z,1750271855.146 [DAT](INFO): DAT read: Rx Time:18:37:35.5741
2025-06-18T18:37:35.146Z,1750271855.146 [DAT](INFO): Rx dataTimestamp_ set to:1750271855.146012
2025-06-18T18:37:35.612Z,1750271855.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-06-18T18:37:35.661Z,1750271855.661 [DAT](INFO): DAT read: 18:37:35.5741 LVL= 32752, 32753, 30322, 32755, AGC= 68, IDX= 422, 0.15,-0.258, 1.997, 0.166, 0.522, PHS=-0.692, 1.522,-0.359, RAW= 322.0, -4.6, CAL= 325.0, -6.4, ROT= 185.0, 6.4
2025-06-18T18:37:35.662Z,1750271855.662 [DAT](INFO): got valid direction response:
18:37:35.5741 LVL= 32752, 32753, 30322, 32755, AGC= 68, IDX= 422, 0.15,-0.258, 1.997, 0.166, 0.522, PHS=-0.692, 1.522,-0.359, RAW= 322.0, -4.6, CAL= 325.0, -6.4, ROT= 185.0, 6.4
2025-06-18T18:37:35.664Z,1750271855.664 [DAT](INFO): DAT read: Bearing 185.0, 6.4 (Local)
2025-06-18T18:37:35.665Z,1750271855.665 [DAT](INFO): Local bearing/azimuth received:
Bearing 185.0, 6.4 (Local)
2025-06-18T18:37:35.667Z,1750271855.667 [DAT](INFO): DAT read: Range 10 to 50 : 19.4 m (Round-trip 25.9 ms) speed 0.0 m/s
2025-06-18T18:37:35.668Z,1750271855.668 [DAT](INFO): DAT read: user:1359>
2025-06-18T18:37:35.670Z,1750271855.670 [DAT](INFO): DAT read: Tx time:18:37:36.6940
2025-06-18T18:37:35.670Z,1750271855.670 [DAT](INFO): Ping request sent.
2025-06-18T18:37:35.670Z,1750271855.670 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:35.671Z,1750271855.671 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-18T18:37:35.672Z,1750271855.672 [DAT](INFO): direction in FSK: [-0.989986,-0.086613,-0.111469]
2025-06-18T18:37:35.673Z,1750271855.673 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:35.673Z,1750271855.673 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:35.678Z,1750271855.678 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:35.678Z,1750271855.678 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:35.901Z,1750271855.901 [DAT](INFO): DAT read: TxSync time:18:37:36.6932
2025-06-18T18:37:35.957Z,1750271855.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.400000 m,
deltaT: 3.530348 s,
deltaX: -0.100000 m,
approachRate: -0.028326 m/s,
rangeRepo size: 4
2025-06-18T18:37:35.959Z,1750271855.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.222731 m,
bearing: 139.157121 deg,
lat: 36.905882 deg,
lon: -122.115765 deg,
deltaT: 3.530348 s,
deltaX: -0.099089 m,
approachRate: -0.028068 m/s,
posRepo size: 4
2025-06-18T18:37:35.980Z,1750271855.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.22 m.
2025-06-18T18:37:36.375Z,1750271856.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.22 m.
2025-06-18T18:37:36.800Z,1750271856.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.22 m.
2025-06-18T18:37:37.206Z,1750271857.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.22 m.
2025-06-18T18:37:37.687Z,1750271857.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.22 m.
2025-06-18T18:37:38.063Z,1750271858.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.22 m.
2025-06-18T18:37:38.485Z,1750271858.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.22 m.
2025-06-18T18:37:38.652Z,1750271858.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:37:38.677Z,1750271858.677 [DAT](INFO): DAT read: Rx Time:18:37:39.1238
2025-06-18T18:37:38.678Z,1750271858.678 [DAT](INFO): Rx dataTimestamp_ set to:1750271858.677571
2025-06-18T18:37:38.987Z,1750271858.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.22 m.
2025-06-18T18:37:38.988Z,1750271858.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 19.40 m and bearing: 139.011182 deg. Not drifting fast enough.
2025-06-18T18:37:39.194Z,1750271859.194 [DAT](INFO): DAT read: 18:37:39.1238 LVL= 24048, 24401, 20754, 31139, AGC= 66, IDX= 435,-0.12, 3.015,-1.112,-2.918,-2.591, PHS=-0.589, 1.526,-0.329, RAW= 323.5, -6.1, CAL= 326.6, -8.4, ROT= 183.4, 8.4
2025-06-18T18:37:39.195Z,1750271859.195 [DAT](INFO): got valid direction response:
18:37:39.1238 LVL= 24048, 24401, 20754, 31139, AGC= 66, IDX= 435,-0.12, 3.015,-1.112,-2.918,-2.591, PHS=-0.589, 1.526,-0.329, RAW= 323.5, -6.1, CAL= 326.6, -8.4, ROT= 183.4, 8.4
2025-06-18T18:37:39.199Z,1750271859.199 [DAT](INFO): DAT read: Bearing 183.4, 8.4 (Local)
2025-06-18T18:37:39.201Z,1750271859.201 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.4, 8.4 (Local)
2025-06-18T18:37:39.203Z,1750271859.203 [DAT](INFO): DAT read: Range 10 to 50 : 19.2 m (Round-trip 25.6 ms) speed -0.1 m/s
2025-06-18T18:37:39.204Z,1750271859.204 [DAT](INFO): DAT read: user:1360>
2025-06-18T18:37:39.205Z,1750271859.205 [DAT](INFO): DAT read: Tx time:18:37:40.2440
2025-06-18T18:37:39.205Z,1750271859.205 [DAT](INFO): Ping request sent.
2025-06-18T18:37:39.205Z,1750271859.205 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:39.205Z,1750271859.205 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-18T18:37:39.206Z,1750271859.206 [DAT](INFO): direction in FSK: [-0.987531,-0.058670,-0.146083]
2025-06-18T18:37:39.207Z,1750271859.207 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:39.207Z,1750271859.207 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:39.211Z,1750271859.211 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:39.212Z,1750271859.212 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:39.401Z,1750271859.401 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 20.00 deg, mass-position 18.47 mm (1 active estimators).
2025-06-18T18:37:39.427Z,1750271859.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.200001 m,
deltaT: 3.535521 s,
deltaX: -0.199999 m,
approachRate: -0.056568 m/s,
rangeRepo size: 4
2025-06-18T18:37:39.433Z,1750271859.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.024551 m,
bearing: 137.033720 deg,
lat: 36.905882 deg,
lon: -122.115765 deg,
deltaT: 3.535521 s,
deltaX: -0.198179 m,
approachRate: -0.056054 m/s,
posRepo size: 4
2025-06-18T18:37:39.434Z,1750271859.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-06-18T18:37:39.435Z,1750271859.435 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-18T18:37:39.437Z,1750271859.437 [DAT](INFO): DAT read: TxSync time:18:37:40.2432
2025-06-18T18:37:39.435Z,1750271859.435 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-18T18:37:39.440Z,1750271859.440 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-18T18:37:39.440Z,1750271859.440 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-18T18:37:39.656Z,1750271859.656 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:37:39.967Z,1750271859.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:37:39.969Z,1750271859.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-06-18T18:37:40.193Z,1750271860.193 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:37:40.193Z,1750271860.193 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:37:40.193Z,1750271860.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:37:40.291Z,1750271860.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-06-18T18:37:40.445Z,1750271860.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239699
2025-06-18T18:37:40.698Z,1750271860.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492366
2025-06-18T18:37:40.810Z,1750271860.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-06-18T18:37:40.949Z,1750271860.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744231
2025-06-18T18:37:41.201Z,1750271861.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995662
2025-06-18T18:37:41.204Z,1750271861.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-06-18T18:37:41.269Z,1750271861.269 [CTD_Seabird](ERROR): Failed to parse device response: .74
2025-06-18T18:37:41.453Z,1750271861.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247626
2025-06-18T18:37:41.705Z,1750271861.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499634
2025-06-18T18:37:41.712Z,1750271861.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-06-18T18:37:41.957Z,1750271861.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751761
2025-06-18T18:37:42.169Z,1750271862.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-06-18T18:37:42.209Z,1750271862.209 [DAT](INFO): DAT read: Rx Time:18:37:42.6735
2025-06-18T18:37:42.209Z,1750271862.209 [DAT](INFO): Rx dataTimestamp_ set to:1750271862.209190
2025-06-18T18:37:42.210Z,1750271862.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005193
2025-06-18T18:37:42.461Z,1750271862.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255530
2025-06-18T18:37:42.540Z,1750271862.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-06-18T18:37:42.719Z,1750271862.719 [DAT](INFO): DAT read: 18:37:42.6735 LVL= 30800, 32753, 27986, 32755, AGC= 67, IDX= 415, 0.32,-1.549, 0.776,-1.081,-0.772, PHS=-0.689, 1.595,-0.312, RAW= 321.1, -5.7, CAL= 324.4, -7.8, ROT= 185.6, 7.8
2025-06-18T18:37:42.721Z,1750271862.721 [DAT](INFO): got valid direction response:
18:37:42.6735 LVL= 30800, 32753, 27986, 32755, AGC= 67, IDX= 415, 0.32,-1.549, 0.776,-1.081,-0.772, PHS=-0.689, 1.595,-0.312, RAW= 321.1, -5.7, CAL= 324.4, -7.8, ROT= 185.6, 7.8
2025-06-18T18:37:42.722Z,1750271862.722 [DAT](INFO): DAT read: Bearing 185.6, 7.8 (Local)
2025-06-18T18:37:42.722Z,1750271862.722 [DAT](INFO): Local bearing/azimuth received:
Bearing 185.6, 7.8 (Local)
2025-06-18T18:37:42.723Z,1750271862.723 [DAT](INFO): DAT read: Range 10 to 50 : 18.9 m (Round-trip 25.3 ms) speed 0.0 m/s
2025-06-18T18:37:42.724Z,1750271862.724 [DAT](INFO): DAT read: user:1361>
2025-06-18T18:37:42.725Z,1750271862.725 [DAT](INFO): DAT read: Tx time:18:37:43.7940
2025-06-18T18:37:42.725Z,1750271862.725 [DAT](INFO): Ping request sent.
2025-06-18T18:37:42.726Z,1750271862.726 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:42.726Z,1750271862.726 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:37:42.727Z,1750271862.727 [DAT](INFO): direction in FSK: [-0.986019,-0.096680,-0.135716]
2025-06-18T18:37:42.727Z,1750271862.727 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:42.727Z,1750271862.727 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:42.730Z,1750271862.730 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:42.731Z,1750271862.731 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:42.965Z,1750271862.965 [DAT](INFO): DAT read: TxSync time:18:37:43.7932
2025-06-18T18:37:43.003Z,1750271863.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.900000 m,
deltaT: 3.526284 s,
deltaX: -0.300001 m,
approachRate: -0.085076 m/s,
rangeRepo size: 4
2025-06-18T18:37:43.009Z,1750271863.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.727327 m,
bearing: 139.745019 deg,
lat: 36.905882 deg,
lon: -122.115767 deg,
deltaT: 3.526284 s,
deltaX: -0.297224 m,
approachRate: -0.084288 m/s,
posRepo size: 4
2025-06-18T18:37:43.010Z,1750271863.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:37:43.338Z,1750271863.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:37:43.791Z,1750271863.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:37:44.147Z,1750271864.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:37:44.560Z,1750271864.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:37:44.987Z,1750271864.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:37:45.397Z,1750271865.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:37:45.744Z,1750271865.744 [DAT](INFO): DAT read: Rx Time:18:37:46.2237
2025-06-18T18:37:45.745Z,1750271865.745 [DAT](INFO): Rx dataTimestamp_ set to:1750271865.744476
2025-06-18T18:37:45.826Z,1750271865.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:37:46.219Z,1750271866.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.73 m.
2025-06-18T18:37:46.262Z,1750271866.262 [DAT](INFO): DAT read: 18:37:46.2237 LVL= 20752, 18081, 21826, 29843, AGC= 63, IDX= 449, 0.39,-2.858,-0.595,-2.383,-2.129, PHS=-0.641, 1.581,-0.257, RAW= 320.7, -6.7, CAL= 324.1, -9.2, ROT= 185.9, 9.2
2025-06-18T18:37:46.264Z,1750271866.263 [DAT](INFO): got valid direction response:
18:37:46.2237 LVL= 20752, 18081, 21826, 29843, AGC= 63, IDX= 449, 0.39,-2.858,-0.595,-2.383,-2.129, PHS=-0.641, 1.581,-0.257, RAW= 320.7, -6.7, CAL= 324.1, -9.2, ROT= 185.9, 9.2
2025-06-18T18:37:46.265Z,1750271866.265 [DAT](INFO): DAT read: Bearing 185.9, 9.2 (Local)
2025-06-18T18:37:46.265Z,1750271866.265 [DAT](INFO): Local bearing/azimuth received:
Bearing 185.9, 9.2 (Local)
2025-06-18T18:37:46.267Z,1750271866.267 [DAT](INFO): DAT read: Range 10 to 50 : 19.1 m (Round-trip 25.5 ms) speed 0.0 m/s
2025-06-18T18:37:46.267Z,1750271866.267 [DAT](INFO): DAT read: user:1362>
2025-06-18T18:37:46.268Z,1750271866.268 [DAT](INFO): DAT read: Tx time:18:37:47.3440
2025-06-18T18:37:46.269Z,1750271866.269 [DAT](INFO): Ping request sent.
2025-06-18T18:37:46.269Z,1750271866.269 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:46.269Z,1750271866.269 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-18T18:37:46.270Z,1750271866.270 [DAT](INFO): direction in FSK: [-0.981907,-0.101470,-0.159881]
2025-06-18T18:37:46.270Z,1750271866.270 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:46.271Z,1750271866.271 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:46.302Z,1750271866.302 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:46.302Z,1750271866.302 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:46.498Z,1750271866.498 [DAT](INFO): DAT read: TxSync time:18:37:47.3432
2025-06-18T18:37:46.626Z,1750271866.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.100000 m,
deltaT: 3.531992 s,
deltaX: 0.200001 m,
approachRate: 0.056625 m/s,
rangeRepo size: 4
2025-06-18T18:37:46.629Z,1750271866.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.925503 m,
bearing: 139.869182 deg,
lat: 36.905883 deg,
lon: -122.115768 deg,
deltaT: 3.531992 s,
deltaX: 0.198175 m,
approachRate: 0.056109 m/s,
posRepo size: 4
2025-06-18T18:37:46.629Z,1750271866.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.93 m.
2025-06-18T18:37:47.027Z,1750271867.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.93 m.
2025-06-18T18:37:47.405Z,1750271867.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.93 m.
2025-06-18T18:37:47.850Z,1750271867.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.93 m.
2025-06-18T18:37:48.215Z,1750271868.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.93 m.
2025-06-18T18:37:48.623Z,1750271868.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.93 m.
2025-06-18T18:37:49.061Z,1750271869.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.93 m.
2025-06-18T18:37:49.269Z,1750271869.269 [DAT](INFO): DAT read: Rx Time:18:37:49.7745
2025-06-18T18:37:49.270Z,1750271869.270 [DAT](INFO): Rx dataTimestamp_ set to:1750271869.269023
2025-06-18T18:37:49.432Z,1750271869.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.93 m.
2025-06-18T18:37:49.791Z,1750271869.791 [DAT](INFO): DAT read: 18:37:49.7745 LVL= 32752, 29041, 28146, 32755, AGC= 65, IDX= 441, 0.07, 2.690,-1.369, 3.097,-2.870, PHS=-0.635, 1.548,-0.320, RAW= 322.3, -5.9, CAL= 325.5, -8.1, ROT= 184.5, 8.1
2025-06-18T18:37:49.795Z,1750271869.795 [DAT](INFO): got valid direction response:
18:37:49.7745 LVL= 32752, 29041, 28146, 32755, AGC= 65, IDX= 441, 0.07, 2.690,-1.369, 3.097,-2.870, PHS=-0.635, 1.548,-0.320, RAW= 322.3, -5.9, CAL= 325.5, -8.1, ROT= 184.5, 8.1
2025-06-18T18:37:49.807Z,1750271869.807 [DAT](INFO): DAT read: Bearing 184.5, 8.1 (Local)
2025-06-18T18:37:49.807Z,1750271869.807 [DAT](INFO): Local bearing/azimuth received:
Bearing 184.5, 8.1 (Local)
2025-06-18T18:37:49.833Z,1750271869.833 [DAT](INFO): DAT read: Range 10 to 50 : 19.6 m (Round-trip 26.2 ms) speed -0.3 m/s
2025-06-18T18:37:49.834Z,1750271869.834 [DAT](INFO): DAT read: user:1363>
2025-06-18T18:37:49.834Z,1750271869.834 [DAT](INFO): DAT read: Tx time:18:37:50.8941
2025-06-18T18:37:49.835Z,1750271869.835 [DAT](INFO): Ping request sent.
2025-06-18T18:37:49.835Z,1750271869.835 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:49.835Z,1750271869.835 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-18T18:37:49.844Z,1750271869.844 [DAT](INFO): direction in FSK: [-0.986972,-0.077676,-0.140901]
2025-06-18T18:37:49.845Z,1750271869.845 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:49.845Z,1750271869.845 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:49.857Z,1750271869.857 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:49.858Z,1750271869.858 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:50.025Z,1750271870.025 [DAT](INFO): DAT read: TxSync time:18:37:50.8933
2025-06-18T18:37:50.083Z,1750271870.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.600000 m,
deltaT: 3.529386 s,
deltaX: 0.500000 m,
approachRate: 0.141668 m/s,
rangeRepo size: 4
2025-06-18T18:37:50.089Z,1750271870.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.420958 m,
bearing: 138.573341 deg,
lat: 36.905883 deg,
lon: -122.115766 deg,
deltaT: 3.529386 s,
deltaX: 0.495455 m,
approachRate: 0.140380 m/s,
posRepo size: 4
2025-06-18T18:37:50.090Z,1750271870.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:50.400Z,1750271870.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:50.875Z,1750271870.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:51.208Z,1750271871.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:51.649Z,1750271871.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:52.052Z,1750271872.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:52.476Z,1750271872.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:52.799Z,1750271872.799 [DAT](INFO): DAT read: Rx Time:18:37:53.3259
2025-06-18T18:37:52.801Z,1750271872.801 [DAT](INFO): Rx dataTimestamp_ set to:1750271872.800150
2025-06-18T18:37:52.925Z,1750271872.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:53.297Z,1750271873.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-06-18T18:37:53.307Z,1750271873.307 [DAT](INFO): DAT read: 18:37:53.3259 LVL= 30064, 26481, 24050, 32755, AGC= 64, IDX= 440,-0.05, 0.594, 2.648, 0.848, 1.176, PHS=-0.494, 1.518,-0.331, RAW= 325.8, -7.2, CAL= 328.9, -9.9, ROT= 181.1, 9.9
2025-06-18T18:37:53.308Z,1750271873.308 [DAT](INFO): got valid direction response:
18:37:53.3259 LVL= 30064, 26481, 24050, 32755, AGC= 64, IDX= 440,-0.05, 0.594, 2.648, 0.848, 1.176, PHS=-0.494, 1.518,-0.331, RAW= 325.8, -7.2, CAL= 328.9, -9.9, ROT= 181.1, 9.9
2025-06-18T18:37:53.309Z,1750271873.309 [DAT](INFO): DAT read: Bearing 181.1, 9.9 (Local)
2025-06-18T18:37:53.310Z,1750271873.310 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.1, 9.9 (Local)
2025-06-18T18:37:53.311Z,1750271873.311 [DAT](INFO): DAT read: Range 10 to 50 : 20.7 m (Round-trip 27.7 ms) speed -0.4 m/s
2025-06-18T18:37:53.312Z,1750271873.312 [DAT](INFO): DAT read: user:1364>
2025-06-18T18:37:53.313Z,1750271873.313 [DAT](INFO): DAT read: Tx time:18:37:54.4441
2025-06-18T18:37:53.313Z,1750271873.313 [DAT](INFO): Ping request sent.
2025-06-18T18:37:53.313Z,1750271873.313 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:53.313Z,1750271873.313 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-18T18:37:53.314Z,1750271873.314 [DAT](INFO): direction in FSK: [-0.984928,-0.018912,-0.171929]
2025-06-18T18:37:53.315Z,1750271873.315 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:53.315Z,1750271873.315 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:53.322Z,1750271873.322 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:53.322Z,1750271873.322 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:53.554Z,1750271873.554 [DAT](INFO): DAT read: TxSync time:18:37:54.4433
2025-06-18T18:37:53.653Z,1750271873.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.700001 m,
deltaT: 3.526889 s,
deltaX: 1.100000 m,
approachRate: 0.311890 m/s,
rangeRepo size: 4
2025-06-18T18:37:53.655Z,1750271873.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.510897 m,
bearing: 136.287071 deg,
lat: 36.905886 deg,
lon: -122.115766 deg,
deltaT: 3.526889 s,
deltaX: 1.089939 m,
approachRate: 0.309037 m/s,
posRepo size: 4
2025-06-18T18:37:53.655Z,1750271873.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:54.074Z,1750271874.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:54.438Z,1750271874.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:54.930Z,1750271874.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:55.245Z,1750271875.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:55.649Z,1750271875.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:56.071Z,1750271876.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:56.325Z,1750271876.325 [DAT](INFO): DAT read: Rx Time:18:37:56.8778
2025-06-18T18:37:56.325Z,1750271876.325 [DAT](INFO): Rx dataTimestamp_ set to:1750271876.325049
2025-06-18T18:37:56.466Z,1750271876.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-06-18T18:37:56.882Z,1750271876.882 [DAT](INFO): DAT read: 18:37:56.8778 LVL= 29728, 26337, 30562, 32755, AGC= 65, IDX= 459, 0.05,-1.117, 0.937,-0.952,-0.606, PHS=-0.423, 1.590,-0.349, RAW= 328.1, -8.3, CAL= 331.1, -11.3, ROT= 178.9, 11.3
2025-06-18T18:37:56.889Z,1750271876.889 [DAT](INFO): got valid direction response:
18:37:56.8778 LVL= 29728, 26337, 30562, 32755, AGC= 65, IDX= 459, 0.05,-1.117, 0.937,-0.952,-0.606, PHS=-0.423, 1.590,-0.349, RAW= 328.1, -8.3, CAL= 331.1, -11.3, ROT= 178.9, 11.3
2025-06-18T18:37:56.900Z,1750271876.900 [DAT](INFO): DAT read: Bearing 178.9, 11.3 (Local)
2025-06-18T18:37:56.900Z,1750271876.900 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.9, 11.3 (Local)
2025-06-18T18:37:56.902Z,1750271876.902 [DAT](INFO): DAT read: Range 10 to 50 : 22.1 m (Round-trip 29.5 ms) speed -0.6 m/s
2025-06-18T18:37:56.903Z,1750271876.903 [DAT](INFO): DAT read: user:1365>
2025-06-18T18:37:56.903Z,1750271876.903 [DAT](INFO): DAT read: Tx time:18:37:57.9941
2025-06-18T18:37:56.912Z,1750271876.912 [DAT](INFO): Ping request sent.
2025-06-18T18:37:56.912Z,1750271876.912 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:37:56.912Z,1750271876.912 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-18T18:37:56.913Z,1750271876.913 [DAT](INFO): direction in FSK: [-0.980434,0.018825,-0.195946]
2025-06-18T18:37:56.914Z,1750271876.914 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:56.914Z,1750271876.914 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:56.925Z,1750271876.925 [DAT](INFO): publishing transmit ping time
2025-06-18T18:37:56.925Z,1750271876.925 [DAT](INFO): publishing direction and range info
2025-06-18T18:37:57.061Z,1750271877.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.100000 m,
deltaT: 3.529240 s,
deltaX: 1.400000 m,
approachRate: 0.396686 m/s,
rangeRepo size: 4
2025-06-18T18:37:57.063Z,1750271877.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.898138 m,
bearing: 135.103322 deg,
lat: 36.905886 deg,
lon: -122.115766 deg,
deltaT: 3.529240 s,
deltaX: 1.387241 m,
approachRate: 0.393071 m/s,
posRepo size: 4
2025-06-18T18:37:57.068Z,1750271877.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-06-18T18:37:57.081Z,1750271877.081 [DAT](INFO): DAT read: TxSync time:18:37:57.9933
2025-06-18T18:37:57.354Z,1750271877.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-06-18T18:37:57.753Z,1750271877.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-06-18T18:37:58.173Z,1750271878.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-06-18T18:37:58.553Z,1750271878.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-06-18T18:37:58.979Z,1750271878.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-06-18T18:37:59.389Z,1750271879.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-06-18T18:37:59.781Z,1750271879.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-06-18T18:37:59.854Z,1750271879.854 [DAT](INFO): DAT read: Rx Time:18:38:00.4304
2025-06-18T18:37:59.854Z,1750271879.854 [DAT](INFO): Rx dataTimestamp_ set to:1750271879.854058
2025-06-18T18:38:00.221Z,1750271880.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-06-18T18:38:00.370Z,1750271880.370 [DAT](INFO): DAT read: 18:38:00.4304 LVL= 23536, 20497, 21410, 32755, AGC= 66, IDX= 453,-0.11, 1.760,-2.420, 1.902, 2.307, PHS=-0.459, 1.603,-0.408, RAW= 328.8, -7.3, CAL= 331.6, -10.0, ROT= 178.4, 10.0
2025-06-18T18:38:00.371Z,1750271880.371 [DAT](INFO): got valid direction response:
18:38:00.4304 LVL= 23536, 20497, 21410, 32755, AGC= 66, IDX= 453,-0.11, 1.760,-2.420, 1.902, 2.307, PHS=-0.459, 1.603,-0.408, RAW= 328.8, -7.3, CAL= 331.6, -10.0, ROT= 178.4, 10.0
2025-06-18T18:38:00.372Z,1750271880.372 [DAT](INFO): DAT read: Bearing 178.4, 10.0 (Local)
2025-06-18T18:38:00.372Z,1750271880.372 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.4, 10.0 (Local)
2025-06-18T18:38:00.374Z,1750271880.374 [DAT](INFO): DAT read: Range 10 to 50 : 24.0 m (Round-trip 32.1 ms) speed -0.6 m/s
2025-06-18T18:38:00.377Z,1750271880.377 [DAT](INFO): DAT read: user:1366>
2025-06-18T18:38:00.379Z,1750271880.379 [DAT](INFO): DAT read: Tx time:18:38:01.5458
2025-06-18T18:38:00.379Z,1750271880.379 [DAT](INFO): Ping request sent.
2025-06-18T18:38:00.379Z,1750271880.379 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:38:00.379Z,1750271880.379 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-18T18:38:00.381Z,1750271880.381 [DAT](INFO): direction in FSK: [-0.984424,0.027498,-0.173648]
2025-06-18T18:38:00.381Z,1750271880.381 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:00.382Z,1750271880.382 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:00.385Z,1750271880.385 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:00.385Z,1750271880.385 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:00.609Z,1750271880.609 [DAT](INFO): DAT read: TxSync time:18:38:01.5450
2025-06-18T18:38:00.618Z,1750271880.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.000000 m,
deltaT: 3.527531 s,
deltaX: 1.900000 m,
approachRate: 0.538620 m/s,
rangeRepo size: 4
2025-06-18T18:38:00.624Z,1750271880.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.780769 m,
bearing: 135.786990 deg,
lat: 36.905891 deg,
lon: -122.115762 deg,
deltaT: 3.527531 s,
deltaX: 1.882631 m,
approachRate: 0.533697 m/s,
posRepo size: 4
2025-06-18T18:38:00.625Z,1750271880.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:38:01.023Z,1750271881.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:38:01.409Z,1750271881.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:38:01.801Z,1750271881.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:38:02.219Z,1750271882.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:38:02.599Z,1750271882.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:38:03.038Z,1750271883.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:38:03.385Z,1750271883.385 [DAT](INFO): DAT read: Rx Time:18:38:03.9844
2025-06-18T18:38:03.386Z,1750271883.386 [DAT](INFO): Rx dataTimestamp_ set to:1750271883.385577
2025-06-18T18:38:03.475Z,1750271883.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:38:03.835Z,1750271883.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m.
2025-06-18T18:38:04.149Z,1750271884.149 [DAT](INFO): DAT read: 18:38:03.9844 LVL= 30480, 20769, 25010, 32755, AGC= 65, IDX= 446, 0.34, 0.344, 2.392, 0.428, 0.789, PHS=-0.357, 1.650,-0.364, RAW= 330.2, -9.3, CAL= 333.1, -12.6, ROT= 176.9, 12.6
2025-06-18T18:38:04.153Z,1750271884.153 [DAT](INFO): got valid direction response:
18:38:03.9844 LVL= 30480, 20769, 25010, 32755, AGC= 65, IDX= 446, 0.34, 0.344, 2.392, 0.428, 0.789, PHS=-0.357, 1.650,-0.364, RAW= 330.2, -9.3, CAL= 333.1, -12.6, ROT= 176.9, 12.6
2025-06-18T18:38:04.154Z,1750271884.154 [DAT](INFO): DAT read: Bearing 176.9, 12.6 (Local)
2025-06-18T18:38:04.154Z,1750271884.154 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.9, 12.6 (Local)
2025-06-18T18:38:04.167Z,1750271884.167 [DAT](INFO): DAT read: Range 10 to 50 : 25.8 m (Round-trip 34.5 ms) speed -0.7 m/s
2025-06-18T18:38:04.170Z,1750271884.170 [DAT](INFO): DAT read: user:1367>
2025-06-18T18:38:04.196Z,1750271884.196 [DAT](INFO): DAT read: Tx time:18:38:05.0942
2025-06-18T18:38:04.197Z,1750271884.197 [DAT](INFO): Ping request sent.
2025-06-18T18:38:04.197Z,1750271884.197 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:38:04.197Z,1750271884.197 [DAT](INFO): DAT read: TxSync time:18:38:05.0934
2025-06-18T18:38:04.198Z,1750271884.198 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-18T18:38:04.199Z,1750271884.199 [DAT](INFO): direction in FSK: [-0.974489,0.052776,-0.218143]
2025-06-18T18:38:04.199Z,1750271884.199 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:04.199Z,1750271884.199 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:04.229Z,1750271884.229 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:04.229Z,1750271884.229 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:04.365Z,1750271884.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.799999 m,
deltaT: 3.782884 s,
deltaX: 1.799999 m,
approachRate: 0.475827 m/s,
rangeRepo size: 4
2025-06-18T18:38:04.367Z,1750271884.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.564339 m,
bearing: 134.533846 deg,
lat: 36.905893 deg,
lon: -122.115760 deg,
deltaT: 3.782884 s,
deltaX: 1.783569 m,
approachRate: 0.471484 m/s,
posRepo size: 4
2025-06-18T18:38:04.376Z,1750271884.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:38:04.890Z,1750271884.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:38:05.399Z,1750271885.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:38:05.719Z,1750271885.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:38:06.142Z,1750271886.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:38:06.521Z,1750271886.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:38:06.916Z,1750271886.916 [DAT](INFO): DAT read: Rx Time:18:38:07.5355
2025-06-18T18:38:06.916Z,1750271886.916 [DAT](INFO): Rx dataTimestamp_ set to:1750271886.916154
2025-06-18T18:38:06.919Z,1750271886.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:38:07.352Z,1750271887.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m.
2025-06-18T18:38:07.681Z,1750271887.681 [DAT](INFO): DAT read: 18:38:07.5355 LVL= 25440, 25073, 20946, 32755, AGC= 65, IDX= 457, 0.06,-1.474, 0.551,-1.416,-0.946, PHS=-0.440, 1.544,-0.472, RAW= 330.8, -6.4, CAL= 333.3, -8.8, ROT= 176.7, 8.8
2025-06-18T18:38:07.682Z,1750271887.682 [DAT](INFO): got valid direction response:
18:38:07.5355 LVL= 25440, 25073, 20946, 32755, AGC= 65, IDX= 457, 0.06,-1.474, 0.551,-1.416,-0.946, PHS=-0.440, 1.544,-0.472, RAW= 330.8, -6.4, CAL= 333.3, -8.8, ROT= 176.7, 8.8
2025-06-18T18:38:07.683Z,1750271887.683 [DAT](INFO): DAT read: Bearing 176.7, 8.8 (Local)
2025-06-18T18:38:07.697Z,1750271887.697 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.7, 8.8 (Local)
2025-06-18T18:38:07.699Z,1750271887.699 [DAT](INFO): DAT read: Range 10 to 50 : 27.9 m (Round-trip 37.2 ms) speed -0.5 m/s
2025-06-18T18:38:07.702Z,1750271887.702 [DAT](INFO): DAT read: user:1368>
2025-06-18T18:38:07.728Z,1750271887.728 [DAT](INFO): DAT read: Tx time:18:38:08.6442
2025-06-18T18:38:07.729Z,1750271887.729 [DAT](INFO): Ping request sent.
2025-06-18T18:38:07.729Z,1750271887.729 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:38:07.729Z,1750271887.729 [DAT](INFO): DAT read: TxSync time:18:38:08.6434
2025-06-18T18:38:07.730Z,1750271887.730 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-18T18:38:07.731Z,1750271887.731 [DAT](INFO): direction in FSK: [-0.986590,0.056886,-0.152986]
2025-06-18T18:38:07.731Z,1750271887.731 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:07.731Z,1750271887.731 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:07.747Z,1750271887.747 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:07.747Z,1750271887.747 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:07.786Z,1750271887.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.900000 m,
deltaT: 3.529720 s,
deltaX: 2.100000 m,
approachRate: 0.594948 m/s,
rangeRepo size: 4
2025-06-18T18:38:07.790Z,1750271887.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.645164 m,
bearing: 134.784984 deg,
lat: 36.905896 deg,
lon: -122.115760 deg,
deltaT: 3.529720 s,
deltaX: 2.080826 m,
approachRate: 0.589516 m/s,
posRepo size: 4
2025-06-18T18:38:07.790Z,1750271887.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:38:08.155Z,1750271888.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:38:08.522Z,1750271888.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:38:08.931Z,1750271888.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:38:09.350Z,1750271889.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:38:09.769Z,1750271889.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:38:09.780Z,1750271889.780 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:38:10.184Z,1750271890.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:38:10.547Z,1750271890.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:38:10.693Z,1750271890.693 [DAT](INFO): DAT read: Rx Time:18:38:11.0885
2025-06-18T18:38:10.693Z,1750271890.693 [DAT](INFO): Rx dataTimestamp_ set to:1750271890.693044
2025-06-18T18:38:10.784Z,1750271890.784 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:38:10.978Z,1750271890.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m.
2025-06-18T18:38:11.211Z,1750271891.211 [DAT](INFO): DAT read: 18:38:11.0885 LVL= 31984, 30753, 32370, 32755, AGC= 69, IDX= 455,-0.39,-1.671, 0.351,-1.579,-1.134, PHS=-0.448, 1.532,-0.448, RAW= 330.0, -6.5, CAL= 332.6, -8.9, ROT= 177.4, 8.9
2025-06-18T18:38:11.212Z,1750271891.212 [DAT](INFO): got valid direction response:
18:38:11.0885 LVL= 31984, 30753, 32370, 32755, AGC= 69, IDX= 455,-0.39,-1.671, 0.351,-1.579,-1.134, PHS=-0.448, 1.532,-0.448, RAW= 330.0, -6.5, CAL= 332.6, -8.9, ROT= 177.4, 8.9
2025-06-18T18:38:11.213Z,1750271891.213 [DAT](INFO): DAT read: Bearing 177.4, 8.9 (Local)
2025-06-18T18:38:11.213Z,1750271891.213 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.4, 8.9 (Local)
2025-06-18T18:38:11.215Z,1750271891.215 [DAT](INFO): DAT read: Range 10 to 50 : 30.0 m (Round-trip 40.1 ms) speed -0.6 m/s
2025-06-18T18:38:11.216Z,1750271891.216 [DAT](INFO): DAT read: user:1369>
2025-06-18T18:38:11.221Z,1750271891.221 [DAT](INFO): DAT read: Tx time:18:38:12.1943
2025-06-18T18:38:11.221Z,1750271891.221 [DAT](INFO): Ping request sent.
2025-06-18T18:38:11.221Z,1750271891.221 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:38:11.222Z,1750271891.222 [DAT](INFO): DAT read: TxSync time:18:38:12.1935
2025-06-18T18:38:11.222Z,1750271891.222 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-18T18:38:11.223Z,1750271891.223 [DAT](INFO): direction in FSK: [-0.986943,0.044817,-0.154710]
2025-06-18T18:38:11.224Z,1750271891.224 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:11.224Z,1750271891.224 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:11.227Z,1750271891.227 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:11.227Z,1750271891.227 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:11.431Z,1750271891.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.000000 m,
deltaT: 3.534225 s,
deltaX: 2.100000 m,
approachRate: 0.594190 m/s,
rangeRepo size: 4
2025-06-18T18:38:11.438Z,1750271891.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.725967 m,
bearing: 135.284651 deg,
lat: 36.905897 deg,
lon: -122.115759 deg,
deltaT: 3.534225 s,
deltaX: 2.080803 m,
approachRate: 0.588758 m/s,
posRepo size: 4
2025-06-18T18:38:11.439Z,1750271891.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.73 m.
2025-06-18T18:38:11.757Z,1750271891.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.73 m.
2025-06-18T18:38:12.204Z,1750271892.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.73 m.
2025-06-18T18:38:12.567Z,1750271892.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.73 m.
2025-06-18T18:38:12.980Z,1750271892.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.73 m.
2025-06-18T18:38:13.407Z,1750271893.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.73 m.
2025-06-18T18:38:13.779Z,1750271893.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.73 m.
2025-06-18T18:38:14.228Z,1750271894.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.73 m.
2025-06-18T18:38:14.233Z,1750271894.233 [DAT](INFO): DAT read: Rx Time:18:38:14.6415
2025-06-18T18:38:14.233Z,1750271894.233 [DAT](INFO): Rx dataTimestamp_ set to:1750271894.233155
2025-06-18T18:38:14.614Z,1750271894.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.73 m.
2025-06-18T18:38:14.743Z,1750271894.743 [DAT](INFO): DAT read: 18:38:14.6415 LVL= 32752, 24945, 32754, 32755, AGC= 67, IDX= 453,-0.16,-2.939,-0.930,-2.880,-2.466, PHS=-0.385, 1.583,-0.418, RAW= 330.8, -7.9, CAL= 333.5, -10.8, ROT= 176.5, 10.8
2025-06-18T18:38:14.745Z,1750271894.745 [DAT](INFO): got valid direction response:
18:38:14.6415 LVL= 32752, 24945, 32754, 32755, AGC= 67, IDX= 453,-0.16,-2.939,-0.930,-2.880,-2.466, PHS=-0.385, 1.583,-0.418, RAW= 330.8, -7.9, CAL= 333.5, -10.8, ROT= 176.5, 10.8
2025-06-18T18:38:14.746Z,1750271894.746 [DAT](INFO): DAT read: Bearing 176.5, 10.8 (Local)
2025-06-18T18:38:14.746Z,1750271894.746 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.5, 10.8 (Local)
2025-06-18T18:38:14.747Z,1750271894.747 [DAT](INFO): DAT read: Range 10 to 50 : 32.2 m (Round-trip 43.0 ms) speed -0.5 m/s
2025-06-18T18:38:14.753Z,1750271894.753 [DAT](INFO): DAT read: user:1370>
2025-06-18T18:38:14.753Z,1750271894.753 [DAT](INFO): DAT read: Tx time:18:38:15.7443
2025-06-18T18:38:14.754Z,1750271894.754 [DAT](INFO): Ping request sent.
2025-06-18T18:38:14.754Z,1750271894.754 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:38:14.754Z,1750271894.754 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-18T18:38:14.755Z,1750271894.755 [DAT](INFO): direction in FSK: [-0.980455,0.059967,-0.187381]
2025-06-18T18:38:14.755Z,1750271894.755 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:14.755Z,1750271894.755 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:14.761Z,1750271894.761 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:14.762Z,1750271894.762 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:14.989Z,1750271894.989 [DAT](INFO): DAT read: TxSync time:18:38:15.7435
2025-06-18T18:38:15.037Z,1750271895.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.200001 m,
deltaT: 3.532775 s,
deltaX: 2.200001 m,
approachRate: 0.622740 m/s,
rangeRepo size: 4
2025-06-18T18:38:15.039Z,1750271895.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.905869 m,
bearing: 134.549061 deg,
lat: 36.905897 deg,
lon: -122.115758 deg,
deltaT: 3.532775 s,
deltaX: 2.179901 m,
approachRate: 0.617051 m/s,
posRepo size: 4
2025-06-18T18:38:15.044Z,1750271895.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.91 m.
2025-06-18T18:38:15.487Z,1750271895.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.91 m.
2025-06-18T18:38:15.811Z,1750271895.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.91 m.
2025-06-18T18:38:16.272Z,1750271896.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.91 m.
2025-06-18T18:38:16.629Z,1750271896.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.91 m.
2025-06-18T18:38:17.059Z,1750271897.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.91 m.
2025-06-18T18:38:17.470Z,1750271897.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.91 m.
2025-06-18T18:38:17.761Z,1750271897.761 [DAT](INFO): DAT read: Rx Time:18:38:18.1942
2025-06-18T18:38:17.761Z,1750271897.761 [DAT](INFO): Rx dataTimestamp_ set to:1750271897.761070
2025-06-18T18:38:17.843Z,1750271897.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.91 m.
2025-06-18T18:38:18.272Z,1750271898.272 [DAT](INFO): DAT read: 18:38:18.1942 LVL= 29536, 32065, 25522, 32755, AGC= 68, IDX= 449,-0.22,-0.422, 1.677,-0.341, 0.126, PHS=-0.460, 1.598,-0.469, RAW= 330.2, -6.5, CAL= 332.8, -9.0, ROT= 177.2, 9.0
2025-06-18T18:38:18.273Z,1750271898.273 [DAT](INFO): got valid direction response:
18:38:18.1942 LVL= 29536, 32065, 25522, 32755, AGC= 68, IDX= 449,-0.22,-0.422, 1.677,-0.341, 0.126, PHS=-0.460, 1.598,-0.469, RAW= 330.2, -6.5, CAL= 332.8, -9.0, ROT= 177.2, 9.0
2025-06-18T18:38:18.274Z,1750271898.274 [DAT](INFO): DAT read: Bearing 177.2, 9.0 (Local)
2025-06-18T18:38:18.275Z,1750271898.275 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.2, 9.0 (Local)
2025-06-18T18:38:18.276Z,1750271898.276 [DAT](INFO): DAT read: Range 10 to 50 : 34.3 m (Round-trip 45.8 ms) speed -0.6 m/s
2025-06-18T18:38:18.277Z,1750271898.277 [DAT](INFO): DAT read: user:1371>
2025-06-18T18:38:18.278Z,1750271898.278 [DAT](INFO): DAT read: Tx time:18:38:19.2943
2025-06-18T18:38:18.278Z,1750271898.278 [DAT](INFO): Ping request sent.
2025-06-18T18:38:18.278Z,1750271898.278 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:38:18.278Z,1750271898.278 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-18T18:38:18.279Z,1750271898.279 [DAT](INFO): direction in FSK: [-0.986509,0.048248,-0.156434]
2025-06-18T18:38:18.321Z,1750271898.321 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:18.321Z,1750271898.321 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:18.337Z,1750271898.337 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:18.337Z,1750271898.337 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:18.406Z,1750271898.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.299999 m,
deltaT: 3.528529 s,
deltaX: 2.099998 m,
approachRate: 0.595148 m/s,
rangeRepo size: 4
2025-06-18T18:38:18.413Z,1750271898.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.986622 m,
bearing: 135.231542 deg,
lat: 36.905898 deg,
lon: -122.115756 deg,
deltaT: 3.528529 s,
deltaX: 2.080753 m,
approachRate: 0.589694 m/s,
posRepo size: 4
2025-06-18T18:38:18.413Z,1750271898.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-06-18T18:38:18.518Z,1750271898.518 [DAT](INFO): DAT read: TxSync time:18:38:19.2935
2025-06-18T18:38:18.714Z,1750271898.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-06-18T18:38:19.100Z,1750271899.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-06-18T18:38:19.529Z,1750271899.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-06-18T18:38:19.924Z,1750271899.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-06-18T18:38:20.360Z,1750271900.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-06-18T18:38:20.766Z,1750271900.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-06-18T18:38:21.139Z,1750271901.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-06-18T18:38:21.289Z,1750271901.289 [DAT](INFO): DAT read: Rx Time:18:38:21.7472
2025-06-18T18:38:21.289Z,1750271901.289 [DAT](INFO): Rx dataTimestamp_ set to:1750271901.289036
2025-06-18T18:38:21.559Z,1750271901.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.99 m.
2025-06-18T18:38:21.799Z,1750271901.799 [DAT](INFO): DAT read: 18:38:21.7472 LVL= 26176, 20577, 20466, 32755, AGC= 67, IDX= 463, 0.04, 1.775,-2.482, 1.846, 2.270, PHS=-0.407, 1.579,-0.427, RAW= 330.5, -7.5, CAL= 333.2, -10.3, ROT= 176.8, 10.3
2025-06-18T18:38:21.807Z,1750271901.807 [DAT](INFO): got valid direction response:
18:38:21.7472 LVL= 26176, 20577, 20466, 32755, AGC= 67, IDX= 463, 0.04, 1.775,-2.482, 1.846, 2.270, PHS=-0.407, 1.579,-0.427, RAW= 330.5, -7.5, CAL= 333.2, -10.3, ROT= 176.8, 10.3
2025-06-18T18:38:21.808Z,1750271901.808 [DAT](INFO): DAT read: Bearing 176.8, 10.3 (Local)
2025-06-18T18:38:21.809Z,1750271901.809 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.8, 10.3 (Local)
2025-06-18T18:38:21.810Z,1750271901.810 [DAT](INFO): DAT read: Range 10 to 50 : 36.5 m (Round-trip 48.7 ms) speed -0.6 m/s
2025-06-18T18:38:21.811Z,1750271901.811 [DAT](INFO): DAT read: user:1372>
2025-06-18T18:38:21.812Z,1750271901.812 [DAT](INFO): DAT read: Tx time:18:38:22.8444
2025-06-18T18:38:21.812Z,1750271901.812 [DAT](INFO): Ping request sent.
2025-06-18T18:38:21.812Z,1750271901.812 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:38:21.812Z,1750271901.812 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-18T18:38:21.813Z,1750271901.813 [DAT](INFO): direction in FSK: [-0.982351,0.054922,-0.178802]
2025-06-18T18:38:21.814Z,1750271901.814 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:21.814Z,1750271901.814 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:21.817Z,1750271901.817 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:21.817Z,1750271901.817 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:21.988Z,1750271901.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.500000 m,
deltaT: 3.526676 s,
deltaX: 2.200001 m,
approachRate: 0.623817 m/s,
rangeRepo size: 4
2025-06-18T18:38:21.990Z,1750271901.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.166439 m,
bearing: 134.668043 deg,
lat: 36.905898 deg,
lon: -122.115756 deg,
deltaT: 3.526676 s,
deltaX: 2.179817 m,
approachRate: 0.618094 m/s,
posRepo size: 4
2025-06-18T18:38:21.991Z,1750271901.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.17 m.
2025-06-18T18:38:22.046Z,1750271902.046 [DAT](INFO): DAT read: TxSync time:18:38:22.8436
2025-06-18T18:38:22.358Z,1750271902.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.17 m.
2025-06-18T18:38:22.755Z,1750271902.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.17 m.
2025-06-18T18:38:23.140Z,1750271903.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.17 m.
2025-06-18T18:38:23.583Z,1750271903.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.17 m.
2025-06-18T18:38:23.950Z,1750271903.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.17 m.
2025-06-18T18:38:24.379Z,1750271904.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.17 m.
2025-06-18T18:38:24.758Z,1750271904.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.17 m.
2025-06-18T18:38:24.817Z,1750271904.817 [DAT](INFO): DAT read: Rx Time:18:38:25.3003
2025-06-18T18:38:24.818Z,1750271904.818 [DAT](INFO): Rx dataTimestamp_ set to:1750271904.817691
2025-06-18T18:38:25.194Z,1750271905.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.17 m.
2025-06-18T18:38:25.331Z,1750271905.331 [DAT](INFO): DAT read: 18:38:25.3003 LVL= 27248, 23137, 22482, 32755, AGC= 69, IDX= 463,-0.15,-2.383,-0.298,-2.357,-1.880, PHS=-0.415, 1.629,-0.480, RAW= 331.6, -7.1, CAL= 334.1, -9.8, ROT= 175.9, 9.8
2025-06-18T18:38:25.332Z,1750271905.332 [DAT](INFO): got valid direction response:
18:38:25.3003 LVL= 27248, 23137, 22482, 32755, AGC= 69, IDX= 463,-0.15,-2.383,-0.298,-2.357,-1.880, PHS=-0.415, 1.629,-0.480, RAW= 331.6, -7.1, CAL= 334.1, -9.8, ROT= 175.9, 9.8
2025-06-18T18:38:25.333Z,1750271905.333 [DAT](INFO): DAT read: Bearing 175.9, 9.8 (Local)
2025-06-18T18:38:25.333Z,1750271905.333 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.9, 9.8 (Local)
2025-06-18T18:38:25.335Z,1750271905.335 [DAT](INFO): DAT read: Range 10 to 50 : 38.8 m (Round-trip 51.8 ms) speed -0.8 m/s
2025-06-18T18:38:25.336Z,1750271905.336 [DAT](INFO): DAT read: user:1373>
2025-06-18T18:38:25.337Z,1750271905.337 [DAT](INFO): DAT read: Tx time:18:38:26.3944
2025-06-18T18:38:25.337Z,1750271905.337 [DAT](INFO): Ping request sent.
2025-06-18T18:38:25.337Z,1750271905.337 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:38:25.337Z,1750271905.337 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-18T18:38:25.338Z,1750271905.338 [DAT](INFO): direction in FSK: [-0.982886,0.070454,-0.170209]
2025-06-18T18:38:25.339Z,1750271905.339 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:25.339Z,1750271905.339 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:25.342Z,1750271905.342 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:25.342Z,1750271905.342 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:25.577Z,1750271905.577 [DAT](INFO): DAT read: TxSync time:18:38:26.3936
2025-06-18T18:38:25.694Z,1750271905.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.799999 m,
deltaT: 3.532192 s,
deltaX: 2.299999 m,
approachRate: 0.651154 m/s,
rangeRepo size: 4
2025-06-18T18:38:25.700Z,1750271905.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.445591 m,
bearing: 133.938175 deg,
lat: 36.905901 deg,
lon: -122.115755 deg,
deltaT: 3.532192 s,
deltaX: 2.279152 m,
approachRate: 0.645251 m/s,
posRepo size: 4
2025-06-18T18:38:25.700Z,1750271905.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.45 m.
2025-06-18T18:38:25.987Z,1750271905.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.45 m.
2025-06-18T18:38:26.409Z,1750271906.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.45 m.
2025-06-18T18:38:26.818Z,1750271906.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.45 m.
2025-06-18T18:38:27.209Z,1750271907.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.45 m.
2025-06-18T18:38:27.691Z,1750271907.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.45 m.
2025-06-18T18:38:28.013Z,1750271908.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.45 m.
2025-06-18T18:38:28.352Z,1750271908.352 [DAT](INFO): DAT read: Rx Time:18:38:28.8532
2025-06-18T18:38:28.354Z,1750271908.354 [DAT](INFO): Rx dataTimestamp_ set to:1750271908.352764
2025-06-18T18:38:28.494Z,1750271908.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.45 m.
2025-06-18T18:38:28.861Z,1750271908.861 [DAT](INFO): DAT read: 18:38:28.8532 LVL= 26464, 26065, 24034, 32755, AGC= 68, IDX= 460, 0.27, 2.689,-1.437, 2.729,-3.067, PHS=-0.439, 1.677,-0.490, RAW= 331.2, -7.0, CAL= 333.7, -9.7, ROT= 176.3, 9.7
2025-06-18T18:38:28.863Z,1750271908.863 [DAT](INFO): got valid direction response:
18:38:28.8532 LVL= 26464, 26065, 24034, 32755, AGC= 68, IDX= 460, 0.27, 2.689,-1.437, 2.729,-3.067, PHS=-0.439, 1.677,-0.490, RAW= 331.2, -7.0, CAL= 333.7, -9.7, ROT= 176.3, 9.7
2025-06-18T18:38:28.865Z,1750271908.865 [DAT](INFO): DAT read: Bearing 176.3, 9.7 (Local)
2025-06-18T18:38:28.865Z,1750271908.865 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.3, 9.7 (Local)
2025-06-18T18:38:28.867Z,1750271908.867 [DAT](INFO): DAT read: Range 10 to 50 : 40.9 m (Round-trip 54.6 ms) speed -0.6 m/s
2025-06-18T18:38:28.869Z,1750271908.869 [DAT](INFO): DAT read: user:1374>
2025-06-18T18:38:28.870Z,1750271908.870 [DAT](INFO): DAT read: Tx time:18:38:29.9444
2025-06-18T18:38:28.870Z,1750271908.870 [DAT](INFO): Ping request sent.
2025-06-18T18:38:28.870Z,1750271908.870 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:38:28.871Z,1750271908.871 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-18T18:38:28.904Z,1750271908.904 [DAT](INFO): direction in FSK: [-0.983649,0.063610,-0.168489]
2025-06-18T18:38:28.905Z,1750271908.905 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:28.905Z,1750271908.905 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:28.916Z,1750271908.916 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:28.916Z,1750271908.916 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:29.061Z,1750271909.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.900002 m,
deltaT: 3.527850 s,
deltaX: 2.100002 m,
approachRate: 0.595264 m/s,
rangeRepo size: 4
2025-06-18T18:38:29.063Z,1750271909.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.526382 m,
bearing: 134.392984 deg,
lat: 36.905902 deg,
lon: -122.115754 deg,
deltaT: 3.527850 s,
deltaX: 2.080791 m,
approachRate: 0.589819 m/s,
posRepo size: 4
2025-06-18T18:38:29.063Z,1750271909.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.53 m.
2025-06-18T18:38:29.105Z,1750271909.105 [DAT](INFO): DAT read: TxSync time:18:38:29.9436
2025-06-18T18:38:29.450Z,1750271909.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.53 m.
2025-06-18T18:38:29.791Z,1750271909.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.53 m.
2025-06-18T18:38:30.192Z,1750271910.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.53 m.
2025-06-18T18:38:30.610Z,1750271910.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.53 m.
2025-06-18T18:38:31.024Z,1750271911.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.53 m.
2025-06-18T18:38:31.490Z,1750271911.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.53 m.
2025-06-18T18:38:31.882Z,1750271911.882 [DAT](INFO): DAT read: Rx Time:18:38:32.4062
2025-06-18T18:38:31.882Z,1750271911.882 [DAT](INFO): Rx dataTimestamp_ set to:1750271911.882068
2025-06-18T18:38:31.951Z,1750271911.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.53 m.
2025-06-18T18:38:32.403Z,1750271912.403 [DAT](INFO): DAT read: 18:38:32.4062 LVL= 27920, 25057, 29426, 32755, AGC= 71, IDX= 458, 0.18, 0.789, 2.841, 0.847, 1.307, PHS=-0.430, 1.581,-0.463, RAW= 330.8, -6.8, CAL= 333.4, -9.4, ROT= 176.6, 9.4
2025-06-18T18:38:32.423Z,1750271912.423 [DAT](INFO): got valid direction response:
18:38:32.4062 LVL= 27920, 25057, 29426, 32755, AGC= 71, IDX= 458, 0.18, 0.789, 2.841, 0.847, 1.307, PHS=-0.430, 1.581,-0.463, RAW= 330.8, -6.8, CAL= 333.4, -9.4, ROT= 176.6, 9.4
2025-06-18T18:38:32.434Z,1750271912.434 [DAT](INFO): DAT read: Bearing 176.6, 9.4 (Local)
2025-06-18T18:38:32.435Z,1750271912.435 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.6, 9.4 (Local)
2025-06-18T18:38:32.441Z,1750271912.441 [DAT](INFO): DAT read: Range 10 to 50 : 43.2 m (Round-trip 57.6 ms) speed -0.5 m/s
2025-06-18T18:38:32.442Z,1750271912.442 [DAT](INFO): DAT read: user:1375>
2025-06-18T18:38:32.443Z,1750271912.443 [DAT](INFO): DAT read: Tx time:18:38:33.4945
2025-06-18T18:38:32.443Z,1750271912.443 [DAT](INFO): Ping request sent.
2025-06-18T18:38:32.443Z,1750271912.443 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:38:32.456Z,1750271912.456 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-18T18:38:32.457Z,1750271912.457 [DAT](INFO): direction in FSK: [-0.984836,0.058510,-0.163326]
2025-06-18T18:38:32.457Z,1750271912.457 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:32.457Z,1750271912.457 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:32.485Z,1750271912.485 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:32.485Z,1750271912.485 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:32.510Z,1750271912.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.200001 m,
deltaT: 3.533412 s,
deltaX: 2.299999 m,
approachRate: 0.650929 m/s,
rangeRepo size: 4
2025-06-18T18:38:32.516Z,1750271912.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.805359 m,
bearing: 134.741895 deg,
lat: 36.905903 deg,
lon: -122.115750 deg,
deltaT: 3.533412 s,
deltaX: 2.278976 m,
approachRate: 0.644979 m/s,
posRepo size: 4
2025-06-18T18:38:32.519Z,1750271912.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.81 m.
2025-06-18T18:38:32.637Z,1750271912.637 [DAT](INFO): DAT read: TxSync time:18:38:33.4937
2025-06-18T18:38:32.866Z,1750271912.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.81 m.
2025-06-18T18:38:33.226Z,1750271913.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.81 m.
2025-06-18T18:38:33.648Z,1750271913.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.81 m.
2025-06-18T18:38:34.027Z,1750271914.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.81 m.
2025-06-18T18:38:34.532Z,1750271914.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.81 m.
2025-06-18T18:38:34.836Z,1750271914.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.81 m.
2025-06-18T18:38:35.249Z,1750271915.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.81 m.
2025-06-18T18:38:35.419Z,1750271915.419 [DAT](INFO): DAT read: Rx Time:18:38:35.9592
2025-06-18T18:38:35.421Z,1750271915.421 [DAT](INFO): Rx dataTimestamp_ set to:1750271915.419923
2025-06-18T18:38:35.691Z,1750271915.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.81 m.
2025-06-18T18:38:35.927Z,1750271915.927 [DAT](INFO): DAT read: 18:38:35.9592 LVL= 28592, 24865, 22674, 32755, AGC= 69, IDX= 457,-0.06,-3.117,-1.098,-3.039,-2.595, PHS=-0.433, 1.544,-0.446, RAW= 330.3, -6.8, CAL= 332.9, -9.3, ROT= 177.1, 9.3
2025-06-18T18:38:35.928Z,1750271915.928 [DAT](INFO): got valid direction response:
18:38:35.9592 LVL= 28592, 24865, 22674, 32755, AGC= 69, IDX= 457,-0.06,-3.117,-1.098,-3.039,-2.595, PHS=-0.433, 1.544,-0.446, RAW= 330.3, -6.8, CAL= 332.9, -9.3, ROT= 177.1, 9.3
2025-06-18T18:38:35.929Z,1750271915.929 [DAT](INFO): DAT read: Bearing 177.1, 9.3 (Local)
2025-06-18T18:38:35.929Z,1750271915.929 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.1, 9.3 (Local)
2025-06-18T18:38:35.931Z,1750271915.931 [DAT](INFO): DAT read: Range 10 to 50 : 45.4 m (Round-trip 60.6 ms) speed -0.7 m/s
2025-06-18T18:38:35.931Z,1750271915.931 [DAT](INFO): DAT read: user:1376>
2025-06-18T18:38:35.932Z,1750271915.932 [DAT](INFO): DAT read: Tx time:18:38:37.0445
2025-06-18T18:38:35.933Z,1750271915.933 [DAT](INFO): Ping request sent.
2025-06-18T18:38:35.933Z,1750271915.933 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:38:35.933Z,1750271915.933 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-18T18:38:35.934Z,1750271915.934 [DAT](INFO): direction in FSK: [-0.985592,0.049928,-0.161604]
2025-06-18T18:38:35.934Z,1750271915.934 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:35.934Z,1750271915.934 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:35.938Z,1750271915.938 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:35.938Z,1750271915.938 [DAT](INFO): publishing direction and range info
2025-06-18T18:38:36.128Z,1750271916.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.400002 m,
deltaT: 3.534644 s,
deltaX: 2.200001 m,
approachRate: 0.622411 m/s,
rangeRepo size: 4
2025-06-18T18:38:36.130Z,1750271916.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.985260 m,
bearing: 134.818676 deg,
lat: 36.905905 deg,
lon: -122.115750 deg,
deltaT: 3.534644 s,
deltaX: 2.179901 m,
approachRate: 0.616724 m/s,
posRepo size: 4
2025-06-18T18:38:36.131Z,1750271916.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:36.173Z,1750271916.173 [DAT](INFO): DAT read: TxSync time:18:38:37.0437
2025-06-18T18:38:36.577Z,1750271916.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:36.911Z,1750271916.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:37.283Z,1750271917.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:37.707Z,1750271917.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:38.096Z,1750271918.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:38.567Z,1750271918.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:38.926Z,1750271918.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:38.949Z,1750271918.949 [DAT](INFO): DAT read: Rx Time:18:38:39.5122
2025-06-18T18:38:38.949Z,1750271918.949 [DAT](INFO): Rx dataTimestamp_ set to:1750271918.949130
2025-06-18T18:38:39.296Z,1750271919.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:39.473Z,1750271919.473 [DAT](INFO): DAT read: 18:38:39.5122 LVL= 20512, 17777, 23426, 32755, AGC= 69, IDX= 455, 0.06, 2.129,-2.129, 2.229, 2.651, PHS=-0.434, 1.550,-0.425, RAW= 329.8, -7.0, CAL= 332.5, -9.7, ROT= 177.5, 9.7
2025-06-18T18:38:39.477Z,1750271919.477 [DAT](INFO): got valid direction response:
18:38:39.5122 LVL= 20512, 17777, 23426, 32755, AGC= 69, IDX= 455, 0.06, 2.129,-2.129, 2.229, 2.651, PHS=-0.434, 1.550,-0.425, RAW= 329.8, -7.0, CAL= 332.5, -9.7, ROT= 177.5, 9.7
2025-06-18T18:38:39.479Z,1750271919.479 [DAT](INFO): DAT read: $Error in header
2025-06-18T18:38:39.528Z,1750271919.528 [DAT](INFO): Received a bad header
2025-06-18T18:38:39.541Z,1750271919.541 [DAT](INFO): #Rx 17: Read direction message, but no range.
2025-06-18T18:38:39.543Z,1750271919.543 [DAT](INFO): direction in FSK: [-0.984765,0.042996,-0.168489]
2025-06-18T18:38:39.734Z,1750271919.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:40.192Z,1750271920.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:38:40.194Z,1750271920.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:40.209Z,1750271920.209 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:38:40.209Z,1750271920.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:38:40.465Z,1750271920.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531668
2025-06-18T18:38:40.618Z,1750271920.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:40.713Z,1750271920.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.780052
2025-06-18T18:38:40.938Z,1750271920.938 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:38:40.965Z,1750271920.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032669
2025-06-18T18:38:41.065Z,1750271921.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:41.217Z,1750271921.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284024
2025-06-18T18:38:41.472Z,1750271921.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538574
2025-06-18T18:38:41.480Z,1750271921.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:41.722Z,1750271921.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.789021
2025-06-18T18:38:41.941Z,1750271921.941 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:38:41.973Z,1750271921.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.040182
2025-06-18T18:38:41.996Z,1750271921.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:42.225Z,1750271922.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.292024
2025-06-18T18:38:42.398Z,1750271922.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:42.478Z,1750271922.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.545189
2025-06-18T18:38:42.729Z,1750271922.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.796134
2025-06-18T18:38:42.822Z,1750271922.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:42.981Z,1750271922.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048032
2025-06-18T18:38:43.193Z,1750271923.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:43.234Z,1750271923.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.301316
2025-06-18T18:38:43.485Z,1750271923.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552141
2025-06-18T18:38:43.639Z,1750271923.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:43.737Z,1750271923.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.804069
2025-06-18T18:38:43.989Z,1750271923.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.056443
2025-06-18T18:38:43.997Z,1750271923.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:44.241Z,1750271924.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308225
2025-06-18T18:38:44.425Z,1750271924.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:44.493Z,1750271924.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560725
2025-06-18T18:38:44.745Z,1750271924.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812096
2025-06-18T18:38:44.838Z,1750271924.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:44.997Z,1750271924.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064107
2025-06-18T18:38:45.223Z,1750271925.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:45.249Z,1750271925.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.316017
2025-06-18T18:38:45.501Z,1750271925.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.568071
2025-06-18T18:38:45.669Z,1750271925.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:45.754Z,1750271925.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.821146
2025-06-18T18:38:46.004Z,1750271926.004 [DAT](INFO): Reached modem response timeout
2025-06-18T18:38:46.005Z,1750271926.005 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:38:46.005Z,1750271926.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:38:46.026Z,1750271926.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:46.257Z,1750271926.257 [DAT](INFO): Reached modem response timeout
2025-06-18T18:38:46.257Z,1750271926.257 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:38:46.257Z,1750271926.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:38:46.429Z,1750271926.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:46.516Z,1750271926.516 [DAT](INFO): Reached modem response timeout
2025-06-18T18:38:46.517Z,1750271926.517 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:38:46.517Z,1750271926.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:38:46.764Z,1750271926.764 [DAT](INFO): Reached modem response timeout
2025-06-18T18:38:46.765Z,1750271926.765 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:38:46.765Z,1750271926.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:38:46.854Z,1750271926.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:47.019Z,1750271927.019 [DAT](INFO): DAT read: Resonse Not Received
2025-06-18T18:38:47.022Z,1750271927.022 [DAT](INFO): unknown deviceResponse_: Resonse Not Received
2025-06-18T18:38:47.023Z,1750271927.023 [DAT](INFO): DAT read: user:1378>
2025-06-18T18:38:47.024Z,1750271927.024 [DAT](INFO): DAT read: Tx time:18:38:47.9946
2025-06-18T18:38:47.024Z,1750271927.024 [DAT](INFO): Ping request sent.
2025-06-18T18:38:47.024Z,1750271927.024 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:38:47.025Z,1750271927.025 [DAT](INFO): DAT read: TxSync time:18:38:47.9938
2025-06-18T18:38:47.025Z,1750271927.025 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:47.026Z,1750271927.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001617
2025-06-18T18:38:47.237Z,1750271927.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:47.269Z,1750271927.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244899
2025-06-18T18:38:47.521Z,1750271927.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496657
2025-06-18T18:38:47.710Z,1750271927.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:47.774Z,1750271927.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749409
2025-06-18T18:38:48.025Z,1750271928.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000951
2025-06-18T18:38:48.038Z,1750271928.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:48.277Z,1750271928.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252629
2025-06-18T18:38:48.441Z,1750271928.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:48.530Z,1750271928.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505492
2025-06-18T18:38:48.781Z,1750271928.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756755
2025-06-18T18:38:48.901Z,1750271928.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:49.033Z,1750271929.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008693
2025-06-18T18:38:49.285Z,1750271929.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260992
2025-06-18T18:38:49.336Z,1750271929.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:49.538Z,1750271929.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513530
2025-06-18T18:38:49.789Z,1750271929.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764760
2025-06-18T18:38:49.793Z,1750271929.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:50.041Z,1750271930.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016632
2025-06-18T18:38:50.167Z,1750271930.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:50.293Z,1750271930.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268610
2025-06-18T18:38:50.533Z,1750271930.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:50.545Z,1750271930.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520592
2025-06-18T18:38:50.797Z,1750271930.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772640
2025-06-18T18:38:50.995Z,1750271930.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:51.050Z,1750271931.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025183
2025-06-18T18:38:51.301Z,1750271931.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276671
2025-06-18T18:38:51.345Z,1750271931.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:51.553Z,1750271931.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.528858
2025-06-18T18:38:51.765Z,1750271931.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:51.805Z,1750271931.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781200
2025-06-18T18:38:52.057Z,1750271932.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032828
2025-06-18T18:38:52.142Z,1750271932.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:52.309Z,1750271932.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284678
2025-06-18T18:38:52.541Z,1750271932.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:52.563Z,1750271932.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539108
2025-06-18T18:38:52.813Z,1750271932.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788671
2025-06-18T18:38:52.976Z,1750271932.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:53.065Z,1750271933.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.040733
2025-06-18T18:38:53.317Z,1750271933.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.292724
2025-06-18T18:38:53.338Z,1750271933.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:53.570Z,1750271933.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546147
2025-06-18T18:38:53.794Z,1750271933.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:53.821Z,1750271933.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.796932
2025-06-18T18:38:54.073Z,1750271934.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048743
2025-06-18T18:38:54.154Z,1750271934.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:54.325Z,1750271934.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300673
2025-06-18T18:38:54.572Z,1750271934.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:54.577Z,1750271934.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552809
2025-06-18T18:38:54.829Z,1750271934.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.804760
2025-06-18T18:38:54.991Z,1750271934.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:55.081Z,1750271935.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.057146
2025-06-18T18:38:55.333Z,1750271935.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308587
2025-06-18T18:38:55.372Z,1750271935.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:55.586Z,1750271935.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.561470
2025-06-18T18:38:55.834Z,1750271935.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:55.837Z,1750271935.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812804
2025-06-18T18:38:56.089Z,1750271936.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064700
2025-06-18T18:38:56.163Z,1750271936.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:56.341Z,1750271936.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.316810
2025-06-18T18:38:56.572Z,1750271936.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:56.594Z,1750271936.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.569034
2025-06-18T18:38:56.849Z,1750271936.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824746
2025-06-18T18:38:57.049Z,1750271937.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:57.101Z,1750271937.101 [DAT](INFO): Reached modem response timeout
2025-06-18T18:38:57.391Z,1750271937.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:57.858Z,1750271937.858 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:38:57.858Z,1750271937.858 [DAT](INFO): response not received
2025-06-18T18:38:57.859Z,1750271937.859 [DAT](INFO): DAT read: user:1379>
2025-06-18T18:38:57.860Z,1750271937.860 [DAT](INFO): DAT read: Tx time:18:38:58.9447
2025-06-18T18:38:57.861Z,1750271937.861 [DAT](INFO): Ping request sent.
2025-06-18T18:38:57.861Z,1750271937.861 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:38:57.861Z,1750271937.861 [DAT](INFO): publishing transmit ping time
2025-06-18T18:38:57.862Z,1750271937.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001262
2025-06-18T18:38:57.982Z,1750271937.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:58.109Z,1750271938.109 [DAT](INFO): DAT read: TxSync time:18:38:58.9439
2025-06-18T18:38:58.110Z,1750271938.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248955
2025-06-18T18:38:58.251Z,1750271938.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:58.361Z,1750271938.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500064
2025-06-18T18:38:58.613Z,1750271938.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752070
2025-06-18T18:38:58.678Z,1750271938.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:58.866Z,1750271938.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004747
2025-06-18T18:38:59.078Z,1750271939.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:59.120Z,1750271939.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259137
2025-06-18T18:38:59.369Z,1750271939.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508254
2025-06-18T18:38:59.467Z,1750271939.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:38:59.621Z,1750271939.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760050
2025-06-18T18:38:59.874Z,1750271939.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013062
2025-06-18T18:38:59.909Z,1750271939.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:00.125Z,1750271940.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264031
2025-06-18T18:39:00.272Z,1750271940.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:00.377Z,1750271940.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516702
2025-06-18T18:39:00.629Z,1750271940.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768036
2025-06-18T18:39:00.675Z,1750271940.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:00.881Z,1750271940.881 [DAT](INFO): DAT read: Rx Time:18:39:01.4307
2025-06-18T18:39:00.882Z,1750271940.882 [DAT](INFO): Rx dataTimestamp_ set to:1750271940.881824
2025-06-18T18:39:00.883Z,1750271940.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022247
2025-06-18T18:39:01.103Z,1750271941.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:01.133Z,1750271941.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272051
2025-06-18T18:39:01.391Z,1750271941.391 [DAT](INFO): DAT read: 18:39:01.4308 LVL= 32752, 24673, 24882, 32755, AGC= 67, IDX= 83,-0.17, 2.879,-1.394, 2.889,-2.960, PHS=-0.357, 1.613,-0.438, RAW= 332.0, -8.2, CAL= 334.6, -11.2, ROT= 175.4, 11.2
2025-06-18T18:39:01.392Z,1750271941.392 [DAT](INFO): got valid direction response:
18:39:01.4308 LVL= 32752, 24673, 24882, 32755, AGC= 67, IDX= 83,-0.17, 2.879,-1.394, 2.889,-2.960, PHS=-0.357, 1.613,-0.438, RAW= 332.0, -8.2, CAL= 334.6, -11.2, ROT= 175.4, 11.2
2025-06-18T18:39:01.393Z,1750271941.393 [DAT](INFO): DAT read: $Error in header
2025-06-18T18:39:01.393Z,1750271941.393 [DAT](INFO): Received a bad header
2025-06-18T18:39:01.404Z,1750271941.404 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-18T18:39:01.405Z,1750271941.405 [DAT](INFO): direction in FSK: [-0.977795,0.078672,-0.194234]
2025-06-18T18:39:01.512Z,1750271941.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:01.924Z,1750271941.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:02.289Z,1750271942.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:02.696Z,1750271942.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:03.178Z,1750271943.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:03.504Z,1750271943.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:03.966Z,1750271943.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:04.325Z,1750271944.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:04.724Z,1750271944.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:05.173Z,1750271945.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:05.527Z,1750271945.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:05.976Z,1750271945.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:06.364Z,1750271946.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:06.783Z,1750271946.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:07.175Z,1750271947.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:07.563Z,1750271947.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:08.005Z,1750271948.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:08.370Z,1750271948.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:08.697Z,1750271948.697 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:39:08.697Z,1750271948.697 [DAT](INFO): response not received
2025-06-18T18:39:08.698Z,1750271948.698 [DAT](INFO): DAT read: user:1381>
2025-06-18T18:39:08.698Z,1750271948.698 [DAT](ERROR): No response from remote modem.
2025-06-18T18:39:08.791Z,1750271948.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:08.952Z,1750271948.952 [DAT](INFO): DAT read: Tx time:18:39:09.8963
2025-06-18T18:39:08.953Z,1750271948.953 [DAT](INFO): Ping request sent.
2025-06-18T18:39:08.953Z,1750271948.953 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:39:08.955Z,1750271948.955 [DAT](INFO): DAT read: TxSync time:18:39:09.8956
2025-06-18T18:39:08.956Z,1750271948.956 [DAT](INFO): publishing transmit ping time
2025-06-18T18:39:09.214Z,1750271949.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:09.617Z,1750271949.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:10.040Z,1750271950.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:10.388Z,1750271950.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:10.794Z,1750271950.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:11.222Z,1750271951.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:11.624Z,1750271951.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:12.059Z,1750271952.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:12.068Z,1750271952.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:39:12.463Z,1750271952.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:12.831Z,1750271952.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:13.072Z,1750271953.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:39:13.306Z,1750271953.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:13.627Z,1750271953.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:14.083Z,1750271954.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:14.443Z,1750271954.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:14.837Z,1750271954.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:15.277Z,1750271955.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:15.649Z,1750271955.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:16.117Z,1750271956.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:16.528Z,1750271956.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:16.925Z,1750271956.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:17.315Z,1750271957.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:17.693Z,1750271957.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:18.152Z,1750271958.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:18.476Z,1750271958.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:18.892Z,1750271958.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:19.306Z,1750271959.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:19.712Z,1750271959.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:19.802Z,1750271959.802 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:39:19.802Z,1750271959.802 [DAT](INFO): response not received
2025-06-18T18:39:19.803Z,1750271959.803 [DAT](INFO): DAT read: user:1382>
2025-06-18T18:39:19.804Z,1750271959.804 [DAT](INFO): DAT read: Tx time:18:39:20.8450
2025-06-18T18:39:19.804Z,1750271959.804 [DAT](INFO): Ping request sent.
2025-06-18T18:39:19.805Z,1750271959.805 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:39:19.805Z,1750271959.805 [DAT](INFO): publishing transmit ping time
2025-06-18T18:39:20.053Z,1750271960.053 [DAT](INFO): DAT read: TxSync time:18:39:20.8442
2025-06-18T18:39:20.171Z,1750271960.171 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -94.87, +672 -38.15, 7.43, 0.00
2025-06-18T18:39:20.203Z,1750271960.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:20.492Z,1750271960.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:20.907Z,1750271960.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:21.322Z,1750271961.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:21.720Z,1750271961.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:22.175Z,1750271962.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:22.565Z,1750271962.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:22.825Z,1750271962.825 [DAT](INFO): DAT read: Rx Time:18:39:23.3495
2025-06-18T18:39:22.825Z,1750271962.825 [DAT](INFO): Rx dataTimestamp_ set to:1750271962.825113
2025-06-18T18:39:22.920Z,1750271962.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:23.335Z,1750271963.335 [DAT](INFO): DAT read: 18:39:23.3495 LVL= 24992, 22337, 23618, 32755, AGC= 69, IDX= 64, 0.14, 0.235, 2.138, 0.277, 0.674, PHS=-0.351, 1.511,-0.400, RAW= 331.3, -8.1, CAL= 333.9, -11.1, ROT= 176.1, 11.1
2025-06-18T18:39:23.336Z,1750271963.336 [DAT](INFO): got valid direction response:
18:39:23.3495 LVL= 24992, 22337, 23618, 32755, AGC= 69, IDX= 64, 0.14, 0.235, 2.138, 0.277, 0.674, PHS=-0.351, 1.511,-0.400, RAW= 331.3, -8.1, CAL= 333.9, -11.1, ROT= 176.1, 11.1
2025-06-18T18:39:23.337Z,1750271963.337 [DAT](INFO): DAT read: $Error in header
2025-06-18T18:39:23.337Z,1750271963.337 [DAT](INFO): Received a bad header
2025-06-18T18:39:23.348Z,1750271963.348 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-06-18T18:39:23.349Z,1750271963.349 [DAT](INFO): direction in FSK: [-0.979020,0.066743,-0.192522]
2025-06-18T18:39:23.395Z,1750271963.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:23.822Z,1750271963.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:24.244Z,1750271964.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:24.657Z,1750271964.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:25.071Z,1750271965.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:25.497Z,1750271965.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:25.905Z,1750271965.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:26.326Z,1750271966.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:26.692Z,1750271966.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:27.113Z,1750271967.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:27.503Z,1750271967.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:27.904Z,1750271967.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:28.325Z,1750271968.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:28.701Z,1750271968.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:29.119Z,1750271969.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:29.593Z,1750271969.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:29.926Z,1750271969.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:30.347Z,1750271970.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:30.661Z,1750271970.661 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:39:30.661Z,1750271970.661 [DAT](INFO): response not received
2025-06-18T18:39:30.662Z,1750271970.662 [DAT](INFO): DAT read: user:1384>
2025-06-18T18:39:30.662Z,1750271970.662 [DAT](INFO): DAT read: Tx time:18:39:31.7951
2025-06-18T18:39:30.663Z,1750271970.663 [DAT](INFO): Ping request sent.
2025-06-18T18:39:30.663Z,1750271970.663 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:39:30.663Z,1750271970.663 [DAT](INFO): publishing transmit ping time
2025-06-18T18:39:30.761Z,1750271970.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:30.913Z,1750271970.913 [DAT](INFO): DAT read: TxSync time:18:39:31.7943
2025-06-18T18:39:31.121Z,1750271971.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:31.545Z,1750271971.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:31.944Z,1750271971.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:32.369Z,1750271972.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:32.744Z,1750271972.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:33.146Z,1750271973.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:33.568Z,1750271973.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:33.967Z,1750271973.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:34.401Z,1750271974.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:34.792Z,1750271974.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:35.222Z,1750271975.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:35.643Z,1750271975.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:36.009Z,1750271976.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:36.432Z,1750271976.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:36.832Z,1750271976.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:37.248Z,1750271977.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:37.643Z,1750271977.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:38.031Z,1750271978.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:38.457Z,1750271978.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:38.839Z,1750271978.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:39.245Z,1750271979.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:39.693Z,1750271979.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:40.055Z,1750271980.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:40.485Z,1750271980.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:39:40.487Z,1750271980.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:40.489Z,1750271980.489 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:39:40.489Z,1750271980.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:39:40.740Z,1750271980.740 [DAT](INFO): Reached modem response timeout
2025-06-18T18:39:40.741Z,1750271980.741 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:39:40.741Z,1750271980.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:39:40.867Z,1750271980.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:40.993Z,1750271980.993 [DAT](INFO): Reached modem response timeout
2025-06-18T18:39:40.993Z,1750271980.993 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:39:40.993Z,1750271980.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:39:41.247Z,1750271981.247 [DAT](INFO): Reached modem response timeout
2025-06-18T18:39:41.248Z,1750271981.248 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:39:41.248Z,1750271981.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:39:41.271Z,1750271981.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:41.497Z,1750271981.497 [DAT](INFO): Reached modem response timeout
2025-06-18T18:39:41.497Z,1750271981.497 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:39:41.497Z,1750271981.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:39:41.696Z,1750271981.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:41.749Z,1750271981.749 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:39:41.750Z,1750271981.750 [DAT](INFO): response not received
2025-06-18T18:39:41.750Z,1750271981.750 [DAT](INFO): DAT read: user:1385>
2025-06-18T18:39:41.751Z,1750271981.751 [DAT](INFO): DAT read: Tx time:18:39:42.7452
2025-06-18T18:39:41.751Z,1750271981.751 [DAT](INFO): Ping request sent.
2025-06-18T18:39:41.751Z,1750271981.751 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:39:41.751Z,1750271981.751 [DAT](INFO): publishing transmit ping time
2025-06-18T18:39:41.752Z,1750271981.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000830
2025-06-18T18:39:42.001Z,1750271982.001 [DAT](INFO): DAT read: TxSync time:18:39:42.7444
2025-06-18T18:39:42.002Z,1750271982.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250568
2025-06-18T18:39:42.079Z,1750271982.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:42.253Z,1750271982.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501627
2025-06-18T18:39:42.510Z,1750271982.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759185
2025-06-18T18:39:42.527Z,1750271982.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:42.761Z,1750271982.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009800
2025-06-18T18:39:42.959Z,1750271982.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:43.014Z,1750271983.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262399
2025-06-18T18:39:43.265Z,1750271983.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513963
2025-06-18T18:39:43.284Z,1750271983.284 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:39:43.290Z,1750271983.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:43.517Z,1750271983.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765658
2025-06-18T18:39:43.737Z,1750271983.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:43.769Z,1750271983.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018289
2025-06-18T18:39:44.021Z,1750271984.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270005
2025-06-18T18:39:44.101Z,1750271984.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:44.273Z,1750271984.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521678
2025-06-18T18:39:44.289Z,1750271984.289 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:39:44.525Z,1750271984.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773700
2025-06-18T18:39:44.533Z,1750271984.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:44.777Z,1750271984.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025670
2025-06-18T18:39:44.923Z,1750271984.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:45.029Z,1750271985.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277759
2025-06-18T18:39:45.281Z,1750271985.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529685
2025-06-18T18:39:45.305Z,1750271985.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:45.533Z,1750271985.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781717
2025-06-18T18:39:45.730Z,1750271985.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:45.786Z,1750271985.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035129
2025-06-18T18:39:46.037Z,1750271986.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285621
2025-06-18T18:39:46.130Z,1750271986.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:46.289Z,1750271986.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537768
2025-06-18T18:39:46.541Z,1750271986.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789744
2025-06-18T18:39:46.565Z,1750271986.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:46.795Z,1750271986.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043431
2025-06-18T18:39:46.921Z,1750271986.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:47.045Z,1750271987.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293621
2025-06-18T18:39:47.297Z,1750271987.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545772
2025-06-18T18:39:47.333Z,1750271987.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:47.550Z,1750271987.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798177
2025-06-18T18:39:47.757Z,1750271987.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:47.801Z,1750271987.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050087
2025-06-18T18:39:48.053Z,1750271988.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301615
2025-06-18T18:39:48.129Z,1750271988.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:48.305Z,1750271988.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553543
2025-06-18T18:39:48.557Z,1750271988.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805945
2025-06-18T18:39:48.598Z,1750271988.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:48.809Z,1750271988.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057661
2025-06-18T18:39:48.954Z,1750271988.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:49.061Z,1750271989.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309597
2025-06-18T18:39:49.313Z,1750271989.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561930
2025-06-18T18:39:49.359Z,1750271989.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:49.568Z,1750271989.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816149
2025-06-18T18:39:49.793Z,1750271989.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:49.819Z,1750271989.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067597
2025-06-18T18:39:50.069Z,1750271990.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317899
2025-06-18T18:39:50.192Z,1750271990.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:50.327Z,1750271990.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575843
2025-06-18T18:39:50.575Z,1750271990.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823955
2025-06-18T18:39:50.623Z,1750271990.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:50.825Z,1750271990.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073579
2025-06-18T18:39:50.973Z,1750271990.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:51.077Z,1750271991.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325679
2025-06-18T18:39:51.329Z,1750271991.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577546
2025-06-18T18:39:51.367Z,1750271991.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:51.584Z,1750271991.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832152
2025-06-18T18:39:51.804Z,1750271991.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:51.834Z,1750271991.834 [DAT](INFO): Reached modem response timeout
2025-06-18T18:39:52.169Z,1750271992.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:52.592Z,1750271992.592 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:39:52.593Z,1750271992.593 [DAT](INFO): response not received
2025-06-18T18:39:52.594Z,1750271992.594 [DAT](INFO): DAT read: user:1386>
2025-06-18T18:39:52.599Z,1750271992.599 [DAT](INFO): DAT read: Tx time:18:39:53.6954
2025-06-18T18:39:52.600Z,1750271992.600 [DAT](INFO): Ping request sent.
2025-06-18T18:39:52.600Z,1750271992.600 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:39:52.601Z,1750271992.601 [DAT](INFO): publishing transmit ping time
2025-06-18T18:39:52.603Z,1750271992.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002033
2025-06-18T18:39:52.781Z,1750271992.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:52.842Z,1750271992.842 [DAT](INFO): DAT read: TxSync time:18:39:53.6946
2025-06-18T18:39:52.843Z,1750271992.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242728
2025-06-18T18:39:53.066Z,1750271993.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:53.093Z,1750271993.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.492780
2025-06-18T18:39:53.345Z,1750271993.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745209
2025-06-18T18:39:53.471Z,1750271993.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:53.599Z,1750271993.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998542
2025-06-18T18:39:53.849Z,1750271993.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248819
2025-06-18T18:39:53.945Z,1750271993.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:54.101Z,1750271994.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500703
2025-06-18T18:39:54.312Z,1750271994.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:54.353Z,1750271994.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752736
2025-06-18T18:39:54.608Z,1750271994.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007183
2025-06-18T18:39:54.727Z,1750271994.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:54.857Z,1750271994.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257353
2025-06-18T18:39:55.105Z,1750271995.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:55.109Z,1750271995.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508759
2025-06-18T18:39:55.361Z,1750271995.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760971
2025-06-18T18:39:55.528Z,1750271995.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:55.615Z,1750271995.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014750
2025-06-18T18:39:55.866Z,1750271995.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265052
2025-06-18T18:39:55.947Z,1750271995.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:56.117Z,1750271996.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516899
2025-06-18T18:39:56.371Z,1750271996.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770162
2025-06-18T18:39:56.427Z,1750271996.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:56.623Z,1750271996.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022786
2025-06-18T18:39:56.779Z,1750271996.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:56.873Z,1750271996.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273267
2025-06-18T18:39:57.125Z,1750271997.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524774
2025-06-18T18:39:57.151Z,1750271997.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:57.377Z,1750271997.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776966
2025-06-18T18:39:57.563Z,1750271997.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:57.632Z,1750271997.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031216
2025-06-18T18:39:57.882Z,1750271997.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281439
2025-06-18T18:39:57.986Z,1750271997.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:58.133Z,1750271998.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532602
2025-06-18T18:39:58.362Z,1750271998.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:58.385Z,1750271998.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784548
2025-06-18T18:39:58.641Z,1750271998.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039546
2025-06-18T18:39:58.773Z,1750271998.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:58.890Z,1750271998.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289251
2025-06-18T18:39:59.141Z,1750271999.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540609
2025-06-18T18:39:59.185Z,1750271999.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:59.394Z,1750271999.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793336
2025-06-18T18:39:59.558Z,1750271999.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:39:59.645Z,1750271999.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045171
2025-06-18T18:39:59.897Z,1750271999.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.296607
2025-06-18T18:39:59.987Z,1750271999.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:00.150Z,1750272000.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549628
2025-06-18T18:40:00.385Z,1750272000.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:00.403Z,1750272000.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802525
2025-06-18T18:40:00.653Z,1750272000.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052613
2025-06-18T18:40:00.811Z,1750272000.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:00.907Z,1750272000.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.306386
2025-06-18T18:40:01.157Z,1750272001.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556739
2025-06-18T18:40:01.176Z,1750272001.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:01.410Z,1750272001.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809886
2025-06-18T18:40:01.583Z,1750272001.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:01.661Z,1750272001.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060812
2025-06-18T18:40:01.913Z,1750272001.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312626
2025-06-18T18:40:02.043Z,1750272002.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:02.167Z,1750272002.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.566779
2025-06-18T18:40:02.391Z,1750272002.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:02.417Z,1750272002.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816797
2025-06-18T18:40:02.877Z,1750272002.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:03.208Z,1750272003.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:03.429Z,1750272003.429 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:40:03.430Z,1750272003.430 [DAT](INFO): response not received
2025-06-18T18:40:03.430Z,1750272003.430 [DAT](INFO): DAT read: user:1387>
2025-06-18T18:40:03.431Z,1750272003.431 [DAT](ERROR): No response from remote modem.
2025-06-18T18:40:03.600Z,1750272003.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:03.681Z,1750272003.681 [DAT](INFO): DAT read: Tx time:18:40:04.6455
2025-06-18T18:40:03.682Z,1750272003.682 [DAT](INFO): Ping request sent.
2025-06-18T18:40:03.682Z,1750272003.682 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:03.682Z,1750272003.682 [DAT](INFO): DAT read: TxSync time:18:40:04.6447
2025-06-18T18:40:03.683Z,1750272003.683 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:03.683Z,1750272003.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001592
2025-06-18T18:40:03.933Z,1750272003.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251112
2025-06-18T18:40:04.048Z,1750272004.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:04.185Z,1750272004.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503446
2025-06-18T18:40:04.416Z,1750272004.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:04.437Z,1750272004.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755137
2025-06-18T18:40:04.689Z,1750272004.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007151
2025-06-18T18:40:04.842Z,1750272004.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:04.941Z,1750272004.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259167
2025-06-18T18:40:05.193Z,1750272005.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510961
2025-06-18T18:40:05.221Z,1750272005.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:05.445Z,1750272005.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763149
2025-06-18T18:40:05.621Z,1750272005.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:05.697Z,1750272005.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015204
2025-06-18T18:40:05.949Z,1750272005.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267323
2025-06-18T18:40:06.052Z,1750272006.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:06.201Z,1750272006.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519141
2025-06-18T18:40:06.451Z,1750272006.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:06.453Z,1750272006.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771173
2025-06-18T18:40:06.705Z,1750272006.705 [DAT](INFO): DAT read: Rx Time:18:40:07.2682
2025-06-18T18:40:06.705Z,1750272006.705 [DAT](INFO): Rx dataTimestamp_ set to:1750272006.705069
2025-06-18T18:40:06.706Z,1750272006.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024211
2025-06-18T18:40:06.911Z,1750272006.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.99 m.
2025-06-18T18:40:06.958Z,1750272006.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275945
2025-06-18T18:40:07.216Z,1750272007.216 [DAT](INFO): DAT read: 18:40:07.2682 LVL= 32752, 18225, 28050, 32755, AGC= 72, IDX= 11,-0.13, 1.718,-3.028, 2.110, 1.605, PHS= 0.201, 1.697, 0.502, RAW= 319.0, -31.8, CAL= 318.1, -45.5, ROT= 191.9, 45.5
2025-06-18T18:40:07.217Z,1750272007.217 [DAT](INFO): got valid direction response:
18:40:07.2682 LVL= 32752, 18225, 28050, 32755, AGC= 72, IDX= 11,-0.13, 1.718,-3.028, 2.110, 1.605, PHS= 0.201, 1.697, 0.502, RAW= 319.0, -31.8, CAL= 318.1, -45.5, ROT= 191.9, 45.5
2025-06-18T18:40:07.218Z,1750272007.218 [DAT](INFO): DAT read: Bearing 191.9, 45.5 (Local)
2025-06-18T18:40:07.218Z,1750272007.218 [DAT](INFO): Local bearing/azimuth received:
Bearing 191.9, 45.5 (Local)
2025-06-18T18:40:07.219Z,1750272007.219 [DAT](INFO): DAT read: Range 10 to 50 : 163.9 m (Round-trip 218.6 ms) speed -0.7 m/s
2025-06-18T18:40:07.220Z,1750272007.220 [DAT](INFO): DAT read: user:1388>
2025-06-18T18:40:07.221Z,1750272007.221 [DAT](INFO): DAT read: Tx time:18:40:08.3455
2025-06-18T18:40:07.221Z,1750272007.221 [DAT](INFO): Ping request sent.
2025-06-18T18:40:07.221Z,1750272007.221 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:07.222Z,1750272007.222 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:40:07.223Z,1750272007.223 [DAT](INFO): direction in FSK: [-0.685846,-0.144530,-0.713250]
2025-06-18T18:40:07.223Z,1750272007.223 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:07.223Z,1750272007.223 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:07.226Z,1750272007.226 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:07.227Z,1750272007.227 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:07.353Z,1750272007.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 163.899994 m,
deltaT: 91.288819 s,
deltaX: 118.499992 m,
approachRate: 1.298078 m/s,
rangeRepo size: 4
2025-06-18T18:40:07.360Z,1750272007.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 162.399811 m,
bearing: 145.621597 deg,
lat: 36.905904 deg,
lon: -122.115751 deg,
deltaT: 91.288819 s,
deltaX: 117.414551 m,
approachRate: 1.286188 m/s,
posRepo size: 4
2025-06-18T18:40:07.360Z,1750272007.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.40 m.
2025-06-18T18:40:07.361Z,1750272007.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 163.90 m. Resuming terminal guidance.
2025-06-18T18:40:07.361Z,1750272007.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-18T18:40:07.462Z,1750272007.462 [DAT](INFO): DAT read: TxSync time:18:40:08.3447
2025-06-18T18:40:07.674Z,1750272007.674 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-18T18:40:07.674Z,1750272007.674 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-18T18:40:07.674Z,1750272007.674 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-18T18:40:07.675Z,1750272007.675 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 163.899994 m (mode 1.000000 count ).
2025-06-18T18:40:07.675Z,1750272007.675 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-18T18:40:07.680Z,1750272007.680 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-18T18:40:08.096Z,1750272008.096 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-18T18:40:08.096Z,1750272008.096 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-18T18:40:08.097Z,1750272008.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:08.217Z,1750272008.217 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:40:08.217Z,1750272008.217 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:40:08.217Z,1750272008.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:08.463Z,1750272008.463 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-18T18:40:08.463Z,1750272008.463 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-18T18:40:08.469Z,1750272008.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247476
2025-06-18T18:40:08.721Z,1750272008.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499289
2025-06-18T18:40:08.941Z,1750272008.941 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-18T18:40:08.941Z,1750272008.941 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-18T18:40:08.941Z,1750272008.941 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-18T18:40:08.941Z,1750272008.941 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-18T18:40:08.973Z,1750272008.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751456
2025-06-18T18:40:09.225Z,1750272009.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003401
2025-06-18T18:40:09.477Z,1750272009.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255272
2025-06-18T18:40:09.729Z,1750272009.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507411
2025-06-18T18:40:09.981Z,1750272009.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759372
2025-06-18T18:40:10.120Z,1750272010.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:10.233Z,1750272010.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011779
2025-06-18T18:40:10.485Z,1750272010.485 [DAT](INFO): DAT read: Rx Time:18:40:10.9686
2025-06-18T18:40:10.485Z,1750272010.485 [DAT](INFO): Rx dataTimestamp_ set to:1750272010.485136
2025-06-18T18:40:10.486Z,1750272010.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264498
2025-06-18T18:40:10.737Z,1750272010.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515425
2025-06-18T18:40:11.007Z,1750272011.007 [DAT](INFO): DAT read: 18:40:10.9686 LVL= 32752, 21073, 29794, 32755, AGC= 69, IDX= 32, 0.17,-1.314, 0.871,-1.171,-0.701, PHS=-0.525, 1.619,-0.472, RAW= 328.8, -5.9, CAL= 331.4, -8.2, ROT= 178.6, 8.2
2025-06-18T18:40:11.009Z,1750272011.009 [DAT](INFO): got valid direction response:
18:40:10.9686 LVL= 32752, 21073, 29794, 32755, AGC= 69, IDX= 32, 0.17,-1.314, 0.871,-1.171,-0.701, PHS=-0.525, 1.619,-0.472, RAW= 328.8, -5.9, CAL= 331.4, -8.2, ROT= 178.6, 8.2
2025-06-18T18:40:11.010Z,1750272011.010 [DAT](INFO): DAT read: Bearing 178.6, 8.2 (Local)
2025-06-18T18:40:11.010Z,1750272011.010 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.6, 8.2 (Local)
2025-06-18T18:40:11.011Z,1750272011.011 [DAT](INFO): DAT read: Range 10 to 50 : 164.2 m (Round-trip 219.0 ms) speed -0.2 m/s
2025-06-18T18:40:11.016Z,1750272011.016 [DAT](INFO): DAT read: user:1389>
2025-06-18T18:40:11.017Z,1750272011.017 [DAT](INFO): DAT read: Tx time:18:40:12.0455
2025-06-18T18:40:11.017Z,1750272011.017 [DAT](INFO): Ping request sent.
2025-06-18T18:40:11.017Z,1750272011.017 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:11.018Z,1750272011.018 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:40:11.019Z,1750272011.019 [DAT](INFO): direction in FSK: [-0.989481,0.024182,-0.142629]
2025-06-18T18:40:11.019Z,1750272011.019 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:11.019Z,1750272011.019 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:11.041Z,1750272011.041 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:11.042Z,1750272011.042 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:11.245Z,1750272011.245 [DAT](INFO): DAT read: TxSync time:18:40:12.0447
2025-06-18T18:40:11.322Z,1750272011.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 164.199997 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-06-18T18:40:11.328Z,1750272011.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 162.697708 m,
bearing: 133.955267 deg,
lat: 36.905903 deg,
lon: -122.115751 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-06-18T18:40:11.329Z,1750272011.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.70 m.
2025-06-18T18:40:11.336Z,1750272011.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 162.697708 m,
nav range: 103.595520 m,
bearing: 136.774127 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000000 deg/s,
cmd heading: 139.011182 deg,
new cmd heading: 136.774127 deg.
2025-06-18T18:40:11.337Z,1750272011.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387159 target range: 162.697708 and range: 164.20 m.
2025-06-18T18:40:11.695Z,1750272011.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.70 m.
2025-06-18T18:40:11.698Z,1750272011.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 162.697708 m,
nav range: 103.831589 m,
bearing: 136.768200 deg,
approach rate: 0.630418 m/s,
LOS rate: -0.015792 deg/s,
cmd heading: 136.774128 deg,
new cmd heading: 136.768200 deg.
2025-06-18T18:40:11.699Z,1750272011.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387055 target range: 162.697708 and range: 164.20 m.
2025-06-18T18:40:12.122Z,1750272012.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:12.124Z,1750272012.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.70 m.
2025-06-18T18:40:12.127Z,1750272012.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 162.697708 m,
nav range: 104.082077 m,
bearing: 136.757853 deg,
approach rate: 0.584274 m/s,
LOS rate: -0.024075 deg/s,
cmd heading: 136.768200 deg,
new cmd heading: 136.757853 deg.
2025-06-18T18:40:12.129Z,1750272012.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386875 target range: 162.697708 and range: 164.20 m.
2025-06-18T18:40:12.249Z,1750272012.249 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:40:12.249Z,1750272012.249 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:40:12.249Z,1750272012.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:12.501Z,1750272012.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483329
2025-06-18T18:40:12.503Z,1750272012.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.70 m.
2025-06-18T18:40:12.506Z,1750272012.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 162.697708 m,
nav range: 104.302803 m,
bearing: 136.745880 deg,
approach rate: 0.582229 m/s,
LOS rate: -0.031518 deg/s,
cmd heading: 136.757859 deg,
new cmd heading: 136.745880 deg.
2025-06-18T18:40:12.507Z,1750272012.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386666 target range: 162.697708 and range: 164.20 m.
2025-06-18T18:40:12.753Z,1750272012.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735540
2025-06-18T18:40:12.982Z,1750272012.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.70 m.
2025-06-18T18:40:12.986Z,1750272012.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 162.697708 m,
nav range: 104.566437 m,
bearing: 136.728347 deg,
approach rate: 0.551076 m/s,
LOS rate: -0.036557 deg/s,
cmd heading: 136.745879 deg,
new cmd heading: 136.728347 deg.
2025-06-18T18:40:12.986Z,1750272012.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386360 target range: 162.697708 and range: 164.20 m.
2025-06-18T18:40:13.005Z,1750272013.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987382
2025-06-18T18:40:13.257Z,1750272013.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239202
2025-06-18T18:40:13.327Z,1750272013.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.70 m.
2025-06-18T18:40:13.330Z,1750272013.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 162.697708 m,
nav range: 104.779831 m,
bearing: 136.711507 deg,
approach rate: 0.616910 m/s,
LOS rate: -0.048585 deg/s,
cmd heading: 136.728352 deg,
new cmd heading: 136.711507 deg.
2025-06-18T18:40:13.331Z,1750272013.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386066 target range: 162.697708 and range: 164.20 m.
2025-06-18T18:40:13.509Z,1750272013.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491496
2025-06-18T18:40:13.709Z,1750272013.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.70 m.
2025-06-18T18:40:13.711Z,1750272013.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 162.697708 m,
nav range: 104.998962 m,
bearing: 136.691443 deg,
approach rate: 0.574643 m/s,
LOS rate: -0.052504 deg/s,
cmd heading: 136.711509 deg,
new cmd heading: 136.691443 deg.
2025-06-18T18:40:13.712Z,1750272013.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385716 target range: 162.697708 and range: 164.20 m.
2025-06-18T18:40:13.762Z,1750272013.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744306
2025-06-18T18:40:14.013Z,1750272014.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995181
2025-06-18T18:40:14.139Z,1750272014.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:14.142Z,1750272014.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.70 m.
2025-06-18T18:40:14.144Z,1750272014.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 162.697708 m,
nav range: 105.244453 m,
bearing: 136.664401 deg,
approach rate: 0.567373 m/s,
LOS rate: -0.062354 deg/s,
cmd heading: 136.691442 deg,
new cmd heading: 136.664401 deg.
2025-06-18T18:40:14.145Z,1750272014.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385244 target range: 162.697708 and range: 164.20 m.
2025-06-18T18:40:14.265Z,1750272014.265 [DAT](INFO): DAT read: Rx Time:18:40:14.6714
2025-06-18T18:40:14.265Z,1750272014.265 [DAT](INFO): Rx dataTimestamp_ set to:1750272014.265191
2025-06-18T18:40:14.266Z,1750272014.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248485
2025-06-18T18:40:14.413Z,1750272014.413 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:40:14.517Z,1750272014.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499341
2025-06-18T18:40:14.531Z,1750272014.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.70 m.
2025-06-18T18:40:14.534Z,1750272014.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 162.697708 m,
nav range: 105.465073 m,
bearing: 136.637330 deg,
approach rate: 0.566405 m/s,
LOS rate: -0.069355 deg/s,
cmd heading: 136.664394 deg,
new cmd heading: 136.637330 deg.
2025-06-18T18:40:14.535Z,1750272014.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384771 target range: 162.697708 and range: 164.20 m.
2025-06-18T18:40:14.775Z,1750272014.775 [DAT](INFO): DAT read: 18:40:14.6714 LVL= 26512, 14657, 22674, 32755, AGC= 68, IDX= 459,-0.42, 1.159, 2.806, 1.517, 1.068, PHS= 0.179, 1.785, 0.446, RAW= 321.1, -29.8, CAL= 321.3, -43.5, ROT= 188.7, 43.5
2025-06-18T18:40:14.776Z,1750272014.776 [DAT](INFO): got valid direction response:
18:40:14.6714 LVL= 26512, 14657, 22674, 32755, AGC= 68, IDX= 459,-0.42, 1.159, 2.806, 1.517, 1.068, PHS= 0.179, 1.785, 0.446, RAW= 321.1, -29.8, CAL= 321.3, -43.5, ROT= 188.7, 43.5
2025-06-18T18:40:14.777Z,1750272014.777 [DAT](INFO): DAT read: Bearing 188.7, 43.5 (Local)
2025-06-18T18:40:14.777Z,1750272014.777 [DAT](INFO): Local bearing/azimuth received:
Bearing 188.7, 43.5 (Local)
2025-06-18T18:40:14.778Z,1750272014.778 [DAT](INFO): DAT read: Range 10 to 50 : 166.2 m (Round-trip 221.7 ms) speed 0.4 m/s
2025-06-18T18:40:14.779Z,1750272014.779 [DAT](INFO): DAT read: user:1390>
2025-06-18T18:40:14.780Z,1750272014.780 [DAT](INFO): DAT read: Tx time:18:40:15.7956
2025-06-18T18:40:14.780Z,1750272014.780 [DAT](INFO): Ping request sent.
2025-06-18T18:40:14.780Z,1750272014.780 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:14.781Z,1750272014.781 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:40:14.782Z,1750272014.782 [DAT](INFO): direction in FSK: [-0.717028,-0.109721,-0.688355]
2025-06-18T18:40:14.782Z,1750272014.782 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:14.782Z,1750272014.782 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:14.803Z,1750272014.803 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:14.803Z,1750272014.803 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:15.021Z,1750272015.021 [DAT](INFO): DAT read: TxSync time:18:40:15.7948
2025-06-18T18:40:15.061Z,1750272015.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 166.199997 m,
deltaT: 3.779828 s,
deltaX: 2.000000 m,
approachRate: 0.529125 m/s,
rangeRepo size: 2
2025-06-18T18:40:15.063Z,1750272015.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 164.679535 m,
bearing: 134.074924 deg,
lat: 36.905872 deg,
lon: -122.115751 deg,
deltaT: 3.779828 s,
deltaX: 1.981827 m,
approachRate: 0.524317 m/s,
posRepo size: 2
2025-06-18T18:40:15.068Z,1750272015.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:15.071Z,1750272015.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 108.314575 m,
bearing: 137.869971 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.069355 deg/s,
cmd heading: 136.637333 deg,
new cmd heading: 136.527142 deg.
2025-06-18T18:40:15.076Z,1750272015.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.382848 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:15.405Z,1750272015.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:15.408Z,1750272015.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 108.510399 m,
bearing: 137.838843 deg,
approach rate: 0.568463 m/s,
LOS rate: -0.090198 deg/s,
cmd heading: 136.527135 deg,
new cmd heading: 136.433922 deg.
2025-06-18T18:40:15.409Z,1750272015.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.381221 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:15.424Z,1750272015.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:40:15.810Z,1750272015.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:15.813Z,1750272015.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 108.720001 m,
bearing: 137.802927 deg,
approach rate: 0.517538 m/s,
LOS rate: -0.088512 deg/s,
cmd heading: 136.433917 deg,
new cmd heading: 136.326375 deg.
2025-06-18T18:40:15.814Z,1750272015.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.379344 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:16.258Z,1750272016.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:16.264Z,1750272016.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:16.267Z,1750272016.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 108.958817 m,
bearing: 137.757701 deg,
approach rate: 0.525791 m/s,
LOS rate: -0.099353 deg/s,
cmd heading: 136.326368 deg,
new cmd heading: 136.190989 deg.
2025-06-18T18:40:16.272Z,1750272016.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376981 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:16.281Z,1750272016.281 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:40:16.281Z,1750272016.281 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:40:16.281Z,1750272016.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:16.534Z,1750272016.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752978
2025-06-18T18:40:16.610Z,1750272016.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:16.613Z,1750272016.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 109.155327 m,
bearing: 137.718032 deg,
approach rate: 0.567959 m/s,
LOS rate: -0.114446 deg/s,
cmd heading: 136.190994 deg,
new cmd heading: 136.072202 deg.
2025-06-18T18:40:16.614Z,1750272016.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.374908 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:16.785Z,1750272016.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004304
2025-06-18T18:40:17.037Z,1750272017.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256333
2025-06-18T18:40:17.041Z,1750272017.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:17.044Z,1750272017.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 109.379494 m,
bearing: 137.668541 deg,
approach rate: 0.520116 m/s,
LOS rate: -0.114596 deg/s,
cmd heading: 136.072203 deg,
new cmd heading: 135.924034 deg.
2025-06-18T18:40:17.045Z,1750272017.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.372322 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:17.289Z,1750272017.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508241
2025-06-18T18:40:17.428Z,1750272017.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:17.431Z,1750272017.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 109.570053 m,
bearing: 137.623715 deg,
approach rate: 0.497984 m/s,
LOS rate: -0.116938 deg/s,
cmd heading: 135.924029 deg,
new cmd heading: 135.789786 deg.
2025-06-18T18:40:17.440Z,1750272017.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.369979 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:17.541Z,1750272017.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760348
2025-06-18T18:40:17.794Z,1750272017.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013555
2025-06-18T18:40:17.834Z,1750272017.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:17.837Z,1750272017.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 109.787285 m,
bearing: 137.569290 deg,
approach rate: 0.530190 m/s,
LOS rate: -0.132570 deg/s,
cmd heading: 135.789789 deg,
new cmd heading: 135.626838 deg.
2025-06-18T18:40:17.838Z,1750272017.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.367135 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:18.045Z,1750272018.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264463
2025-06-18T18:40:18.269Z,1750272018.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:18.271Z,1750272018.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:18.274Z,1750272018.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 110.006958 m,
bearing: 137.516987 deg,
approach rate: 0.502344 m/s,
LOS rate: -0.119366 deg/s,
cmd heading: 135.626834 deg,
new cmd heading: 135.470239 deg.
2025-06-18T18:40:18.275Z,1750272018.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.364402 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:18.297Z,1750272018.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516394
2025-06-18T18:40:18.549Z,1750272018.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768246
2025-06-18T18:40:18.648Z,1750272018.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:18.650Z,1750272018.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 110.195297 m,
bearing: 137.465882 deg,
approach rate: 0.528086 m/s,
LOS rate: -0.143051 deg/s,
cmd heading: 135.470245 deg,
new cmd heading: 135.317191 deg.
2025-06-18T18:40:18.651Z,1750272018.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.361731 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:18.801Z,1750272018.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020275
2025-06-18T18:40:19.053Z,1750272019.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272397
2025-06-18T18:40:19.088Z,1750272019.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:19.091Z,1750272019.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 110.409767 m,
bearing: 137.404213 deg,
approach rate: 0.469862 m/s,
LOS rate: -0.134842 deg/s,
cmd heading: 135.317194 deg,
new cmd heading: 135.132547 deg.
2025-06-18T18:40:19.096Z,1750272019.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.358508 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:19.306Z,1750272019.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525045
2025-06-18T18:40:19.431Z,1750272019.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:19.434Z,1750272019.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 110.587372 m,
bearing: 137.350012 deg,
approach rate: 0.512393 m/s,
LOS rate: -0.156118 deg/s,
cmd heading: 135.132547 deg,
new cmd heading: 134.970208 deg.
2025-06-18T18:40:19.435Z,1750272019.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.355675 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:19.557Z,1750272019.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776197
2025-06-18T18:40:19.809Z,1750272019.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028405
2025-06-18T18:40:19.863Z,1750272019.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:19.867Z,1750272019.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 110.795029 m,
bearing: 137.286899 deg,
approach rate: 0.481137 m/s,
LOS rate: -0.145959 deg/s,
cmd heading: 134.970207 deg,
new cmd heading: 134.781221 deg.
2025-06-18T18:40:19.869Z,1750272019.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.352376 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:20.062Z,1750272020.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280727
2025-06-18T18:40:20.269Z,1750272020.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:20.272Z,1750272020.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 110.981163 m,
bearing: 137.223630 deg,
approach rate: 0.457385 m/s,
LOS rate: -0.155209 deg/s,
cmd heading: 134.781216 deg,
new cmd heading: 134.591728 deg.
2025-06-18T18:40:20.273Z,1750272020.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.349069 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:20.313Z,1750272020.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532525
2025-06-18T18:40:20.565Z,1750272020.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784286
2025-06-18T18:40:20.640Z,1750272020.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:20.642Z,1750272020.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:20.645Z,1750272020.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 111.148331 m,
bearing: 137.163584 deg,
approach rate: 0.448178 m/s,
LOS rate: -0.160742 deg/s,
cmd heading: 134.591733 deg,
new cmd heading: 134.411866 deg.
2025-06-18T18:40:20.646Z,1750272020.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.345930 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:20.817Z,1750272020.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036213
2025-06-18T18:40:21.069Z,1750272021.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288314
2025-06-18T18:40:21.092Z,1750272021.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:21.094Z,1750272021.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 111.351822 m,
bearing: 137.091672 deg,
approach rate: 0.452855 m/s,
LOS rate: -0.159743 deg/s,
cmd heading: 134.411866 deg,
new cmd heading: 134.196525 deg.
2025-06-18T18:40:21.095Z,1750272021.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342171 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:21.321Z,1750272021.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540269
2025-06-18T18:40:21.449Z,1750272021.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:21.451Z,1750272021.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 111.507042 m,
bearing: 137.030436 deg,
approach rate: 0.435928 m/s,
LOS rate: -0.171737 deg/s,
cmd heading: 134.196524 deg,
new cmd heading: 134.013075 deg.
2025-06-18T18:40:21.452Z,1750272021.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.338969 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:21.573Z,1750272021.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792680
2025-06-18T18:40:21.827Z,1750272021.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046495
2025-06-18T18:40:21.866Z,1750272021.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:21.873Z,1750272021.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 111.683472 m,
bearing: 136.957162 deg,
approach rate: 0.422381 m/s,
LOS rate: -0.175145 deg/s,
cmd heading: 134.013079 deg,
new cmd heading: 133.793604 deg.
2025-06-18T18:40:21.875Z,1750272021.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335139 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:22.081Z,1750272022.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300310
2025-06-18T18:40:22.279Z,1750272022.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:22.281Z,1750272022.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 111.853256 m,
bearing: 136.881808 deg,
approach rate: 0.410927 m/s,
LOS rate: -0.182100 deg/s,
cmd heading: 133.793598 deg,
new cmd heading: 133.567882 deg.
2025-06-18T18:40:22.282Z,1750272022.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331199 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:22.334Z,1750272022.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553114
2025-06-18T18:40:22.585Z,1750272022.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.804239
2025-06-18T18:40:22.659Z,1750272022.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:22.662Z,1750272022.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:22.665Z,1750272022.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 112.006622 m,
bearing: 136.810292 deg,
approach rate: 0.399666 m/s,
LOS rate: -0.186112 deg/s,
cmd heading: 133.567887 deg,
new cmd heading: 133.353634 deg.
2025-06-18T18:40:22.666Z,1750272022.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327460 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:22.837Z,1750272022.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.056860
2025-06-18T18:40:23.089Z,1750272023.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308313
2025-06-18T18:40:23.208Z,1750272023.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:23.211Z,1750272023.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 112.203300 m,
bearing: 136.707520 deg,
approach rate: 0.371397 m/s,
LOS rate: -0.193731 deg/s,
cmd heading: 133.353638 deg,
new cmd heading: 133.045863 deg.
2025-06-18T18:40:23.216Z,1750272023.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.322088 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:23.342Z,1750272023.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560684
2025-06-18T18:40:23.531Z,1750272023.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:23.536Z,1750272023.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 112.322006 m,
bearing: 136.638782 deg,
approach rate: 0.350387 m/s,
LOS rate: -0.202680 deg/s,
cmd heading: 133.045870 deg,
new cmd heading: 132.839876 deg.
2025-06-18T18:40:23.537Z,1750272023.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.318493 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:23.593Z,1750272023.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812430
2025-06-18T18:40:23.845Z,1750272023.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064174
2025-06-18T18:40:23.983Z,1750272023.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:23.985Z,1750272023.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 112.475792 m,
bearing: 136.545237 deg,
approach rate: 0.340288 m/s,
LOS rate: -0.206709 deg/s,
cmd heading: 132.839871 deg,
new cmd heading: 132.559621 deg.
2025-06-18T18:40:23.986Z,1750272023.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313602 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:24.097Z,1750272024.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.316502
2025-06-18T18:40:24.349Z,1750272024.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.568434
2025-06-18T18:40:24.380Z,1750272024.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:24.383Z,1750272024.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 112.603600 m,
bearing: 136.459707 deg,
approach rate: 0.321787 m/s,
LOS rate: -0.215096 deg/s,
cmd heading: 132.559615 deg,
new cmd heading: 132.303320 deg.
2025-06-18T18:40:24.384Z,1750272024.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309129 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:24.601Z,1750272024.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.820177
2025-06-18T18:40:24.770Z,1750272024.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:24.772Z,1750272024.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:24.775Z,1750272024.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 112.725601 m,
bearing: 136.373820 deg,
approach rate: 0.311026 m/s,
LOS rate: -0.218720 deg/s,
cmd heading: 132.303319 deg,
new cmd heading: 132.045938 deg.
2025-06-18T18:40:24.792Z,1750272024.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304636 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:24.854Z,1750272024.854 [DAT](INFO): Reached modem response timeout
2025-06-18T18:40:24.854Z,1750272024.854 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:40:24.854Z,1750272024.854 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:25.105Z,1750272025.105 [DAT](INFO): Reached modem response timeout
2025-06-18T18:40:25.105Z,1750272025.105 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:40:25.105Z,1750272025.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:25.236Z,1750272025.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:25.239Z,1750272025.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 112.862946 m,
bearing: 136.275009 deg,
approach rate: 0.309333 m/s,
LOS rate: -0.222277 deg/s,
cmd heading: 132.045944 deg,
new cmd heading: 131.749872 deg.
2025-06-18T18:40:25.244Z,1750272025.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299469 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:25.357Z,1750272025.357 [DAT](INFO): Reached modem response timeout
2025-06-18T18:40:25.357Z,1750272025.357 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:40:25.357Z,1750272025.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:25.568Z,1750272025.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:25.574Z,1750272025.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 112.963547 m,
bearing: 136.194044 deg,
approach rate: 0.286117 m/s,
LOS rate: -0.230064 deg/s,
cmd heading: 131.749868 deg,
new cmd heading: 131.507192 deg.
2025-06-18T18:40:25.575Z,1750272025.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295233 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:25.610Z,1750272025.610 [DAT](INFO): DAT read: Response Not Received
2025-06-18T18:40:25.610Z,1750272025.610 [DAT](INFO): response not received
2025-06-18T18:40:25.611Z,1750272025.611 [DAT](INFO): DAT read: user:1391>
2025-06-18T18:40:25.612Z,1750272025.612 [DAT](INFO): DAT read: Tx time:18:40:26.7457
2025-06-18T18:40:25.613Z,1750272025.613 [DAT](INFO): Ping request sent.
2025-06-18T18:40:25.613Z,1750272025.613 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:25.613Z,1750272025.613 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:25.614Z,1750272025.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001076
2025-06-18T18:40:25.862Z,1750272025.862 [DAT](INFO): DAT read: TxSync time:18:40:26.7449
2025-06-18T18:40:25.863Z,1750272025.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250525
2025-06-18T18:40:25.988Z,1750272025.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:25.991Z,1750272025.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 113.075478 m,
bearing: 136.098604 deg,
approach rate: 0.266049 m/s,
LOS rate: -0.226627 deg/s,
cmd heading: 131.507192 deg,
new cmd heading: 131.221158 deg.
2025-06-18T18:40:25.996Z,1750272025.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290241 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:26.115Z,1750272026.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502008
2025-06-18T18:40:26.365Z,1750272026.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751996
2025-06-18T18:40:26.404Z,1750272026.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:26.406Z,1750272026.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 113.182793 m,
bearing: 135.993160 deg,
approach rate: 0.258419 m/s,
LOS rate: -0.253672 deg/s,
cmd heading: 131.221157 deg,
new cmd heading: 130.905129 deg.
2025-06-18T18:40:26.407Z,1750272026.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284725 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:26.617Z,1750272026.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003989
2025-06-18T18:40:26.774Z,1750272026.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:26.777Z,1750272026.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:26.779Z,1750272026.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 113.271317 m,
bearing: 135.900034 deg,
approach rate: 0.237223 m/s,
LOS rate: -0.249360 deg/s,
cmd heading: 130.905124 deg,
new cmd heading: 130.625967 deg.
2025-06-18T18:40:26.781Z,1750272026.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279853 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:26.871Z,1750272026.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258359
2025-06-18T18:40:27.125Z,1750272027.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512079
2025-06-18T18:40:27.209Z,1750272027.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:27.212Z,1750272027.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 113.365707 m,
bearing: 135.792082 deg,
approach rate: 0.218337 m/s,
LOS rate: -0.249497 deg/s,
cmd heading: 130.625961 deg,
new cmd heading: 130.302378 deg.
2025-06-18T18:40:27.213Z,1750272027.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.274205 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:27.377Z,1750272027.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763981
2025-06-18T18:40:27.586Z,1750272027.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:27.589Z,1750272027.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 113.443336 m,
bearing: 135.697134 deg,
approach rate: 0.205917 m/s,
LOS rate: -0.251686 deg/s,
cmd heading: 130.302374 deg,
new cmd heading: 130.017726 deg.
2025-06-18T18:40:27.590Z,1750272027.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269237 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:27.630Z,1750272027.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016748
2025-06-18T18:40:27.882Z,1750272027.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269208
2025-06-18T18:40:28.024Z,1750272028.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:28.027Z,1750272028.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 113.525528 m,
bearing: 135.588903 deg,
approach rate: 0.189515 m/s,
LOS rate: -0.249374 deg/s,
cmd heading: 130.017719 deg,
new cmd heading: 129.693267 deg.
2025-06-18T18:40:28.032Z,1750272028.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263575 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:28.136Z,1750272028.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522626
2025-06-18T18:40:28.385Z,1750272028.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772056
2025-06-18T18:40:28.430Z,1750272028.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:28.433Z,1750272028.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 113.605164 m,
bearing: 135.478867 deg,
approach rate: 0.193970 m/s,
LOS rate: -0.267831 deg/s,
cmd heading: 129.693271 deg,
new cmd heading: 129.363397 deg.
2025-06-18T18:40:28.434Z,1750272028.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257817 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:28.637Z,1750272028.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023945
2025-06-18T18:40:28.795Z,1750272028.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:28.798Z,1750272028.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:28.801Z,1750272028.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 113.670158 m,
bearing: 135.381587 deg,
approach rate: 0.176968 m/s,
LOS rate: -0.264721 deg/s,
cmd heading: 129.363400 deg,
new cmd heading: 129.071732 deg.
2025-06-18T18:40:28.802Z,1750272028.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252727 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:28.890Z,1750272028.890 [DAT](INFO): DAT read: Rx Time:18:40:29.3016
2025-06-18T18:40:28.891Z,1750272028.891 [DAT](INFO): Rx dataTimestamp_ set to:1750272028.890527
2025-06-18T18:40:28.892Z,1750272028.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279092
2025-06-18T18:40:29.143Z,1750272029.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529551
2025-06-18T18:40:29.273Z,1750272029.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.68 m.
2025-06-18T18:40:29.276Z,1750272029.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 164.679535 m,
nav range: 113.754547 m,
bearing: 135.257656 deg,
approach rate: 0.177486 m/s,
LOS rate: -0.260457 deg/s,
cmd heading: 129.071738 deg,
new cmd heading: 128.700226 deg.
2025-06-18T18:40:29.277Z,1750272029.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.246243 target range: 164.679535 and range: 166.20 m.
2025-06-18T18:40:29.403Z,1750272029.403 [DAT](INFO): DAT read: 18:40:29.3016 LVL= 17456, 18657, 14418, 26691, AGC= 64, IDX= 207,-0.24, 1.506,-2.617,-2.709, 3.013, PHS=-1.419, 0.700, 0.559, RAW= 273.4, 1.6, CAL= 275.6, 1.6, ROT= 234.4, -1.6
2025-06-18T18:40:29.404Z,1750272029.404 [DAT](INFO): got valid direction response:
18:40:29.3016 LVL= 17456, 18657, 14418, 26691, AGC= 64, IDX= 207,-0.24, 1.506,-2.617,-2.709, 3.013, PHS=-1.419, 0.700, 0.559, RAW= 273.4, 1.6, CAL= 275.6, 1.6, ROT= 234.4, -1.6
2025-06-18T18:40:29.405Z,1750272029.405 [DAT](INFO): DAT read: Bearing 234.4, -1.6 (Local)
2025-06-18T18:40:29.405Z,1750272029.405 [DAT](INFO): Local bearing/azimuth received:
Bearing 234.4, -1.6 (Local)
2025-06-18T18:40:29.407Z,1750272029.407 [DAT](INFO): DAT read: Range 10 to 50 : 113.8 m (Round-trip 151.8 ms) speed -0.3 m/s
2025-06-18T18:40:29.408Z,1750272029.408 [DAT](INFO): DAT read: user:1392>
2025-06-18T18:40:29.409Z,1750272029.409 [DAT](INFO): DAT read: Tx time:18:40:30.3957
2025-06-18T18:40:29.409Z,1750272029.409 [DAT](INFO): Ping request sent.
2025-06-18T18:40:29.409Z,1750272029.409 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:29.409Z,1750272029.409 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:40:29.410Z,1750272029.410 [DAT](INFO): direction in FSK: [-0.581896,-0.812784,0.027922]
2025-06-18T18:40:29.410Z,1750272029.410 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:29.411Z,1750272029.411 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:29.414Z,1750272029.414 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:29.414Z,1750272029.414 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:29.613Z,1750272029.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 113.800003 m,
deltaT: 14.624062 s,
deltaX: -52.399994 m,
approachRate: -3.583135 m/s,
rangeRepo size: 3
2025-06-18T18:40:29.615Z,1750272029.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 112.758606 m,
bearing: 122.058408 deg,
lat: 36.905872 deg,
lon: -122.115635 deg,
deltaT: 14.624062 s,
deltaX: -51.920929 m,
approachRate: -3.550377 m/s,
posRepo size: 3
2025-06-18T18:40:29.615Z,1750272029.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.76 m.
2025-06-18T18:40:29.618Z,1750272029.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.758606 m,
nav range: 121.292114 m,
bearing: 131.713819 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.260457 deg/s,
cmd heading: 128.700230 deg,
new cmd heading: 128.435529 deg.
2025-06-18T18:40:29.619Z,1750272029.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.241623 target range: 112.758606 and range: 113.80 m.
2025-06-18T18:40:29.645Z,1750272029.645 [DAT](INFO): DAT read: TxSync time:18:40:30.3949
2025-06-18T18:40:30.031Z,1750272030.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.76 m.
2025-06-18T18:40:30.038Z,1750272030.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.758606 m,
nav range: 121.360397 m,
bearing: 131.613705 deg,
approach rate: 0.162730 m/s,
LOS rate: -0.238454 deg/s,
cmd heading: 128.435533 deg,
new cmd heading: 128.135363 deg.
2025-06-18T18:40:30.039Z,1750272030.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.236384 target range: 112.758606 and range: 113.80 m.
2025-06-18T18:40:30.472Z,1750272030.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.76 m.
2025-06-18T18:40:30.475Z,1750272030.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.758606 m,
nav range: 121.436211 m,
bearing: 131.502930 deg,
approach rate: 0.172225 m/s,
LOS rate: -0.251491 deg/s,
cmd heading: 128.135360 deg,
new cmd heading: 127.803245 deg.
2025-06-18T18:40:30.476Z,1750272030.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.230587 target range: 112.758606 and range: 113.80 m.
2025-06-18T18:40:30.838Z,1750272030.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:30.844Z,1750272030.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.76 m.
2025-06-18T18:40:30.847Z,1750272030.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.758606 m,
nav range: 121.484901 m,
bearing: 131.415801 deg,
approach rate: 0.132197 m/s,
LOS rate: -0.236460 deg/s,
cmd heading: 127.803249 deg,
new cmd heading: 127.541971 deg.
2025-06-18T18:40:30.852Z,1750272030.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.226027 target range: 112.758606 and range: 113.80 m.
2025-06-18T18:40:30.905Z,1750272030.905 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:40:30.905Z,1750272030.905 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:40:30.905Z,1750272030.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:31.160Z,1750272031.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750089
2025-06-18T18:40:31.351Z,1750272031.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.76 m.
2025-06-18T18:40:31.357Z,1750272031.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.758606 m,
nav range: 121.549622 m,
bearing: 131.289166 deg,
approach rate: 0.126709 m/s,
LOS rate: -0.247794 deg/s,
cmd heading: 127.541967 deg,
new cmd heading: 127.162269 deg.
2025-06-18T18:40:31.380Z,1750272031.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.219400 target range: 112.758606 and range: 113.80 m.
2025-06-18T18:40:31.410Z,1750272031.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000809
2025-06-18T18:40:31.661Z,1750272031.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252043
2025-06-18T18:40:31.712Z,1750272031.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.76 m.
2025-06-18T18:40:31.715Z,1750272031.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.758606 m,
nav range: 121.591660 m,
bearing: 131.197701 deg,
approach rate: 0.116333 m/s,
LOS rate: -0.253029 deg/s,
cmd heading: 127.162263 deg,
new cmd heading: 126.887962 deg.
2025-06-18T18:40:31.717Z,1750272031.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214613 target range: 112.758606 and range: 113.80 m.
2025-06-18T18:40:31.913Z,1750272031.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503913
2025-06-18T18:40:32.168Z,1750272032.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758225
2025-06-18T18:40:32.179Z,1750272032.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.76 m.
2025-06-18T18:40:32.203Z,1750272032.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.758606 m,
nav range: 121.634613 m,
bearing: 131.092255 deg,
approach rate: 0.092281 m/s,
LOS rate: -0.226460 deg/s,
cmd heading: 126.887962 deg,
new cmd heading: 126.571739 deg.
2025-06-18T18:40:32.209Z,1750272032.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209094 target range: 112.758606 and range: 113.80 m.
2025-06-18T18:40:32.417Z,1750272032.417 [DAT](INFO): DAT read: Rx Time:18:40:32.9526
2025-06-18T18:40:32.418Z,1750272032.418 [DAT](INFO): Rx dataTimestamp_ set to:1750272032.417433
2025-06-18T18:40:32.419Z,1750272032.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009649
2025-06-18T18:40:32.570Z,1750272032.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.76 m.
2025-06-18T18:40:32.574Z,1750272032.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.758606 m,
nav range: 121.674667 m,
bearing: 130.986190 deg,
approach rate: 0.101942 m/s,
LOS rate: -0.269856 deg/s,
cmd heading: 126.571738 deg,
new cmd heading: 126.253652 deg.
2025-06-18T18:40:32.575Z,1750272032.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203542 target range: 112.758606 and range: 113.80 m.
2025-06-18T18:40:32.669Z,1750272032.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260099
2025-06-18T18:40:32.927Z,1750272032.927 [DAT](INFO): DAT read: 18:40:32.9526 LVL= 30064, 21489, 16514, 28051, AGC= 63, IDX= 440,-0.06, 2.936,-1.894,-0.753,-1.893, PHS=-1.366, 0.046, 1.137, RAW= 244.2, 1.7, CAL= 248.2, 2.6, ROT= 261.8, -2.6
2025-06-18T18:40:32.928Z,1750272032.928 [DAT](INFO): got valid direction response:
18:40:32.9526 LVL= 30064, 21489, 16514, 28051, AGC= 63, IDX= 440,-0.06, 2.936,-1.894,-0.753,-1.893, PHS=-1.366, 0.046, 1.137, RAW= 244.2, 1.7, CAL= 248.2, 2.6, ROT= 261.8, -2.6
2025-06-18T18:40:32.929Z,1750272032.929 [DAT](INFO): DAT read: Bearing 261.8, -2.6 (Local)
2025-06-18T18:40:32.929Z,1750272032.929 [DAT](INFO): Local bearing/azimuth received:
Bearing 261.8, -2.6 (Local)
2025-06-18T18:40:32.931Z,1750272032.931 [DAT](INFO): DAT read: Range 10 to 50 : 114.5 m (Round-trip 152.7 ms) speed 0.0 m/s
2025-06-18T18:40:32.940Z,1750272032.940 [DAT](INFO): DAT read: user:1393>
2025-06-18T18:40:32.941Z,1750272032.941 [DAT](INFO): DAT read: Tx time:18:40:34.0458
2025-06-18T18:40:32.941Z,1750272032.941 [DAT](INFO): Ping request sent.
2025-06-18T18:40:32.941Z,1750272032.941 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:32.941Z,1750272032.941 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:40:32.942Z,1750272032.942 [DAT](INFO): direction in FSK: [-0.142483,-0.988757,0.045363]
2025-06-18T18:40:32.943Z,1750272032.943 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:32.943Z,1750272032.943 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:32.946Z,1750272032.946 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:32.946Z,1750272032.946 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:33.030Z,1750272033.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 114.500000 m,
deltaT: 3.528183 s,
deltaX: 0.699997 m,
approachRate: 0.198402 m/s,
rangeRepo size: 4
2025-06-18T18:40:33.037Z,1750272033.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 113.452393 m,
bearing: 137.348511 deg,
lat: 36.905838 deg,
lon: -122.115635 deg,
deltaT: 3.528183 s,
deltaX: 0.693787 m,
approachRate: 0.196641 m/s,
posRepo size: 4
2025-06-18T18:40:33.038Z,1750272033.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:33.053Z,1750272033.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 124.193314 m,
bearing: 132.190376 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.269856 deg/s,
cmd heading: 126.253656 deg,
new cmd heading: 125.881760 deg.
2025-06-18T18:40:33.055Z,1750272033.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.197051 target range: 113.452393 and range: 114.50 m.
2025-06-18T18:40:33.177Z,1750272033.177 [DAT](INFO): DAT read: TxSync time:18:40:34.0450
2025-06-18T18:40:33.421Z,1750272033.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:33.423Z,1750272033.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:33.425Z,1750272033.425 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:40:33.425Z,1750272033.425 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:40:33.425Z,1750272033.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:33.430Z,1750272033.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 124.209351 m,
bearing: 132.086755 deg,
approach rate: 0.040757 m/s,
LOS rate: -0.263312 deg/s,
cmd heading: 125.881766 deg,
new cmd heading: 125.570947 deg.
2025-06-18T18:40:33.431Z,1750272033.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.191627 target range: 113.452393 and range: 114.50 m.
2025-06-18T18:40:33.677Z,1750272033.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.735707
2025-06-18T18:40:33.764Z,1750272033.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:33.767Z,1750272033.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 124.222809 m,
bearing: 132.001799 deg,
approach rate: 0.039519 m/s,
LOS rate: -0.249439 deg/s,
cmd heading: 125.570952 deg,
new cmd heading: 125.316111 deg.
2025-06-18T18:40:33.784Z,1750272033.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.187179 target range: 113.452393 and range: 114.50 m.
2025-06-18T18:40:33.929Z,1750272033.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987625
2025-06-18T18:40:34.183Z,1750272034.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241868
2025-06-18T18:40:34.196Z,1750272034.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:34.233Z,1750272034.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 124.232430 m,
bearing: 131.906821 deg,
approach rate: 0.022356 m/s,
LOS rate: -0.220687 deg/s,
cmd heading: 125.316117 deg,
new cmd heading: 125.031210 deg.
2025-06-18T18:40:34.240Z,1750272034.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.182206 target range: 113.452393 and range: 114.50 m.
2025-06-18T18:40:34.433Z,1750272034.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491627
2025-06-18T18:40:34.602Z,1750272034.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:34.609Z,1750272034.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 124.228897 m,
bearing: 131.798241 deg,
approach rate: -0.008669 m/s,
LOS rate: -0.266490 deg/s,
cmd heading: 125.031216 deg,
new cmd heading: 124.705469 deg.
2025-06-18T18:40:34.610Z,1750272034.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.176521 target range: 113.452393 and range: 114.50 m.
2025-06-18T18:40:34.686Z,1750272034.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744201
2025-06-18T18:40:34.937Z,1750272034.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995786
2025-06-18T18:40:34.962Z,1750272034.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:34.965Z,1750272034.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 124.221313 m,
bearing: 131.707175 deg,
approach rate: -0.021033 m/s,
LOS rate: -0.252590 deg/s,
cmd heading: 124.705471 deg,
new cmd heading: 124.432260 deg.
2025-06-18T18:40:34.966Z,1750272034.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.171753 target range: 113.452393 and range: 114.50 m.
2025-06-18T18:40:35.192Z,1750272035.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250085
2025-06-18T18:40:35.390Z,1750272035.390 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061810415678,35.0, +9.9, 0.0,1489.44
2025-06-18T18:40:35.406Z,1750272035.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:35.409Z,1750272035.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 124.212616 m,
bearing: 131.597624 deg,
approach rate: -0.019609 m/s,
LOS rate: -0.247007 deg/s,
cmd heading: 124.432263 deg,
new cmd heading: 124.103590 deg.
2025-06-18T18:40:35.410Z,1750272035.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.166016 target range: 113.452393 and range: 114.50 m.
2025-06-18T18:40:35.442Z,1750272035.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500846
2025-06-18T18:40:35.693Z,1750272035.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751667
2025-06-18T18:40:35.770Z,1750272035.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:35.793Z,1750272035.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:35.795Z,1750272035.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 124.195961 m,
bearing: 131.507320 deg,
approach rate: -0.043030 m/s,
LOS rate: -0.233343 deg/s,
cmd heading: 124.103595 deg,
new cmd heading: 123.832648 deg.
2025-06-18T18:40:35.801Z,1750272035.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.161288 target range: 113.452393 and range: 114.50 m.
2025-06-18T18:40:35.945Z,1750272035.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003584
2025-06-18T18:40:36.169Z,1750272036.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:36.171Z,1750272036.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 124.172913 m,
bearing: 131.410002 deg,
approach rate: -0.061316 m/s,
LOS rate: -0.258941 deg/s,
cmd heading: 123.832655 deg,
new cmd heading: 123.540651 deg.
2025-06-18T18:40:36.189Z,1750272036.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156191 target range: 113.452393 and range: 114.50 m.
2025-06-18T18:40:36.200Z,1750272036.200 [DAT](INFO): DAT read: Rx Time:18:40:36.6030
2025-06-18T18:40:36.201Z,1750272036.201 [DAT](INFO): Rx dataTimestamp_ set to:1750272036.200612
2025-06-18T18:40:36.203Z,1750272036.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261323
2025-06-18T18:40:36.449Z,1750272036.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507722
2025-06-18T18:40:36.669Z,1750272036.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:36.673Z,1750272036.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 124.145302 m,
bearing: 131.285097 deg,
approach rate: -0.055141 m/s,
LOS rate: -0.249502 deg/s,
cmd heading: 123.540650 deg,
new cmd heading: 123.165857 deg.
2025-06-18T18:40:36.674Z,1750272036.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.149650 target range: 113.452393 and range: 114.50 m.
2025-06-18T18:40:36.703Z,1750272036.703 [DAT](INFO): DAT read: Range 10 to 50 : 114.8 m (Round-trip 153.1 ms) speed 0.0 m/s
2025-06-18T18:40:36.704Z,1750272036.704 [DAT](INFO): DAT read: user:1394>
2025-06-18T18:40:36.705Z,1750272036.705 [DAT](INFO): DAT read: Tx time:18:40:37.6958
2025-06-18T18:40:36.706Z,1750272036.706 [DAT](INFO): Ping request sent.
2025-06-18T18:40:36.706Z,1750272036.706 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:36.707Z,1750272036.707 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:40:36.707Z,1750272036.707 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:36.708Z,1750272036.708 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:36.953Z,1750272036.953 [DAT](INFO): DAT read: TxSync time:18:40:37.6950
2025-06-18T18:40:37.033Z,1750272037.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 114.800003 m,
deltaT: 3.779896 s,
deltaX: 0.300003 m,
approachRate: 0.079368 m/s,
rangeRepo size: 4
2025-06-18T18:40:37.034Z,1750272037.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:37.041Z,1750272037.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 124.116508 m,
bearing: 131.198326 deg,
approach rate: -0.079280 m/s,
LOS rate: -0.238972 deg/s,
cmd heading: 123.165851 deg,
new cmd heading: 122.905479 deg.
2025-06-18T18:40:37.042Z,1750272037.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.145105 target range: 113.452393 and range: 114.80 m.
2025-06-18T18:40:37.427Z,1750272037.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:37.430Z,1750272037.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 124.075897 m,
bearing: 131.093504 deg,
approach rate: -0.103064 m/s,
LOS rate: -0.266106 deg/s,
cmd heading: 122.905484 deg,
new cmd heading: 122.590918 deg.
2025-06-18T18:40:37.431Z,1750272037.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.139615 target range: 113.452393 and range: 114.80 m.
2025-06-18T18:40:37.795Z,1750272037.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:37.798Z,1750272037.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:37.800Z,1750272037.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 124.033783 m,
bearing: 130.998416 deg,
approach rate: -0.113516 m/s,
LOS rate: -0.256392 deg/s,
cmd heading: 122.590913 deg,
new cmd heading: 122.305553 deg.
2025-06-18T18:40:37.801Z,1750272037.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.134634 target range: 113.452393 and range: 114.80 m.
2025-06-18T18:40:37.961Z,1750272037.961 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:40:37.961Z,1750272037.961 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:40:37.961Z,1750272037.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:38.197Z,1750272038.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:38.200Z,1750272038.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 123.982521 m,
bearing: 130.896358 deg,
approach rate: -0.128265 m/s,
LOS rate: -0.255470 deg/s,
cmd heading: 122.305547 deg,
new cmd heading: 121.999250 deg.
2025-06-18T18:40:38.201Z,1750272038.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.129289 target range: 113.452393 and range: 114.80 m.
2025-06-18T18:40:38.214Z,1750272038.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507847
2025-06-18T18:40:38.465Z,1750272038.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759385
2025-06-18T18:40:38.620Z,1750272038.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:38.623Z,1750272038.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 123.923157 m,
bearing: 130.788220 deg,
approach rate: -0.140532 m/s,
LOS rate: -0.256115 deg/s,
cmd heading: 121.999254 deg,
new cmd heading: 121.674688 deg.
2025-06-18T18:40:38.624Z,1750272038.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.123624 target range: 113.452393 and range: 114.80 m.
2025-06-18T18:40:38.717Z,1750272038.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011178
2025-06-18T18:40:38.969Z,1750272038.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262875
2025-06-18T18:40:39.027Z,1750272039.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:39.030Z,1750272039.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 123.860573 m,
bearing: 130.684485 deg,
approach rate: -0.153653 m/s,
LOS rate: -0.254812 deg/s,
cmd heading: 121.674684 deg,
new cmd heading: 121.363326 deg.
2025-06-18T18:40:39.031Z,1750272039.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118190 target range: 113.452393 and range: 114.80 m.
2025-06-18T18:40:39.225Z,1750272039.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518336
2025-06-18T18:40:39.435Z,1750272039.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:39.438Z,1750272039.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 123.791611 m,
bearing: 130.578551 deg,
approach rate: -0.168848 m/s,
LOS rate: -0.259515 deg/s,
cmd heading: 121.363323 deg,
new cmd heading: 121.045347 deg.
2025-06-18T18:40:39.440Z,1750272039.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.112640 target range: 113.452393 and range: 114.80 m.
2025-06-18T18:40:39.474Z,1750272039.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767591
2025-06-18T18:40:39.725Z,1750272039.725 [DAT](INFO): DAT read: Rx Time:18:40:40.2529
2025-06-18T18:40:39.725Z,1750272039.725 [DAT](INFO): Rx dataTimestamp_ set to:1750272039.725014
2025-06-18T18:40:39.726Z,1750272039.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019915
2025-06-18T18:40:39.810Z,1750272039.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:39.813Z,1750272039.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:39.815Z,1750272039.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 123.723160 m,
bearing: 130.481512 deg,
approach rate: -0.181489 m/s,
LOS rate: -0.257429 deg/s,
cmd heading: 121.045350 deg,
new cmd heading: 120.754074 deg.
2025-06-18T18:40:39.817Z,1750272039.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107556 target range: 113.452393 and range: 114.80 m.
2025-06-18T18:40:39.977Z,1750272039.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271090
2025-06-18T18:40:40.230Z,1750272040.230 [DAT](INFO): DAT read: Range 10 to 50 : 114.7 m (Round-trip 153.0 ms) speed 0.2 m/s
2025-06-18T18:40:40.231Z,1750272040.231 [DAT](INFO): DAT read: user:1395>
2025-06-18T18:40:40.231Z,1750272040.231 [DAT](INFO): DAT read: Tx time:18:40:41.3458
2025-06-18T18:40:40.232Z,1750272040.232 [DAT](INFO): Ping request sent.
2025-06-18T18:40:40.232Z,1750272040.232 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:40.232Z,1750272040.232 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:40:40.232Z,1750272040.232 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:40.233Z,1750272040.233 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:40.270Z,1750272040.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 114.699997 m,
deltaT: 3.528049 s,
deltaX: -0.100006 m,
approachRate: -0.028346 m/s,
rangeRepo size: 4
2025-06-18T18:40:40.285Z,1750272040.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:40.310Z,1750272040.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 123.641449 m,
bearing: 130.374256 deg,
approach rate: -0.181831 m/s,
LOS rate: -0.238834 deg/s,
cmd heading: 120.754070 deg,
new cmd heading: 120.432093 deg.
2025-06-18T18:40:40.318Z,1750272040.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.101937 target range: 113.452393 and range: 114.70 m.
2025-06-18T18:40:40.481Z,1750272040.481 [DAT](INFO): DAT read: TxSync time:18:40:41.3450
2025-06-18T18:40:40.635Z,1750272040.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:40.638Z,1750272040.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 123.557213 m,
bearing: 130.271086 deg,
approach rate: -0.225667 m/s,
LOS rate: -0.276580 deg/s,
cmd heading: 120.432095 deg,
new cmd heading: 120.122376 deg.
2025-06-18T18:40:40.639Z,1750272040.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.096531 target range: 113.452393 and range: 114.70 m.
2025-06-18T18:40:41.031Z,1750272041.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:41.034Z,1750272041.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 123.469261 m,
bearing: 130.170934 deg,
approach rate: -0.222312 m/s,
LOS rate: -0.253328 deg/s,
cmd heading: 120.122373 deg,
new cmd heading: 119.821708 deg.
2025-06-18T18:40:41.035Z,1750272041.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091283 target range: 113.452393 and range: 114.70 m.
2025-06-18T18:40:41.457Z,1750272041.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:41.460Z,1750272041.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 123.372581 m,
bearing: 130.062013 deg,
approach rate: -0.226658 m/s,
LOS rate: -0.255557 deg/s,
cmd heading: 119.821708 deg,
new cmd heading: 119.494692 deg.
2025-06-18T18:40:41.461Z,1750272041.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085576 target range: 113.452393 and range: 114.70 m.
2025-06-18T18:40:41.825Z,1750272041.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:41.827Z,1750272041.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:41.830Z,1750272041.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 123.279846 m,
bearing: 129.969726 deg,
approach rate: -0.251031 m/s,
LOS rate: -0.250006 deg/s,
cmd heading: 119.494692 deg,
new cmd heading: 119.217625 deg.
2025-06-18T18:40:41.831Z,1750272041.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.080740 target range: 113.452393 and range: 114.70 m.
2025-06-18T18:40:41.993Z,1750272041.993 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:40:41.993Z,1750272041.993 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:40:41.993Z,1750272041.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:42.233Z,1750272042.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:42.236Z,1750272042.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 123.173004 m,
bearing: 129.869206 deg,
approach rate: -0.263081 m/s,
LOS rate: -0.247729 deg/s,
cmd heading: 119.217619 deg,
new cmd heading: 118.915800 deg.
2025-06-18T18:40:42.237Z,1750272042.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.075472 target range: 113.452393 and range: 114.70 m.
2025-06-18T18:40:42.245Z,1750272042.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013141
2025-06-18T18:40:42.497Z,1750272042.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264873
2025-06-18T18:40:42.669Z,1750272042.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:42.671Z,1750272042.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 123.052063 m,
bearing: 129.760929 deg,
approach rate: -0.277424 m/s,
LOS rate: -0.248618 deg/s,
cmd heading: 118.915793 deg,
new cmd heading: 118.590646 deg.
2025-06-18T18:40:42.693Z,1750272042.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.069797 target range: 113.452393 and range: 114.70 m.
2025-06-18T18:40:42.750Z,1750272042.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517366
2025-06-18T18:40:43.001Z,1750272043.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768693
2025-06-18T18:40:43.051Z,1750272043.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:43.058Z,1750272043.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 122.945251 m,
bearing: 129.670504 deg,
approach rate: -0.279606 m/s,
LOS rate: -0.236916 deg/s,
cmd heading: 118.590648 deg,
new cmd heading: 118.319140 deg.
2025-06-18T18:40:43.059Z,1750272043.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065058 target range: 113.452393 and range: 114.70 m.
2025-06-18T18:40:43.253Z,1750272043.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020827
2025-06-18T18:40:43.461Z,1750272043.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:43.484Z,1750272043.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 122.820030 m,
bearing: 129.569908 deg,
approach rate: -0.305407 m/s,
LOS rate: -0.245596 deg/s,
cmd heading: 118.319135 deg,
new cmd heading: 118.017043 deg.
2025-06-18T18:40:43.485Z,1750272043.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059786 target range: 113.452393 and range: 114.70 m.
2025-06-18T18:40:43.505Z,1750272043.505 [DAT](INFO): DAT read: Rx Time:18:40:43.9020
2025-06-18T18:40:43.505Z,1750272043.505 [DAT](INFO): Rx dataTimestamp_ set to:1750272043.505177
2025-06-18T18:40:43.506Z,1750272043.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273984
2025-06-18T18:40:43.757Z,1750272043.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525450
2025-06-18T18:40:43.882Z,1750272043.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:43.885Z,1750272043.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.45 m.
2025-06-18T18:40:43.890Z,1750272043.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.452393 m,
nav range: 122.690742 m,
bearing: 129.471225 deg,
approach rate: -0.304624 m/s,
LOS rate: -0.232758 deg/s,
cmd heading: 118.017049 deg,
new cmd heading: 117.720692 deg.
2025-06-18T18:40:43.891Z,1750272043.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054614 target range: 113.452393 and range: 114.70 m.
2025-06-18T18:40:44.015Z,1750272044.015 [DAT](INFO): DAT read: 18:40:43.9020 LVL= 20048, 24529, 15650, 27427, AGC= 64, IDX= 433, 0.30,-2.818,-2.368,-0.592,-1.908, PHS=-0.821,-0.412, 1.313, RAW= 220.4, -0.8, CAL= 219.8, -6.6, ROT= 290.2, 6.6
2025-06-18T18:40:44.016Z,1750272044.016 [DAT](INFO): got valid direction response:
18:40:43.9020 LVL= 20048, 24529, 15650, 27427, AGC= 64, IDX= 433, 0.30,-2.818,-2.368,-0.592,-1.908, PHS=-0.821,-0.412, 1.313, RAW= 220.4, -0.8, CAL= 219.8, -6.6, ROT= 290.2, 6.6
2025-06-18T18:40:44.017Z,1750272044.017 [DAT](INFO): DAT read: Bearing 290.2, 6.6 (Local)
2025-06-18T18:40:44.018Z,1750272044.018 [DAT](INFO): Local bearing/azimuth received:
Bearing 290.2, 6.6 (Local)
2025-06-18T18:40:44.019Z,1750272044.019 [DAT](INFO): DAT read: Range 10 to 50 : 114.0 m (Round-trip 152.0 ms) speed -0.2 m/s
2025-06-18T18:40:44.021Z,1750272044.021 [DAT](INFO): DAT read: user:1396>
2025-06-18T18:40:44.025Z,1750272044.025 [DAT](INFO): DAT read: Tx time:18:40:44.9958
2025-06-18T18:40:44.026Z,1750272044.026 [DAT](INFO): Ping request sent.
2025-06-18T18:40:44.026Z,1750272044.026 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:44.026Z,1750272044.026 [DAT](INFO): DAT read: TxSync time:18:40:44.9951
2025-06-18T18:40:44.027Z,1750272044.027 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:40:44.029Z,1750272044.029 [DAT](INFO): direction in FSK: [0.343010,-0.932273,-0.114937]
2025-06-18T18:40:44.029Z,1750272044.029 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:44.029Z,1750272044.029 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:44.033Z,1750272044.033 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:44.033Z,1750272044.033 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:44.281Z,1750272044.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 114.000000 m,
deltaT: 3.780105 s,
deltaX: -0.699997 m,
approachRate: -0.185179 m/s,
rangeRepo size: 4
2025-06-18T18:40:44.283Z,1750272044.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 112.957069 m,
bearing: 123.297398 deg,
lat: 36.905872 deg,
lon: -122.115635 deg,
deltaT: 11.088050 s,
deltaX: -0.495323 m,
approachRate: -0.044672 m/s,
posRepo size: 4
2025-06-18T18:40:44.283Z,1750272044.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.96 m.
2025-06-18T18:40:44.290Z,1750272044.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.957069 m,
nav range: 120.225777 m,
bearing: 128.002480 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.232758 deg/s,
cmd heading: 117.720687 deg,
new cmd heading: 117.448045 deg.
2025-06-18T18:40:44.291Z,1750272044.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049855 target range: 112.957069 and range: 114.00 m.
2025-06-18T18:40:44.694Z,1750272044.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.96 m.
2025-06-18T18:40:44.702Z,1750272044.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.957069 m,
nav range: 120.091087 m,
bearing: 127.903740 deg,
approach rate: -0.322048 m/s,
LOS rate: -0.236357 deg/s,
cmd heading: 117.448040 deg,
new cmd heading: 117.151489 deg.
2025-06-18T18:40:44.703Z,1750272044.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.044679 target range: 112.957069 and range: 114.00 m.
2025-06-18T18:40:45.058Z,1750272045.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.96 m.
2025-06-18T18:40:45.060Z,1750272045.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.957069 m,
nav range: 119.961639 m,
bearing: 127.813843 deg,
approach rate: -0.356052 m/s,
LOS rate: -0.247532 deg/s,
cmd heading: 117.151487 deg,
new cmd heading: 116.881506 deg.
2025-06-18T18:40:45.061Z,1750272045.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.039967 target range: 112.957069 and range: 114.00 m.
2025-06-18T18:40:45.491Z,1750272045.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.96 m.
2025-06-18T18:40:45.494Z,1750272045.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.957069 m,
nav range: 119.810135 m,
bearing: 127.711916 deg,
approach rate: -0.349955 m/s,
LOS rate: -0.235734 deg/s,
cmd heading: 116.881503 deg,
new cmd heading: 116.575339 deg.
2025-06-18T18:40:45.495Z,1750272045.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.034623 target range: 112.957069 and range: 114.00 m.
2025-06-18T18:40:45.549Z,1750272045.549 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:40:45.880Z,1750272045.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.96 m.
2025-06-18T18:40:45.885Z,1750272045.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.957069 m,
nav range: 119.666588 m,
bearing: 127.624897 deg,
approach rate: -0.368909 m/s,
LOS rate: -0.223904 deg/s,
cmd heading: 116.575333 deg,
new cmd heading: 116.313963 deg.
2025-06-18T18:40:45.886Z,1750272045.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.030062 target range: 112.957069 and range: 114.00 m.
2025-06-18T18:40:46.267Z,1750272046.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:46.269Z,1750272046.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.96 m.
2025-06-18T18:40:46.272Z,1750272046.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.957069 m,
nav range: 119.514915 m,
bearing: 127.537071 deg,
approach rate: -0.389366 m/s,
LOS rate: -0.225748 deg/s,
cmd heading: 116.313969 deg,
new cmd heading: 116.050159 deg.
2025-06-18T18:40:46.273Z,1750272046.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.025457 target range: 112.957069 and range: 114.00 m.
2025-06-18T18:40:46.277Z,1750272046.277 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:40:46.277Z,1750272046.277 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:40:46.277Z,1750272046.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:46.529Z,1750272046.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502915
2025-06-18T18:40:46.553Z,1750272046.553 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:40:46.693Z,1750272046.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.96 m.
2025-06-18T18:40:46.695Z,1750272046.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.957069 m,
nav range: 119.347328 m,
bearing: 127.442875 deg,
approach rate: -0.395635 m/s,
LOS rate: -0.222687 deg/s,
cmd heading: 116.050160 deg,
new cmd heading: 115.767177 deg.
2025-06-18T18:40:46.697Z,1750272046.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.020518 target range: 112.957069 and range: 114.00 m.
2025-06-18T18:40:46.781Z,1750272046.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755162
2025-06-18T18:40:47.033Z,1750272047.033 [DAT](INFO): DAT read: Rx Time:18:40:47.5505
2025-06-18T18:40:47.033Z,1750272047.033 [DAT](INFO): Rx dataTimestamp_ set to:1750272047.033095
2025-06-18T18:40:47.034Z,1750272047.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008139
2025-06-18T18:40:47.098Z,1750272047.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.96 m.
2025-06-18T18:40:47.100Z,1750272047.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.957069 m,
nav range: 119.183281 m,
bearing: 127.354562 deg,
approach rate: -0.405215 m/s,
LOS rate: -0.218443 deg/s,
cmd heading: 115.767171 deg,
new cmd heading: 115.501870 deg.
2025-06-18T18:40:47.101Z,1750272047.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.015888 target range: 112.957069 and range: 114.00 m.
2025-06-18T18:40:47.285Z,1750272047.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258963
2025-06-18T18:40:47.543Z,1750272047.543 [DAT](INFO): DAT read: 18:40:47.5505 LVL= 29520, 30497, 17906, 32755, AGC= 63, IDX= 417, 0.40,-0.787,-0.953, 1.068,-0.157, PHS=-0.542,-0.749, 1.222, RAW= 204.5, 0.8, CAL= 204.3, -6.3, ROT= 305.7, 6.3
2025-06-18T18:40:47.544Z,1750272047.544 [DAT](INFO): got valid direction response:
18:40:47.5505 LVL= 29520, 30497, 17906, 32755, AGC= 63, IDX= 417, 0.40,-0.787,-0.953, 1.068,-0.157, PHS=-0.542,-0.749, 1.222, RAW= 204.5, 0.8, CAL= 204.3, -6.3, ROT= 305.7, 6.3
2025-06-18T18:40:47.545Z,1750272047.545 [DAT](INFO): DAT read: Bearing 305.7, 6.3 (Local)
2025-06-18T18:40:47.546Z,1750272047.546 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.7, 6.3 (Local)
2025-06-18T18:40:47.547Z,1750272047.547 [DAT](INFO): DAT read: Range 10 to 50 : 112.8 m (Round-trip 150.5 ms) speed 0.3 m/s
2025-06-18T18:40:47.548Z,1750272047.548 [DAT](INFO): DAT read: user:1397>
2025-06-18T18:40:47.549Z,1750272047.549 [DAT](INFO): DAT read: Tx time:18:40:48.6458
2025-06-18T18:40:47.549Z,1750272047.549 [DAT](INFO): Ping request sent.
2025-06-18T18:40:47.549Z,1750272047.549 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:47.550Z,1750272047.550 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:40:47.553Z,1750272047.553 [DAT](INFO): direction in FSK: [0.580017,-0.807179,-0.109734]
2025-06-18T18:40:47.554Z,1750272047.554 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:47.596Z,1750272047.596 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:47.599Z,1750272047.599 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:47.599Z,1750272047.599 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:47.646Z,1750272047.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 112.800003 m,
deltaT: 3.527882 s,
deltaX: -1.199997 m,
approachRate: -0.340147 m/s,
rangeRepo size: 4
2025-06-18T18:40:47.652Z,1750272047.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 111.767921 m,
bearing: 128.570641 deg,
lat: 36.905896 deg,
lon: -122.115647 deg,
deltaT: 3.527882 s,
deltaX: -1.189148 m,
approachRate: -0.337071 m/s,
posRepo size: 4
2025-06-18T18:40:47.653Z,1750272047.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.77 m.
2025-06-18T18:40:47.660Z,1750272047.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.767921 m,
nav range: 116.505653 m,
bearing: 126.499390 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.218443 deg/s,
cmd heading: 115.501873 deg,
new cmd heading: 115.142893 deg.
2025-06-18T18:40:47.661Z,1750272047.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.009623 target range: 111.767921 and range: 112.80 m.
2025-06-18T18:40:47.789Z,1750272047.789 [DAT](INFO): DAT read: TxSync time:18:40:48.6451
2025-06-18T18:40:47.970Z,1750272047.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.77 m.
2025-06-18T18:40:47.977Z,1750272047.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.767921 m,
nav range: 116.363113 m,
bearing: 126.425598 deg,
approach rate: -0.439006 m/s,
LOS rate: -0.227549 deg/s,
cmd heading: 115.142892 deg,
new cmd heading: 114.921246 deg.
2025-06-18T18:40:47.978Z,1750272047.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.005754 target range: 111.767921 and range: 112.80 m.
2025-06-18T18:40:48.354Z,1750272048.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:48.357Z,1750272048.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.77 m.
2025-06-18T18:40:48.363Z,1750272048.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.767921 m,
nav range: 116.191124 m,
bearing: 126.340389 deg,
approach rate: -0.445958 m/s,
LOS rate: -0.221269 deg/s,
cmd heading: 114.921252 deg,
new cmd heading: 114.665248 deg.
2025-06-18T18:40:48.365Z,1750272048.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.001286 target range: 111.767921 and range: 112.80 m.
2025-06-18T18:40:48.545Z,1750272048.545 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:40:48.545Z,1750272048.545 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:40:48.545Z,1750272048.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:48.794Z,1750272048.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.77 m.
2025-06-18T18:40:48.797Z,1750272048.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247558
2025-06-18T18:40:48.798Z,1750272048.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.767921 m,
nav range: 115.995323 m,
bearing: 126.245040 deg,
approach rate: -0.447024 m/s,
LOS rate: -0.218055 deg/s,
cmd heading: 114.665243 deg,
new cmd heading: 114.378715 deg.
2025-06-18T18:40:48.799Z,1750272048.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.996285 target range: 111.767921 and range: 112.80 m.
2025-06-18T18:40:49.050Z,1750272049.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500187
2025-06-18T18:40:49.157Z,1750272049.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.77 m.
2025-06-18T18:40:49.159Z,1750272049.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.767921 m,
nav range: 115.825790 m,
bearing: 126.169751 deg,
approach rate: -0.467263 m/s,
LOS rate: -0.207813 deg/s,
cmd heading: 114.378717 deg,
new cmd heading: 114.152521 deg.
2025-06-18T18:40:49.160Z,1750272049.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.992337 target range: 111.767921 and range: 112.80 m.
2025-06-18T18:40:49.301Z,1750272049.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751464
2025-06-18T18:40:49.553Z,1750272049.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003587
2025-06-18T18:40:49.590Z,1750272049.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.77 m.
2025-06-18T18:40:49.593Z,1750272049.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.767921 m,
nav range: 115.619469 m,
bearing: 126.078777 deg,
approach rate: -0.476013 m/s,
LOS rate: -0.210264 deg/s,
cmd heading: 114.152521 deg,
new cmd heading: 113.879115 deg.
2025-06-18T18:40:49.594Z,1750272049.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.987566 target range: 111.767921 and range: 112.80 m.
2025-06-18T18:40:49.806Z,1750272049.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256320
2025-06-18T18:40:49.961Z,1750272049.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.77 m.
2025-06-18T18:40:49.964Z,1750272049.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.767921 m,
nav range: 115.438675 m,
bearing: 126.002528 deg,
approach rate: -0.487064 m/s,
LOS rate: -0.205738 deg/s,
cmd heading: 113.879116 deg,
new cmd heading: 113.650012 deg.
2025-06-18T18:40:49.965Z,1750272049.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.983567 target range: 111.767921 and range: 112.80 m.
2025-06-18T18:40:50.058Z,1750272050.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508821
2025-06-18T18:40:50.309Z,1750272050.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759368
2025-06-18T18:40:50.378Z,1750272050.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:50.380Z,1750272050.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.77 m.
2025-06-18T18:40:50.383Z,1750272050.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.767921 m,
nav range: 115.237152 m,
bearing: 125.921345 deg,
approach rate: -0.481479 m/s,
LOS rate: -0.194302 deg/s,
cmd heading: 113.650011 deg,
new cmd heading: 113.406036 deg.
2025-06-18T18:40:50.384Z,1750272050.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.979309 target range: 111.767921 and range: 112.80 m.
2025-06-18T18:40:50.561Z,1750272050.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011496
2025-06-18T18:40:50.813Z,1750272050.813 [DAT](INFO): DAT read: Rx Time:18:40:51.1985
2025-06-18T18:40:50.813Z,1750272050.813 [DAT](INFO): Rx dataTimestamp_ set to:1750272050.813193
2025-06-18T18:40:50.814Z,1750272050.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264691
2025-06-18T18:40:50.822Z,1750272050.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.77 m.
2025-06-18T18:40:50.825Z,1750272050.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.767921 m,
nav range: 115.020676 m,
bearing: 125.828939 deg,
approach rate: -0.489206 m/s,
LOS rate: -0.209216 deg/s,
cmd heading: 113.406036 deg,
new cmd heading: 113.128300 deg.
2025-06-18T18:40:50.826Z,1750272050.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.974461 target range: 111.767921 and range: 112.80 m.
2025-06-18T18:40:51.065Z,1750272051.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515442
2025-06-18T18:40:51.199Z,1750272051.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.77 m.
2025-06-18T18:40:51.202Z,1750272051.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.767921 m,
nav range: 114.846077 m,
bearing: 125.754062 deg,
approach rate: -0.463449 m/s,
LOS rate: -0.199054 deg/s,
cmd heading: 113.128300 deg,
new cmd heading: 112.903328 deg.
2025-06-18T18:40:51.203Z,1750272051.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.970535 target range: 111.767921 and range: 112.80 m.
2025-06-18T18:40:51.327Z,1750272051.327 [DAT](INFO): DAT read: 18:40:51.1985 LVL= 28960, 29169, 15954, 32755, AGC= 67, IDX= 413, 0.04,-1.754,-2.417,-0.468,-1.363, PHS=-0.303,-1.007, 0.892, RAW= 188.5, 5.1, CAL= 188.5, -3.5, ROT= 321.5, 3.5
2025-06-18T18:40:51.328Z,1750272051.328 [DAT](INFO): got valid direction response:
18:40:51.1985 LVL= 28960, 29169, 15954, 32755, AGC= 67, IDX= 413, 0.04,-1.754,-2.417,-0.468,-1.363, PHS=-0.303,-1.007, 0.892, RAW= 188.5, 5.1, CAL= 188.5, -3.5, ROT= 321.5, 3.5
2025-06-18T18:40:51.329Z,1750272051.329 [DAT](INFO): DAT read: Bearing 321.5, 3.5 (Local)
2025-06-18T18:40:51.330Z,1750272051.330 [DAT](INFO): Local bearing/azimuth received:
Bearing 321.5, 3.5 (Local)
2025-06-18T18:40:51.331Z,1750272051.331 [DAT](INFO): DAT read: Range 10 to 50 : 111.3 m (Round-trip 148.5 ms) speed 0.4 m/s
2025-06-18T18:40:51.332Z,1750272051.332 [DAT](INFO): DAT read: user:1398>
2025-06-18T18:40:51.333Z,1750272051.333 [DAT](INFO): DAT read: Tx time:18:40:52.2958
2025-06-18T18:40:51.333Z,1750272051.333 [DAT](INFO): Ping request sent.
2025-06-18T18:40:51.333Z,1750272051.333 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:51.334Z,1750272051.334 [DAT](INFO): DAT read: TxSync time:18:40:52.2951
2025-06-18T18:40:51.335Z,1750272051.335 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:40:51.336Z,1750272051.336 [DAT](INFO): direction in FSK: [0.781149,-0.621353,-0.061049]
2025-06-18T18:40:51.336Z,1750272051.336 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:51.336Z,1750272051.336 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:51.339Z,1750272051.339 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:51.340Z,1750272051.340 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:51.611Z,1750272051.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 111.300003 m,
deltaT: 3.779912 s,
deltaX: -1.500000 m,
approachRate: -0.396835 m/s,
rangeRepo size: 4
2025-06-18T18:40:51.614Z,1750272051.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 110.281761 m,
bearing: 131.947755 deg,
lat: 36.905896 deg,
lon: -122.115723 deg,
deltaT: 3.779912 s,
deltaX: -1.486160 m,
approachRate: -0.393173 m/s,
posRepo size: 4
2025-06-18T18:40:51.614Z,1750272051.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.28 m.
2025-06-18T18:40:51.617Z,1750272051.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.281761 m,
nav range: 109.229637 m,
bearing: 127.733412 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.199054 deg/s,
cmd heading: 112.903328 deg,
new cmd heading: 112.657525 deg.
2025-06-18T18:40:51.618Z,1750272051.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.966245 target range: 110.281761 and range: 111.30 m.
2025-06-18T18:40:51.981Z,1750272051.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.28 m.
2025-06-18T18:40:51.983Z,1750272051.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.281761 m,
nav range: 109.031204 m,
bearing: 127.665962 deg,
approach rate: -0.535933 m/s,
LOS rate: -0.182502 deg/s,
cmd heading: 112.657523 deg,
new cmd heading: 112.454806 deg.
2025-06-18T18:40:51.985Z,1750272051.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.962707 target range: 110.281761 and range: 111.30 m.
2025-06-18T18:40:52.379Z,1750272052.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:52.381Z,1750272052.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.28 m.
2025-06-18T18:40:52.384Z,1750272052.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.281761 m,
nav range: 108.816765 m,
bearing: 127.596491 deg,
approach rate: -0.536062 m/s,
LOS rate: -0.174008 deg/s,
cmd heading: 112.454803 deg,
new cmd heading: 112.245980 deg.
2025-06-18T18:40:52.385Z,1750272052.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.959062 target range: 110.281761 and range: 111.30 m.
2025-06-18T18:40:52.576Z,1750272052.576 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:40:52.577Z,1750272052.577 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:40:52.577Z,1750272052.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:52.824Z,1750272052.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.28 m.
2025-06-18T18:40:52.827Z,1750272052.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.281761 m,
nav range: 108.582855 m,
bearing: 127.521993 deg,
approach rate: -0.528174 m/s,
LOS rate: -0.168580 deg/s,
cmd heading: 112.245983 deg,
new cmd heading: 112.022010 deg.
2025-06-18T18:40:52.829Z,1750272052.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495527
2025-06-18T18:40:52.844Z,1750272052.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.955153 target range: 110.281761 and range: 111.30 m.
2025-06-18T18:40:53.083Z,1750272053.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749227
2025-06-18T18:40:53.195Z,1750272053.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.28 m.
2025-06-18T18:40:53.214Z,1750272053.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.281761 m,
nav range: 108.383163 m,
bearing: 127.461778 deg,
approach rate: -0.537209 m/s,
LOS rate: -0.162288 deg/s,
cmd heading: 112.022008 deg,
new cmd heading: 111.841031 deg.
2025-06-18T18:40:53.215Z,1750272053.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.951994 target range: 110.281761 and range: 111.30 m.
2025-06-18T18:40:53.333Z,1750272053.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999647
2025-06-18T18:40:53.585Z,1750272053.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251303
2025-06-18T18:40:53.615Z,1750272053.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.28 m.
2025-06-18T18:40:53.618Z,1750272053.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.281761 m,
nav range: 108.154694 m,
bearing: 127.398451 deg,
approach rate: -0.544509 m/s,
LOS rate: -0.151247 deg/s,
cmd heading: 111.841028 deg,
new cmd heading: 111.650645 deg.
2025-06-18T18:40:53.619Z,1750272053.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.948671 target range: 110.281761 and range: 111.30 m.
2025-06-18T18:40:53.837Z,1750272053.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503440
2025-06-18T18:40:53.998Z,1750272053.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.28 m.
2025-06-18T18:40:54.001Z,1750272054.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.281761 m,
nav range: 107.943443 m,
bearing: 127.343174 deg,
approach rate: -0.551557 m/s,
LOS rate: -0.144607 deg/s,
cmd heading: 111.650643 deg,
new cmd heading: 111.484488 deg.
2025-06-18T18:40:54.002Z,1750272054.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.945771 target range: 110.281761 and range: 111.30 m.
2025-06-18T18:40:54.090Z,1750272054.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755887
2025-06-18T18:40:54.341Z,1750272054.341 [DAT](INFO): DAT read: Rx Time:18:40:54.8459
2025-06-18T18:40:54.342Z,1750272054.342 [DAT](INFO): Rx dataTimestamp_ set to:1750272054.341271
2025-06-18T18:40:54.342Z,1750272054.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008579
2025-06-18T18:40:54.409Z,1750272054.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:54.411Z,1750272054.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.28 m.
2025-06-18T18:40:54.422Z,1750272054.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.281761 m,
nav range: 107.713280 m,
bearing: 127.286522 deg,
approach rate: -0.557374 m/s,
LOS rate: -0.137483 deg/s,
cmd heading: 111.484485 deg,
new cmd heading: 111.314168 deg.
2025-06-18T18:40:54.423Z,1750272054.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.942799 target range: 110.281761 and range: 111.30 m.
2025-06-18T18:40:54.594Z,1750272054.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260491
2025-06-18T18:40:54.851Z,1750272054.851 [DAT](INFO): DAT read: 18:40:54.8459 LVL= 29424, 31089, 15842, 32755, AGC= 67, IDX= 418, 0.03, 2.365, 1.589,-2.549, 2.604, PHS=-0.151,-0.968, 1.127, RAW= 187.2, -0.1, CAL= 187.3, -7.6, ROT= 322.7, 7.6
2025-06-18T18:40:54.853Z,1750272054.853 [DAT](INFO): got valid direction response:
18:40:54.8459 LVL= 29424, 31089, 15842, 32755, AGC= 67, IDX= 418, 0.03, 2.365, 1.589,-2.549, 2.604, PHS=-0.151,-0.968, 1.127, RAW= 187.2, -0.1, CAL= 187.3, -7.6, ROT= 322.7, 7.6
2025-06-18T18:40:54.854Z,1750272054.854 [DAT](INFO): DAT read: Bearing 322.7, 7.6 (Local)
2025-06-18T18:40:54.855Z,1750272054.855 [DAT](INFO): Local bearing/azimuth received:
Bearing 322.7, 7.6 (Local)
2025-06-18T18:40:54.865Z,1750272054.865 [DAT](INFO): DAT read: Range 10 to 50 : 109.3 m (Round-trip 145.8 ms) speed 0.4 m/s
2025-06-18T18:40:54.867Z,1750272054.867 [DAT](INFO): DAT read: user:1399>
2025-06-18T18:40:54.868Z,1750272054.868 [DAT](INFO): DAT read: Tx time:18:40:55.9459
2025-06-18T18:40:54.868Z,1750272054.868 [DAT](INFO): Ping request sent.
2025-06-18T18:40:54.869Z,1750272054.869 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:54.869Z,1750272054.869 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:40:54.871Z,1750272054.871 [DAT](INFO): direction in FSK: [0.788486,-0.600665,-0.132256]
2025-06-18T18:40:54.871Z,1750272054.871 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:54.871Z,1750272054.871 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:54.895Z,1750272054.895 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:54.895Z,1750272054.895 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:54.985Z,1750272054.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 109.300003 m,
deltaT: 3.528187 s,
deltaX: -2.000000 m,
approachRate: -0.566863 m/s,
rangeRepo size: 4
2025-06-18T18:40:54.987Z,1750272054.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 108.300209 m,
bearing: 117.548597 deg,
lat: 36.905896 deg,
lon: -122.115723 deg,
deltaT: 3.528187 s,
deltaX: -1.981552 m,
approachRate: -0.561635 m/s,
posRepo size: 4
2025-06-18T18:40:54.992Z,1750272054.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m.
2025-06-18T18:40:54.995Z,1750272054.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.300209 m,
nav range: 107.407181 m,
bearing: 127.216502 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.137483 deg/s,
cmd heading: 111.314168 deg,
new cmd heading: 111.077666 deg.
2025-06-18T18:40:55.002Z,1750272055.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.938671 target range: 108.300209 and range: 109.30 m.
2025-06-18T18:40:55.097Z,1750272055.097 [DAT](INFO): DAT read: TxSync time:18:40:55.9452
2025-06-18T18:40:55.460Z,1750272055.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m.
2025-06-18T18:40:55.463Z,1750272055.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.300209 m,
nav range: 107.139954 m,
bearing: 127.159166 deg,
approach rate: -0.562656 m/s,
LOS rate: -0.121026 deg/s,
cmd heading: 111.077666 deg,
new cmd heading: 110.905227 deg.
2025-06-18T18:40:55.464Z,1750272055.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.935661 target range: 108.300209 and range: 109.30 m.
2025-06-18T18:40:55.904Z,1750272055.904 [BPC1](INFO): Calculating totals. Valid battery stick count: 44. Valid reserve battery stick count: 4.
2025-06-18T18:40:55.908Z,1750272055.908 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 44, 46, 47.
2025-06-18T18:40:55.975Z,1750272055.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m.
2025-06-18T18:40:55.978Z,1750272055.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.300209 m,
nav range: 106.830528 m,
bearing: 127.107381 deg,
approach rate: -0.600230 m/s,
LOS rate: -0.100744 deg/s,
cmd heading: 110.905224 deg,
new cmd heading: 110.749420 deg.
2025-06-18T18:40:55.979Z,1750272055.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.932942 target range: 108.300209 and range: 109.30 m.
2025-06-18T18:40:56.332Z,1750272056.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m.
2025-06-18T18:40:56.335Z,1750272056.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.300209 m,
nav range: 106.613731 m,
bearing: 127.073972 deg,
approach rate: -0.606491 m/s,
LOS rate: -0.093651 deg/s,
cmd heading: 110.749421 deg,
new cmd heading: 110.648991 deg.
2025-06-18T18:40:56.336Z,1750272056.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.931189 target range: 108.300209 and range: 109.30 m.
2025-06-18T18:40:56.762Z,1750272056.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:56.768Z,1750272056.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m.
2025-06-18T18:40:56.771Z,1750272056.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.300209 m,
nav range: 106.361992 m,
bearing: 127.038302 deg,
approach rate: -0.583573 m/s,
LOS rate: -0.082886 deg/s,
cmd heading: 110.648989 deg,
new cmd heading: 110.541724 deg.
2025-06-18T18:40:56.776Z,1750272056.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.929317 target range: 108.300209 and range: 109.30 m.
2025-06-18T18:40:56.873Z,1750272056.873 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:40:56.874Z,1750272056.874 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:40:56.874Z,1750272056.874 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:57.125Z,1750272057.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256310
2025-06-18T18:40:57.136Z,1750272057.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m.
2025-06-18T18:40:57.139Z,1750272057.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.300209 m,
nav range: 106.119934 m,
bearing: 127.007264 deg,
approach rate: -0.649363 m/s,
LOS rate: -0.083454 deg/s,
cmd heading: 110.541721 deg,
new cmd heading: 110.448396 deg.
2025-06-18T18:40:57.140Z,1750272057.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.927688 target range: 108.300209 and range: 109.30 m.
2025-06-18T18:40:57.377Z,1750272057.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508315
2025-06-18T18:40:57.620Z,1750272057.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m.
2025-06-18T18:40:57.623Z,1750272057.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.300209 m,
nav range: 105.829147 m,
bearing: 126.971279 deg,
approach rate: -0.606602 m/s,
LOS rate: -0.075275 deg/s,
cmd heading: 110.448394 deg,
new cmd heading: 110.340140 deg.
2025-06-18T18:40:57.629Z,1750272057.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760366
2025-06-18T18:40:57.629Z,1750272057.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.925799 target range: 108.300209 and range: 109.30 m.
2025-06-18T18:40:57.882Z,1750272057.882 [DAT](INFO): DAT read: Rx Time:18:40:58.4932
2025-06-18T18:40:57.882Z,1750272057.882 [DAT](INFO): Rx dataTimestamp_ set to:1750272057.881729
2025-06-18T18:40:57.883Z,1750272057.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014347
2025-06-18T18:40:57.938Z,1750272057.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m.
2025-06-18T18:40:57.941Z,1750272057.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.300209 m,
nav range: 105.615555 m,
bearing: 126.947716 deg,
approach rate: -0.663714 m/s,
LOS rate: -0.073367 deg/s,
cmd heading: 110.340142 deg,
new cmd heading: 110.269310 deg.
2025-06-18T18:40:57.942Z,1750272057.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.924563 target range: 108.300209 and range: 109.30 m.
2025-06-18T18:40:58.133Z,1750272058.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264151
2025-06-18T18:40:58.361Z,1750272058.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m.
2025-06-18T18:40:58.363Z,1750272058.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.300209 m,
nav range: 105.349159 m,
bearing: 126.918191 deg,
approach rate: -0.629531 m/s,
LOS rate: -0.069946 deg/s,
cmd heading: 110.269313 deg,
new cmd heading: 110.180517 deg.
2025-06-18T18:40:58.365Z,1750272058.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.923013 target range: 108.300209 and range: 109.30 m.
2025-06-18T18:40:58.388Z,1750272058.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519382
2025-06-18T18:40:58.644Z,1750272058.644 [DAT](INFO): DAT read: 18:40:58.4932 LVL= 30768, 32753, 24946, 32755, AGC= 71, IDX= 406,-0.13, 0.971,-0.029, 1.631, 0.918, PHS= 0.141,-0.900, 0.710, RAW= 170.4, 0.7, CAL= 171.4, -7.6, ROT= 338.6, 7.6
2025-06-18T18:40:58.646Z,1750272058.646 [DAT](INFO): got valid direction response:
18:40:58.4932 LVL= 30768, 32753, 24946, 32755, AGC= 71, IDX= 406,-0.13, 0.971,-0.029, 1.631, 0.918, PHS= 0.141,-0.900, 0.710, RAW= 170.4, 0.7, CAL= 171.4, -7.6, ROT= 338.6, 7.6
2025-06-18T18:40:58.647Z,1750272058.647 [DAT](INFO): DAT read: Bearing 338.6, 7.6 (Local)
2025-06-18T18:40:58.648Z,1750272058.648 [DAT](INFO): Local bearing/azimuth received:
Bearing 338.6, 7.6 (Local)
2025-06-18T18:40:58.650Z,1750272058.650 [DAT](INFO): DAT read: Range 10 to 50 : 107.3 m (Round-trip 143.1 ms) speed 0.6 m/s
2025-06-18T18:40:58.651Z,1750272058.651 [DAT](INFO): DAT read: user:1400>
2025-06-18T18:40:58.656Z,1750272058.656 [DAT](INFO): DAT read: Tx time:18:40:59.5959
2025-06-18T18:40:58.657Z,1750272058.657 [DAT](INFO): Ping request sent.
2025-06-18T18:40:58.657Z,1750272058.657 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:40:58.657Z,1750272058.657 [DAT](INFO): DAT read: TxSync time:18:40:59.5952
2025-06-18T18:40:58.658Z,1750272058.658 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:40:58.659Z,1750272058.659 [DAT](INFO): direction in FSK: [0.922877,-0.361671,-0.132256]
2025-06-18T18:40:58.659Z,1750272058.659 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:58.659Z,1750272058.659 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:58.681Z,1750272058.681 [DAT](INFO): publishing transmit ping time
2025-06-18T18:40:58.681Z,1750272058.681 [DAT](INFO): publishing direction and range info
2025-06-18T18:40:58.844Z,1750272058.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 107.300003 m,
deltaT: 3.791751 s,
deltaX: -2.000000 m,
approachRate: -0.527461 m/s,
rangeRepo size: 4
2025-06-18T18:40:58.846Z,1750272058.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 106.318794 m,
bearing: 119.383931 deg,
lat: 36.905984 deg,
lon: -122.115647 deg,
deltaT: 3.791751 s,
deltaX: -1.981415 m,
approachRate: -0.522559 m/s,
posRepo size: 4
2025-06-18T18:40:58.847Z,1750272058.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:40:58.854Z,1750272058.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.318794 m,
nav range: 105.241341 m,
bearing: 120.398346 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.069946 deg/s,
cmd heading: 110.180514 deg,
new cmd heading: 110.081835 deg.
2025-06-18T18:40:58.860Z,1750272058.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.921291 target range: 106.318794 and range: 107.30 m.
2025-06-18T18:40:59.162Z,1750272059.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:40:59.164Z,1750272059.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:40:59.167Z,1750272059.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.318794 m,
nav range: 105.019173 m,
bearing: 120.365091 deg,
approach rate: -0.667199 m/s,
LOS rate: -0.100080 deg/s,
cmd heading: 110.081838 deg,
new cmd heading: 109.981862 deg.
2025-06-18T18:40:59.169Z,1750272059.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.919546 target range: 106.318794 and range: 107.30 m.
2025-06-18T18:40:59.397Z,1750272059.397 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:40:59.397Z,1750272059.397 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:40:59.398Z,1750272059.398 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:40:59.645Z,1750272059.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988446
2025-06-18T18:40:59.653Z,1750272059.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:40:59.660Z,1750272059.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.318794 m,
nav range: 104.728004 m,
bearing: 120.320630 deg,
approach rate: -0.595772 m/s,
LOS rate: -0.091225 deg/s,
cmd heading: 109.981864 deg,
new cmd heading: 109.848113 deg.
2025-06-18T18:40:59.661Z,1750272059.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.917211 target range: 106.318794 and range: 107.30 m.
2025-06-18T18:40:59.898Z,1750272059.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240670
2025-06-18T18:40:59.971Z,1750272059.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:40:59.974Z,1750272059.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.318794 m,
nav range: 104.514091 m,
bearing: 120.290512 deg,
approach rate: -0.671920 m/s,
LOS rate: -0.094799 deg/s,
cmd heading: 109.848116 deg,
new cmd heading: 109.757574 deg.
2025-06-18T18:40:59.975Z,1750272059.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.915631 target range: 106.318794 and range: 107.30 m.
2025-06-18T18:41:00.152Z,1750272060.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495144
2025-06-18T18:41:00.401Z,1750272060.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743826
2025-06-18T18:41:00.454Z,1750272060.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:41:00.457Z,1750272060.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.318794 m,
nav range: 104.209763 m,
bearing: 120.251806 deg,
approach rate: -0.630752 m/s,
LOS rate: -0.080457 deg/s,
cmd heading: 109.757575 deg,
new cmd heading: 109.641117 deg.
2025-06-18T18:41:00.458Z,1750272060.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.913599 target range: 106.318794 and range: 107.30 m.
2025-06-18T18:41:00.654Z,1750272060.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997099
2025-06-18T18:41:00.811Z,1750272060.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:41:00.818Z,1750272060.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.318794 m,
nav range: 103.997658 m,
bearing: 120.223369 deg,
approach rate: -0.594203 m/s,
LOS rate: -0.079828 deg/s,
cmd heading: 109.641120 deg,
new cmd heading: 109.555635 deg.
2025-06-18T18:41:00.819Z,1750272060.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.912107 target range: 106.318794 and range: 107.30 m.
2025-06-18T18:41:00.906Z,1750272060.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248605
2025-06-18T18:41:01.157Z,1750272061.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499925
2025-06-18T18:41:01.215Z,1750272061.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:01.217Z,1750272061.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:41:01.220Z,1750272061.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.318794 m,
nav range: 103.741814 m,
bearing: 120.188909 deg,
approach rate: -0.629081 m/s,
LOS rate: -0.084941 deg/s,
cmd heading: 109.555633 deg,
new cmd heading: 109.451998 deg.
2025-06-18T18:41:01.221Z,1750272061.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.910298 target range: 106.318794 and range: 107.30 m.
2025-06-18T18:41:01.410Z,1750272061.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752614
2025-06-18T18:41:01.646Z,1750272061.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:41:01.653Z,1750272061.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.318794 m,
nav range: 103.461533 m,
bearing: 120.159244 deg,
approach rate: -0.653923 m/s,
LOS rate: -0.069398 deg/s,
cmd heading: 109.451999 deg,
new cmd heading: 109.362764 deg.
2025-06-18T18:41:01.654Z,1750272061.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.908740 target range: 106.318794 and range: 107.30 m.
2025-06-18T18:41:01.661Z,1750272061.661 [DAT](INFO): DAT read: Rx Time:18:41:02.1401
2025-06-18T18:41:01.661Z,1750272061.661 [DAT](INFO): Rx dataTimestamp_ set to:1750272061.661115
2025-06-18T18:41:01.662Z,1750272061.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005055
2025-06-18T18:41:01.913Z,1750272061.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256229
2025-06-18T18:41:02.009Z,1750272062.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.32 m.
2025-06-18T18:41:02.012Z,1750272062.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.318794 m,
nav range: 103.227936 m,
bearing: 120.134482 deg,
approach rate: -0.643508 m/s,
LOS rate: -0.068368 deg/s,
cmd heading: 109.362762 deg,
new cmd heading: 109.288308 deg.
2025-06-18T18:41:02.016Z,1750272062.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.907441 target range: 106.318794 and range: 107.30 m.
2025-06-18T18:41:02.173Z,1750272062.173 [DAT](INFO): DAT read: 18:41:02.1401 LVL= 32752, 31057, 24562, 32755, AGC= 71, IDX= 406, 0.24, 0.789,-0.566, 0.760, 0.237, PHS= 0.640,-0.757, 0.520, RAW= 145.6, -6.1, CAL= 151.1, -15.0, ROT= 358.9, 15.0
2025-06-18T18:41:02.174Z,1750272062.174 [DAT](INFO): got valid direction response:
18:41:02.1401 LVL= 32752, 31057, 24562, 32755, AGC= 71, IDX= 406, 0.24, 0.789,-0.566, 0.760, 0.237, PHS= 0.640,-0.757, 0.520, RAW= 145.6, -6.1, CAL= 151.1, -15.0, ROT= 358.9, 15.0
2025-06-18T18:41:02.175Z,1750272062.175 [DAT](INFO): DAT read: Bearing 358.9, 15.0 (Local)
2025-06-18T18:41:02.176Z,1750272062.176 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.9, 15.0 (Local)
2025-06-18T18:41:02.177Z,1750272062.177 [DAT](INFO): DAT read: Range 10 to 50 : 105.0 m (Round-trip 140.0 ms) speed 0.8 m/s
2025-06-18T18:41:02.178Z,1750272062.178 [DAT](INFO): DAT read: user:1401>
2025-06-18T18:41:02.179Z,1750272062.179 [DAT](INFO): DAT read: Tx time:18:41:03.2459
2025-06-18T18:41:02.179Z,1750272062.179 [DAT](INFO): Ping request sent.
2025-06-18T18:41:02.179Z,1750272062.179 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:02.179Z,1750272062.179 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:02.185Z,1750272062.185 [DAT](INFO): direction in FSK: [0.965748,-0.018543,-0.258819]
2025-06-18T18:41:02.185Z,1750272062.185 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:02.185Z,1750272062.185 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:02.192Z,1750272062.192 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:02.193Z,1750272062.193 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:02.417Z,1750272062.417 [DAT](INFO): DAT read: TxSync time:18:41:03.2452
2025-06-18T18:41:02.425Z,1750272062.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 105.000000 m,
deltaT: 3.528634 s,
deltaX: -2.300003 m,
approachRate: -0.651811 m/s,
rangeRepo size: 4
2025-06-18T18:41:02.427Z,1750272062.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 104.039574 m,
bearing: 128.608482 deg,
lat: 36.905896 deg,
lon: -122.115723 deg,
deltaT: 3.528634 s,
deltaX: -2.279221 m,
approachRate: -0.645922 m/s,
posRepo size: 4
2025-06-18T18:41:02.433Z,1750272062.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.04 m.
2025-06-18T18:41:02.444Z,1750272062.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.039574 m,
nav range: 102.741119 m,
bearing: 126.742650 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068368 deg/s,
cmd heading: 109.288306 deg,
new cmd heading: 109.203026 deg.
2025-06-18T18:41:02.445Z,1750272062.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.905952 target range: 104.039574 and range: 105.00 m.
2025-06-18T18:41:02.822Z,1750272062.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.04 m.
2025-06-18T18:41:02.825Z,1750272062.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.039574 m,
nav range: 102.476822 m,
bearing: 126.735044 deg,
approach rate: -0.664710 m/s,
LOS rate: -0.019179 deg/s,
cmd heading: 109.203025 deg,
new cmd heading: 109.180147 deg.
2025-06-18T18:41:02.826Z,1750272062.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.905553 target range: 104.039574 and range: 105.00 m.
2025-06-18T18:41:03.204Z,1750272063.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.04 m.
2025-06-18T18:41:03.207Z,1750272063.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.039574 m,
nav range: 102.231873 m,
bearing: 126.731405 deg,
approach rate: -0.641064 m/s,
LOS rate: -0.009546 deg/s,
cmd heading: 109.180150 deg,
new cmd heading: 109.169208 deg.
2025-06-18T18:41:03.208Z,1750272063.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.905362 target range: 104.039574 and range: 105.00 m.
2025-06-18T18:41:03.670Z,1750272063.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:03.677Z,1750272063.677 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:03.677Z,1750272063.677 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:03.677Z,1750272063.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:03.688Z,1750272063.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.04 m.
2025-06-18T18:41:03.691Z,1750272063.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.039574 m,
nav range: 101.943687 m,
bearing: 126.731089 deg,
approach rate: -0.616233 m/s,
LOS rate: -0.000678 deg/s,
cmd heading: 109.169208 deg,
new cmd heading: 109.168257 deg.
2025-06-18T18:41:03.696Z,1750272063.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.905346 target range: 104.039574 and range: 105.00 m.
2025-06-18T18:41:03.929Z,1750272063.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749774
2025-06-18T18:41:04.079Z,1750272064.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.04 m.
2025-06-18T18:41:04.082Z,1750272064.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.039574 m,
nav range: 101.671669 m,
bearing: 126.732582 deg,
approach rate: -0.668033 m/s,
LOS rate: 0.003678 deg/s,
cmd heading: 109.168259 deg,
new cmd heading: 109.172752 deg.
2025-06-18T18:41:04.083Z,1750272064.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.905424 target range: 104.039574 and range: 105.00 m.
2025-06-18T18:41:04.182Z,1750272064.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002454
2025-06-18T18:41:04.426Z,1750272064.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.04 m.
2025-06-18T18:41:04.433Z,1750272064.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253857
2025-06-18T18:41:04.434Z,1750272064.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.039574 m,
nav range: 101.460228 m,
bearing: 126.736915 deg,
approach rate: -0.610418 m/s,
LOS rate: 0.012533 deg/s,
cmd heading: 109.172753 deg,
new cmd heading: 109.185777 deg.
2025-06-18T18:41:04.435Z,1750272064.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.905651 target range: 104.039574 and range: 105.00 m.
2025-06-18T18:41:04.686Z,1750272064.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506798
2025-06-18T18:41:04.846Z,1750272064.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.04 m.
2025-06-18T18:41:04.849Z,1750272064.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.039574 m,
nav range: 101.181862 m,
bearing: 126.748170 deg,
approach rate: -0.661504 m/s,
LOS rate: 0.026821 deg/s,
cmd heading: 109.185778 deg,
new cmd heading: 109.219638 deg.
2025-06-18T18:41:04.850Z,1750272064.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.906242 target range: 104.039574 and range: 105.00 m.
2025-06-18T18:41:04.937Z,1750272064.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758187
2025-06-18T18:41:05.190Z,1750272065.190 [DAT](INFO): DAT read: Rx Time:18:41:05.7870
2025-06-18T18:41:05.191Z,1750272065.191 [DAT](INFO): Rx dataTimestamp_ set to:1750272065.190155
2025-06-18T18:41:05.191Z,1750272065.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012111
2025-06-18T18:41:05.287Z,1750272065.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.04 m.
2025-06-18T18:41:05.294Z,1750272065.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.039574 m,
nav range: 100.911095 m,
bearing: 126.763008 deg,
approach rate: -0.615264 m/s,
LOS rate: 0.033806 deg/s,
cmd heading: 109.219636 deg,
new cmd heading: 109.264268 deg.
2025-06-18T18:41:05.295Z,1750272065.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.907021 target range: 104.039574 and range: 105.00 m.
2025-06-18T18:41:05.441Z,1750272065.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261711
2025-06-18T18:41:05.699Z,1750272065.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516510
2025-06-18T18:41:05.733Z,1750272065.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:05.735Z,1750272065.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.04 m.
2025-06-18T18:41:05.742Z,1750272065.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.039574 m,
nav range: 100.661560 m,
bearing: 126.776753 deg,
approach rate: -0.555997 m/s,
LOS rate: 0.030702 deg/s,
cmd heading: 109.264271 deg,
new cmd heading: 109.305609 deg.
2025-06-18T18:41:05.743Z,1750272065.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.907743 target range: 104.039574 and range: 105.00 m.
2025-06-18T18:41:05.951Z,1750272065.951 [DAT](INFO): DAT read: 18:41:05.7870 LVL= 25520, 32753, 27218, 32755, AGC= 70, IDX= 406,-0.08, 2.526, 0.964, 2.000, 1.865, PHS= 0.749,-0.854, 0.131, RAW= 127.6, -0.4, CAL= 133.9, -8.9, ROT= 16.1, 8.9
2025-06-18T18:41:05.952Z,1750272065.952 [DAT](INFO): got valid direction response:
18:41:05.7870 LVL= 25520, 32753, 27218, 32755, AGC= 70, IDX= 406,-0.08, 2.526, 0.964, 2.000, 1.865, PHS= 0.749,-0.854, 0.131, RAW= 127.6, -0.4, CAL= 133.9, -8.9, ROT= 16.1, 8.9
2025-06-18T18:41:05.953Z,1750272065.953 [DAT](INFO): DAT read: Bearing 16.1, 8.9 (Local)
2025-06-18T18:41:05.954Z,1750272065.954 [DAT](INFO): Local bearing/azimuth received:
Bearing 16.1, 8.9 (Local)
2025-06-18T18:41:05.955Z,1750272065.955 [DAT](INFO): DAT read: Range 10 to 50 : 102.6 m (Round-trip 136.9 ms) speed 0.7 m/s
2025-06-18T18:41:05.957Z,1750272065.957 [DAT](INFO): DAT read: user:1402>
2025-06-18T18:41:05.958Z,1750272065.958 [DAT](INFO): DAT read: Tx time:18:41:06.8959
2025-06-18T18:41:05.958Z,1750272065.958 [DAT](INFO): Ping request sent.
2025-06-18T18:41:05.958Z,1750272065.958 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:05.959Z,1750272065.959 [DAT](INFO): DAT read: TxSync time:18:41:06.8952
2025-06-18T18:41:05.959Z,1750272065.959 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:05.960Z,1750272065.960 [DAT](INFO): direction in FSK: [0.949211,0.273976,-0.154710]
2025-06-18T18:41:05.960Z,1750272065.960 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:05.961Z,1750272065.961 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:05.966Z,1750272065.966 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:05.967Z,1750272065.967 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:06.139Z,1750272066.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 102.599998 m,
deltaT: 3.779398 s,
deltaX: -2.400002 m,
approachRate: -0.635022 m/s,
rangeRepo size: 4
2025-06-18T18:41:06.145Z,1750272066.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 101.661552 m,
bearing: 131.172364 deg,
lat: 36.905878 deg,
lon: -122.115755 deg,
deltaT: 3.779398 s,
deltaX: -2.378021 m,
approachRate: -0.629206 m/s,
posRepo size: 4
2025-06-18T18:41:06.146Z,1750272066.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m.
2025-06-18T18:41:06.153Z,1750272066.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.661552 m,
nav range: 99.327271 m,
bearing: 128.711177 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.030702 deg/s,
cmd heading: 109.305607 deg,
new cmd heading: 109.342698 deg.
2025-06-18T18:41:06.154Z,1750272066.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.908390 target range: 101.661552 and range: 102.60 m.
2025-06-18T18:41:06.436Z,1750272066.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m.
2025-06-18T18:41:06.439Z,1750272066.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.661552 m,
nav range: 99.130493 m,
bearing: 128.734152 deg,
approach rate: -0.660721 m/s,
LOS rate: 0.077294 deg/s,
cmd heading: 109.342695 deg,
new cmd heading: 109.411755 deg.
2025-06-18T18:41:06.440Z,1750272066.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.909595 target range: 101.661552 and range: 102.60 m.
2025-06-18T18:41:06.887Z,1750272066.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m.
2025-06-18T18:41:06.899Z,1750272066.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.661552 m,
nav range: 98.864967 m,
bearing: 128.772613 deg,
approach rate: -0.589438 m/s,
LOS rate: 0.085609 deg/s,
cmd heading: 109.411755 deg,
new cmd heading: 109.527448 deg.
2025-06-18T18:41:06.904Z,1750272066.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.911615 target range: 101.661552 and range: 102.60 m.
2025-06-18T18:41:07.248Z,1750272067.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m.
2025-06-18T18:41:07.251Z,1750272067.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.661552 m,
nav range: 98.621002 m,
bearing: 128.810915 deg,
approach rate: -0.673862 m/s,
LOS rate: 0.106057 deg/s,
cmd heading: 109.527445 deg,
new cmd heading: 109.642635 deg.
2025-06-18T18:41:07.252Z,1750272067.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.913625 target range: 101.661552 and range: 102.60 m.
2025-06-18T18:41:07.688Z,1750272067.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m.
2025-06-18T18:41:07.706Z,1750272067.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.661552 m,
nav range: 98.372185 m,
bearing: 128.853152 deg,
approach rate: -0.574037 m/s,
LOS rate: 0.097690 deg/s,
cmd heading: 109.642636 deg,
new cmd heading: 109.769667 deg.
2025-06-18T18:41:07.717Z,1750272067.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.915842 target range: 101.661552 and range: 102.60 m.
2025-06-18T18:41:08.071Z,1750272068.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:08.073Z,1750272068.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m.
2025-06-18T18:41:08.081Z,1750272068.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.661552 m,
nav range: 98.106247 m,
bearing: 128.903446 deg,
approach rate: -0.679663 m/s,
LOS rate: 0.128887 deg/s,
cmd heading: 109.769671 deg,
new cmd heading: 109.920963 deg.
2025-06-18T18:41:08.082Z,1750272068.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.918483 target range: 101.661552 and range: 102.60 m.
2025-06-18T18:41:08.213Z,1750272068.213 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:08.213Z,1750272068.213 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:08.213Z,1750272068.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:08.465Z,1750272068.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506848
2025-06-18T18:41:08.467Z,1750272068.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m.
2025-06-18T18:41:08.475Z,1750272068.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.661552 m,
nav range: 97.859604 m,
bearing: 128.950350 deg,
approach rate: -0.625942 m/s,
LOS rate: 0.119333 deg/s,
cmd heading: 109.920966 deg,
new cmd heading: 110.062031 deg.
2025-06-18T18:41:08.476Z,1750272068.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.920945 target range: 101.661552 and range: 102.60 m.
2025-06-18T18:41:08.720Z,1750272068.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762004
2025-06-18T18:41:08.918Z,1750272068.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m.
2025-06-18T18:41:08.925Z,1750272068.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.661552 m,
nav range: 97.595734 m,
bearing: 129.009813 deg,
approach rate: -0.585681 m/s,
LOS rate: 0.132340 deg/s,
cmd heading: 110.062030 deg,
new cmd heading: 110.240902 deg.
2025-06-18T18:41:08.926Z,1750272068.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.924067 target range: 101.661552 and range: 102.60 m.
2025-06-18T18:41:08.969Z,1750272068.969 [DAT](INFO): DAT read: Rx Time:18:41:09.4338
2025-06-18T18:41:08.969Z,1750272068.969 [DAT](INFO): Rx dataTimestamp_ set to:1750272068.969219
2025-06-18T18:41:08.970Z,1750272068.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012046
2025-06-18T18:41:09.221Z,1750272069.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262752
2025-06-18T18:41:09.266Z,1750272069.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m.
2025-06-18T18:41:09.269Z,1750272069.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.661552 m,
nav range: 97.367851 m,
bearing: 129.063355 deg,
approach rate: -0.653585 m/s,
LOS rate: 0.153922 deg/s,
cmd heading: 110.240899 deg,
new cmd heading: 110.401900 deg.
2025-06-18T18:41:09.270Z,1750272069.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.926877 target range: 101.661552 and range: 102.60 m.
2025-06-18T18:41:09.479Z,1750272069.479 [DAT](INFO): DAT read: 18:41:09.4338 LVL= 29296, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.20, 0.290,-1.094,-0.480,-0.327, PHS= 0.704,-0.720,-0.156, RAW= 113.2, 2.8, CAL= 123.6, -1.2, ROT= 26.4, 1.2
2025-06-18T18:41:09.480Z,1750272069.480 [DAT](INFO): got valid direction response:
18:41:09.4338 LVL= 29296, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.20, 0.290,-1.094,-0.480,-0.327, PHS= 0.704,-0.720,-0.156, RAW= 113.2, 2.8, CAL= 123.6, -1.2, ROT= 26.4, 1.2
2025-06-18T18:41:09.481Z,1750272069.481 [DAT](INFO): DAT read: Bearing 26.4, 1.2 (Local)
2025-06-18T18:41:09.481Z,1750272069.481 [DAT](INFO): Local bearing/azimuth received:
Bearing 26.4, 1.2 (Local)
2025-06-18T18:41:09.483Z,1750272069.483 [DAT](INFO): DAT read: Range 10 to 50 : 100.2 m (Round-trip 133.6 ms) speed 0.7 m/s
2025-06-18T18:41:09.484Z,1750272069.484 [DAT](INFO): DAT read: user:1403>
2025-06-18T18:41:09.485Z,1750272069.485 [DAT](INFO): DAT read: Tx time:18:41:10.5476
2025-06-18T18:41:09.485Z,1750272069.485 [DAT](INFO): Ping request sent.
2025-06-18T18:41:09.485Z,1750272069.485 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:09.485Z,1750272069.485 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:09.486Z,1750272069.486 [DAT](INFO): direction in FSK: [0.895515,0.444538,-0.020942]
2025-06-18T18:41:09.486Z,1750272069.486 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:09.487Z,1750272069.487 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:09.490Z,1750272069.490 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:09.490Z,1750272069.490 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:09.728Z,1750272069.728 [DAT](INFO): DAT read: TxSync time:18:41:10.5468
2025-06-18T18:41:09.755Z,1750272069.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 100.199997 m,
deltaT: 3.528024 s,
deltaX: -2.400002 m,
approachRate: -0.680268 m/s,
rangeRepo size: 4
2025-06-18T18:41:09.761Z,1750272069.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 99.283470 m,
bearing: 132.834919 deg,
lat: 36.905878 deg,
lon: -122.115755 deg,
deltaT: 3.528024 s,
deltaX: -2.378082 m,
approachRate: -0.674055 m/s,
posRepo size: 4
2025-06-18T18:41:09.762Z,1750272069.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.28 m.
2025-06-18T18:41:09.772Z,1750272069.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.283470 m,
nav range: 97.111870 m,
bearing: 129.125734 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.153922 deg/s,
cmd heading: 110.401900 deg,
new cmd heading: 110.627003 deg.
2025-06-18T18:41:09.773Z,1750272069.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.930805 target range: 99.283470 and range: 100.20 m.
2025-06-18T18:41:10.101Z,1750272070.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:10.103Z,1750272070.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.28 m.
2025-06-18T18:41:10.105Z,1750272070.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.283470 m,
nav range: 96.852745 m,
bearing: 129.191308 deg,
approach rate: -0.742963 m/s,
LOS rate: 0.188515 deg/s,
cmd heading: 110.627003 deg,
new cmd heading: 110.824248 deg.
2025-06-18T18:41:10.106Z,1750272070.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.934248 target range: 99.283470 and range: 100.20 m.
2025-06-18T18:41:10.229Z,1750272070.229 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:10.229Z,1750272070.229 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:10.229Z,1750272070.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:10.481Z,1750272070.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995984
2025-06-18T18:41:10.486Z,1750272070.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.28 m.
2025-06-18T18:41:10.488Z,1750272070.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.283470 m,
nav range: 96.620148 m,
bearing: 129.251857 deg,
approach rate: -0.607466 m/s,
LOS rate: 0.158515 deg/s,
cmd heading: 110.824245 deg,
new cmd heading: 111.006330 deg.
2025-06-18T18:41:10.490Z,1750272070.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.937426 target range: 99.283470 and range: 100.20 m.
2025-06-18T18:41:10.735Z,1750272070.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249825
2025-06-18T18:41:10.933Z,1750272070.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.28 m.
2025-06-18T18:41:10.935Z,1750272070.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.283470 m,
nav range: 96.361679 m,
bearing: 129.319792 deg,
approach rate: -0.578124 m/s,
LOS rate: 0.152360 deg/s,
cmd heading: 111.006331 deg,
new cmd heading: 111.210682 deg.
2025-06-18T18:41:10.940Z,1750272070.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.940993 target range: 99.283470 and range: 100.20 m.
2025-06-18T18:41:10.985Z,1750272070.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499985
2025-06-18T18:41:11.239Z,1750272071.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753751
2025-06-18T18:41:11.288Z,1750272071.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.28 m.
2025-06-18T18:41:11.290Z,1750272071.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.283470 m,
nav range: 96.140221 m,
bearing: 129.378828 deg,
approach rate: -0.645687 m/s,
LOS rate: 0.172521 deg/s,
cmd heading: 111.210684 deg,
new cmd heading: 111.388197 deg.
2025-06-18T18:41:11.291Z,1750272071.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.944091 target range: 99.283470 and range: 100.20 m.
2025-06-18T18:41:11.489Z,1750272071.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003814
2025-06-18T18:41:11.745Z,1750272071.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259057
2025-06-18T18:41:11.793Z,1750272071.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.28 m.
2025-06-18T18:41:11.795Z,1750272071.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.283470 m,
nav range: 95.832474 m,
bearing: 129.461445 deg,
approach rate: -0.594851 m/s,
LOS rate: 0.160207 deg/s,
cmd heading: 111.388200 deg,
new cmd heading: 111.636848 deg.
2025-06-18T18:41:11.801Z,1750272071.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.948431 target range: 99.283470 and range: 100.20 m.
2025-06-18T18:41:11.994Z,1750272071.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508751
2025-06-18T18:41:12.245Z,1750272072.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759888
2025-06-18T18:41:12.266Z,1750272072.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:12.269Z,1750272072.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.28 m.
2025-06-18T18:41:12.271Z,1750272072.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.283470 m,
nav range: 95.536270 m,
bearing: 129.540098 deg,
approach rate: -0.622693 m/s,
LOS rate: 0.165860 deg/s,
cmd heading: 111.636847 deg,
new cmd heading: 111.873534 deg.
2025-06-18T18:41:12.272Z,1750272072.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.952561 target range: 99.283470 and range: 100.20 m.
2025-06-18T18:41:12.497Z,1750272072.497 [DAT](INFO): DAT read: Rx Time:18:41:13.0824
2025-06-18T18:41:12.498Z,1750272072.498 [DAT](INFO): Rx dataTimestamp_ set to:1750272072.497297
2025-06-18T18:41:12.498Z,1750272072.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013202
2025-06-18T18:41:12.665Z,1750272072.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.28 m.
2025-06-18T18:41:12.668Z,1750272072.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.283470 m,
nav range: 95.304596 m,
bearing: 129.601239 deg,
approach rate: -0.584039 m/s,
LOS rate: 0.154509 deg/s,
cmd heading: 111.873533 deg,
new cmd heading: 112.057402 deg.
2025-06-18T18:41:12.669Z,1750272072.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.955771 target range: 99.283470 and range: 100.20 m.
2025-06-18T18:41:12.752Z,1750272072.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266270
2025-06-18T18:41:13.037Z,1750272073.037 [DAT](INFO): DAT read: 18:41:13.0824 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.01, 2.844, 1.492, 2.092, 2.286, PHS= 0.646,-0.747,-0.197, RAW= 113.1, 5.0, CAL= 123.5, 1.7, ROT= 26.5, -1.7
2025-06-18T18:41:13.038Z,1750272073.038 [DAT](INFO): got valid direction response:
18:41:13.0824 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.01, 2.844, 1.492, 2.092, 2.286, PHS= 0.646,-0.747,-0.197, RAW= 113.1, 5.0, CAL= 123.5, 1.7, ROT= 26.5, -1.7
2025-06-18T18:41:13.039Z,1750272073.039 [DAT](INFO): DAT read: Bearing 26.5, -1.7 (Local)
2025-06-18T18:41:13.039Z,1750272073.039 [DAT](INFO): Local bearing/azimuth received:
Bearing 26.5, -1.7 (Local)
2025-06-18T18:41:13.045Z,1750272073.045 [DAT](INFO): DAT read: Range 10 to 50 : 97.9 m (Round-trip 130.6 ms) speed 0.8 m/s
2025-06-18T18:41:13.046Z,1750272073.046 [DAT](INFO): DAT read: user:1404>
2025-06-18T18:41:13.047Z,1750272073.047 [DAT](INFO): DAT read: Tx time:18:41:14.1960
2025-06-18T18:41:13.047Z,1750272073.047 [DAT](INFO): Ping request sent.
2025-06-18T18:41:13.047Z,1750272073.047 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:13.047Z,1750272073.047 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:13.052Z,1750272073.052 [DAT](INFO): direction in FSK: [0.894540,0.446001,0.029666]
2025-06-18T18:41:13.053Z,1750272073.053 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:13.053Z,1750272073.053 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:13.089Z,1750272073.089 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:13.090Z,1750272073.090 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:13.229Z,1750272073.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 97.900002 m,
deltaT: 3.529500 s,
deltaX: -2.299995 m,
approachRate: -0.651649 m/s,
rangeRepo size: 4
2025-06-18T18:41:13.231Z,1750272073.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 97.004684 m,
bearing: 132.402800 deg,
lat: 36.905844 deg,
lon: -122.115770 deg,
deltaT: 3.529500 s,
deltaX: -2.278786 m,
approachRate: -0.645640 m/s,
posRepo size: 4
2025-06-18T18:41:13.231Z,1750272073.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:13.243Z,1750272073.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 96.483284 m,
bearing: 131.932277 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.154509 deg/s,
cmd heading: 112.057402 deg,
new cmd heading: 112.315502 deg.
2025-06-18T18:41:13.248Z,1750272073.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.960275 target range: 97.004684 and range: 97.90 m.
2025-06-18T18:41:13.253Z,1750272073.253 [DAT](INFO): DAT read: TxSync time:18:41:14.1953
2025-06-18T18:41:13.526Z,1750272073.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:13.529Z,1750272073.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 96.277809 m,
bearing: 131.990123 deg,
approach rate: -0.675815 m/s,
LOS rate: 0.190665 deg/s,
cmd heading: 112.315501 deg,
new cmd heading: 112.489410 deg.
2025-06-18T18:41:13.530Z,1750272073.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.963311 target range: 97.004684 and range: 97.90 m.
2025-06-18T18:41:13.974Z,1750272073.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:13.981Z,1750272073.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 96.000504 m,
bearing: 132.067605 deg,
approach rate: -0.619019 m/s,
LOS rate: 0.173459 deg/s,
cmd heading: 112.489411 deg,
new cmd heading: 112.722526 deg.
2025-06-18T18:41:13.982Z,1750272073.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.967379 target range: 97.004684 and range: 97.90 m.
2025-06-18T18:41:14.328Z,1750272074.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:14.330Z,1750272074.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:14.333Z,1750272074.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 95.770088 m,
bearing: 132.130446 deg,
approach rate: -0.647191 m/s,
LOS rate: 0.176934 deg/s,
cmd heading: 112.722526 deg,
new cmd heading: 112.911503 deg.
2025-06-18T18:41:14.334Z,1750272074.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.970677 target range: 97.004684 and range: 97.90 m.
2025-06-18T18:41:14.512Z,1750272074.512 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:14.513Z,1750272074.513 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:14.513Z,1750272074.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:14.742Z,1750272074.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:14.745Z,1750272074.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 95.508362 m,
bearing: 132.199939 deg,
approach rate: -0.635431 m/s,
LOS rate: 0.169180 deg/s,
cmd heading: 112.911503 deg,
new cmd heading: 113.120552 deg.
2025-06-18T18:41:14.746Z,1750272074.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.974326 target range: 97.004684 and range: 97.90 m.
2025-06-18T18:41:14.766Z,1750272074.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718567
2025-06-18T18:41:15.017Z,1750272075.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969846
2025-06-18T18:41:15.186Z,1750272075.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:15.189Z,1750272075.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 95.222008 m,
bearing: 132.273241 deg,
approach rate: -0.644415 m/s,
LOS rate: 0.165457 deg/s,
cmd heading: 113.120555 deg,
new cmd heading: 113.341122 deg.
2025-06-18T18:41:15.190Z,1750272075.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.978176 target range: 97.004684 and range: 97.90 m.
2025-06-18T18:41:15.269Z,1750272075.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221977
2025-06-18T18:41:15.521Z,1750272075.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473665
2025-06-18T18:41:15.569Z,1750272075.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:15.572Z,1750272075.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 94.969727 m,
bearing: 132.338222 deg,
approach rate: -0.659348 m/s,
LOS rate: 0.170281 deg/s,
cmd heading: 113.341122 deg,
new cmd heading: 113.536581 deg.
2025-06-18T18:41:15.575Z,1750272075.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.981587 target range: 97.004684 and range: 97.90 m.
2025-06-18T18:41:15.776Z,1750272075.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728233
2025-06-18T18:41:15.986Z,1750272075.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:15.989Z,1750272075.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 94.694359 m,
bearing: 132.406929 deg,
approach rate: -0.660980 m/s,
LOS rate: 0.165402 deg/s,
cmd heading: 113.536582 deg,
new cmd heading: 113.743303 deg.
2025-06-18T18:41:15.990Z,1750272075.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.985195 target range: 97.004684 and range: 97.90 m.
2025-06-18T18:41:16.025Z,1750272076.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977859
2025-06-18T18:41:16.277Z,1750272076.277 [DAT](INFO): DAT read: Rx Time:18:41:16.7277
2025-06-18T18:41:16.277Z,1750272076.277 [DAT](INFO): Rx dataTimestamp_ set to:1750272076.277150
2025-06-18T18:41:16.278Z,1750272076.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230961
2025-06-18T18:41:16.361Z,1750272076.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:16.372Z,1750272076.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:16.375Z,1750272076.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 94.447609 m,
bearing: 132.462956 deg,
approach rate: -0.653431 m/s,
LOS rate: 0.148755 deg/s,
cmd heading: 113.743304 deg,
new cmd heading: 113.911823 deg.
2025-06-18T18:41:16.380Z,1750272076.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.988136 target range: 97.004684 and range: 97.90 m.
2025-06-18T18:41:16.529Z,1750272076.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481843
2025-06-18T18:41:16.690Z,1750272076.690 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:41:16.750Z,1750272076.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:16.769Z,1750272076.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 94.182442 m,
bearing: 132.522136 deg,
approach rate: -0.685064 m/s,
LOS rate: 0.153322 deg/s,
cmd heading: 113.911825 deg,
new cmd heading: 114.089863 deg.
2025-06-18T18:41:16.770Z,1750272076.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.991244 target range: 97.004684 and range: 97.90 m.
2025-06-18T18:41:16.784Z,1750272076.784 [DAT](INFO): DAT read: Range 10 to 50 : 95.6 m (Round-trip 127.5 ms) speed 0.6 m/s
2025-06-18T18:41:16.785Z,1750272076.785 [DAT](INFO): DAT read: user:1405>
2025-06-18T18:41:16.786Z,1750272076.786 [DAT](INFO): DAT read: Tx time:18:41:17.8460
2025-06-18T18:41:16.786Z,1750272076.786 [DAT](INFO): Ping request sent.
2025-06-18T18:41:16.786Z,1750272076.786 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:16.786Z,1750272076.786 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:41:16.786Z,1750272076.786 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:16.787Z,1750272076.787 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:17.033Z,1750272077.033 [DAT](INFO): DAT read: TxSync time:18:41:17.8453
2025-06-18T18:41:17.203Z,1750272077.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 95.599998 m,
deltaT: 3.780270 s,
deltaX: -2.300003 m,
approachRate: -0.608423 m/s,
rangeRepo size: 4
2025-06-18T18:41:17.208Z,1750272077.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:17.210Z,1750272077.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 93.884079 m,
bearing: 132.582969 deg,
approach rate: -0.659921 m/s,
LOS rate: 0.134980 deg/s,
cmd heading: 114.089861 deg,
new cmd heading: 114.272941 deg.
2025-06-18T18:41:17.216Z,1750272077.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.994439 target range: 97.004684 and range: 95.60 m.
2025-06-18T18:41:17.563Z,1750272077.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:17.566Z,1750272077.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 93.625877 m,
bearing: 132.634449 deg,
approach rate: -0.716369 m/s,
LOS rate: 0.143222 deg/s,
cmd heading: 114.272938 deg,
new cmd heading: 114.427803 deg.
2025-06-18T18:41:17.567Z,1750272077.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.997142 target range: 97.004684 and range: 95.60 m.
2025-06-18T18:41:17.692Z,1750272077.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:41:17.986Z,1750272077.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:18.009Z,1750272078.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 93.333717 m,
bearing: 132.689704 deg,
approach rate: -0.689789 m/s,
LOS rate: 0.130866 deg/s,
cmd heading: 114.427805 deg,
new cmd heading: 114.594089 deg.
2025-06-18T18:41:18.010Z,1750272078.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.000044 target range: 97.004684 and range: 95.60 m.
2025-06-18T18:41:18.386Z,1750272078.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:18.389Z,1750272078.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:18.391Z,1750272078.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 93.057030 m,
bearing: 132.742369 deg,
approach rate: -0.687652 m/s,
LOS rate: 0.131276 deg/s,
cmd heading: 114.594086 deg,
new cmd heading: 114.752549 deg.
2025-06-18T18:41:18.393Z,1750272078.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.002810 target range: 97.004684 and range: 95.60 m.
2025-06-18T18:41:18.545Z,1750272078.545 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:18.545Z,1750272078.545 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:18.545Z,1750272078.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:18.771Z,1750272078.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:18.774Z,1750272078.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 92.792274 m,
bearing: 132.792198 deg,
approach rate: -0.692033 m/s,
LOS rate: 0.130617 deg/s,
cmd heading: 114.752547 deg,
new cmd heading: 114.902459 deg.
2025-06-18T18:41:18.775Z,1750272078.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.005426 target range: 97.004684 and range: 95.60 m.
2025-06-18T18:41:18.806Z,1750272078.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019614
2025-06-18T18:41:19.057Z,1750272079.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270936
2025-06-18T18:41:19.208Z,1750272079.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:19.211Z,1750272079.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 92.491463 m,
bearing: 132.852241 deg,
approach rate: -0.689279 m/s,
LOS rate: 0.138032 deg/s,
cmd heading: 114.902456 deg,
new cmd heading: 115.083172 deg.
2025-06-18T18:41:19.212Z,1750272079.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.008580 target range: 97.004684 and range: 95.60 m.
2025-06-18T18:41:19.310Z,1750272079.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523926
2025-06-18T18:41:19.561Z,1750272079.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774957
2025-06-18T18:41:19.591Z,1750272079.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:19.594Z,1750272079.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 92.227310 m,
bearing: 132.904932 deg,
approach rate: -0.688365 m/s,
LOS rate: 0.137702 deg/s,
cmd heading: 115.083169 deg,
new cmd heading: 115.241693 deg.
2025-06-18T18:41:19.595Z,1750272079.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.011347 target range: 97.004684 and range: 95.60 m.
2025-06-18T18:41:19.813Z,1750272079.813 [DAT](INFO): DAT read: Rx Time:18:41:20.3744
2025-06-18T18:41:19.814Z,1750272079.814 [DAT](INFO): Rx dataTimestamp_ set to:1750272079.813569
2025-06-18T18:41:19.814Z,1750272079.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028446
2025-06-18T18:41:20.008Z,1750272080.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.00 m.
2025-06-18T18:41:20.011Z,1750272080.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.004684 m,
nav range: 91.943985 m,
bearing: 132.963258 deg,
approach rate: -0.679546 m/s,
LOS rate: 0.140323 deg/s,
cmd heading: 115.241697 deg,
new cmd heading: 115.417213 deg.
2025-06-18T18:41:20.012Z,1750272080.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.014410 target range: 97.004684 and range: 95.60 m.
2025-06-18T18:41:20.066Z,1750272080.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280051
2025-06-18T18:41:20.326Z,1750272080.326 [DAT](INFO): DAT read: 18:41:20.3744 LVL= 26720, 32753, 31330, 32755, AGC= 67, IDX= 403,-0.40,-2.522, 2.323,-3.084, 3.075, PHS= 0.774,-0.706, 0.121, RAW= 123.9, -3.0, CAL= 129.6, -13.2, ROT= 20.4, 13.2
2025-06-18T18:41:20.327Z,1750272080.327 [DAT](INFO): got valid direction response:
18:41:20.3744 LVL= 26720, 32753, 31330, 32755, AGC= 67, IDX= 403,-0.40,-2.522, 2.323,-3.084, 3.075, PHS= 0.774,-0.706, 0.121, RAW= 123.9, -3.0, CAL= 129.6, -13.2, ROT= 20.4, 13.2
2025-06-18T18:41:20.328Z,1750272080.328 [DAT](INFO): DAT read: Bearing 20.4, 13.2 (Local)
2025-06-18T18:41:20.329Z,1750272080.329 [DAT](INFO): Local bearing/azimuth received:
Bearing 20.4, 13.2 (Local)
2025-06-18T18:41:20.330Z,1750272080.330 [DAT](INFO): DAT read: Range 10 to 50 : 93.0 m (Round-trip 124.1 ms) speed 0.7 m/s
2025-06-18T18:41:20.331Z,1750272080.331 [DAT](INFO): DAT read: user:1406>
2025-06-18T18:41:20.332Z,1750272080.332 [DAT](INFO): DAT read: Tx time:18:41:21.4961
2025-06-18T18:41:20.332Z,1750272080.332 [DAT](INFO): Ping request sent.
2025-06-18T18:41:20.332Z,1750272080.332 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:20.333Z,1750272080.333 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:20.334Z,1750272080.334 [DAT](INFO): direction in FSK: [0.912518,0.339362,-0.228351]
2025-06-18T18:41:20.334Z,1750272080.334 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:20.334Z,1750272080.334 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:20.337Z,1750272080.337 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:20.337Z,1750272080.337 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:20.470Z,1750272080.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 93.000000 m,
deltaT: 3.534530 s,
deltaX: -2.599998 m,
approachRate: -0.735600 m/s,
rangeRepo size: 4
2025-06-18T18:41:20.477Z,1750272080.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 92.149765 m,
bearing: 134.468556 deg,
lat: 36.905838 deg,
lon: -122.115783 deg,
deltaT: 7.314800 s,
deltaX: -4.854919 m,
approachRate: -0.663712 m/s,
posRepo size: 4
2025-06-18T18:41:20.477Z,1750272080.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.15 m.
2025-06-18T18:41:20.485Z,1750272080.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.149765 m,
nav range: 91.280846 m,
bearing: 133.849128 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.140323 deg/s,
cmd heading: 115.417220 deg,
new cmd heading: 115.611129 deg.
2025-06-18T18:41:20.486Z,1750272080.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.017795 target range: 92.149765 and range: 93.00 m.
2025-06-18T18:41:20.569Z,1750272080.569 [DAT](INFO): DAT read: TxSync time:18:41:21.4954
2025-06-18T18:41:20.786Z,1750272080.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:20.788Z,1750272080.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.15 m.
2025-06-18T18:41:20.791Z,1750272080.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.149765 m,
nav range: 91.045700 m,
bearing: 133.899889 deg,
approach rate: -0.737083 m/s,
LOS rate: 0.159526 deg/s,
cmd heading: 115.611129 deg,
new cmd heading: 115.763806 deg.
2025-06-18T18:41:20.792Z,1750272080.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.020460 target range: 92.149765 and range: 93.00 m.
2025-06-18T18:41:20.821Z,1750272080.821 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:20.821Z,1750272080.821 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:20.821Z,1750272080.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:21.073Z,1750272081.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.740568
2025-06-18T18:41:21.234Z,1750272081.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.15 m.
2025-06-18T18:41:21.241Z,1750272081.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.149765 m,
nav range: 90.748581 m,
bearing: 133.965413 deg,
approach rate: -0.666180 m/s,
LOS rate: 0.147394 deg/s,
cmd heading: 115.763811 deg,
new cmd heading: 115.961025 deg.
2025-06-18T18:41:21.242Z,1750272081.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.023902 target range: 92.149765 and range: 93.00 m.
2025-06-18T18:41:21.325Z,1750272081.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992828
2025-06-18T18:41:21.577Z,1750272081.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244749
2025-06-18T18:41:21.598Z,1750272081.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.15 m.
2025-06-18T18:41:21.601Z,1750272081.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.149765 m,
nav range: 90.496452 m,
bearing: 134.020883 deg,
approach rate: -0.693152 m/s,
LOS rate: 0.152925 deg/s,
cmd heading: 115.961026 deg,
new cmd heading: 116.127900 deg.
2025-06-18T18:41:21.602Z,1750272081.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.026814 target range: 92.149765 and range: 93.00 m.
2025-06-18T18:41:21.830Z,1750272081.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497742
2025-06-18T18:41:22.025Z,1750272082.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.15 m.
2025-06-18T18:41:22.028Z,1750272082.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.149765 m,
nav range: 90.208130 m,
bearing: 134.088945 deg,
approach rate: -0.674475 m/s,
LOS rate: 0.159726 deg/s,
cmd heading: 116.127901 deg,
new cmd heading: 116.332737 deg.
2025-06-18T18:41:22.029Z,1750272082.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.030389 target range: 92.149765 and range: 93.00 m.
2025-06-18T18:41:22.082Z,1750272082.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749441
2025-06-18T18:41:22.333Z,1750272082.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000789
2025-06-18T18:41:22.420Z,1750272082.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.15 m.
2025-06-18T18:41:22.423Z,1750272082.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.149765 m,
nav range: 89.952744 m,
bearing: 134.149338 deg,
approach rate: -0.647489 m/s,
LOS rate: 0.153552 deg/s,
cmd heading: 116.332738 deg,
new cmd heading: 116.514433 deg.
2025-06-18T18:41:22.428Z,1750272082.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.033561 target range: 92.149765 and range: 93.00 m.
2025-06-18T18:41:22.585Z,1750272082.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252577
2025-06-18T18:41:22.809Z,1750272082.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:22.811Z,1750272082.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.15 m.
2025-06-18T18:41:22.814Z,1750272082.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.149765 m,
nav range: 89.677879 m,
bearing: 134.214163 deg,
approach rate: -0.702738 m/s,
LOS rate: 0.166243 deg/s,
cmd heading: 116.514435 deg,
new cmd heading: 116.709504 deg.
2025-06-18T18:41:22.815Z,1750272082.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.036965 target range: 92.149765 and range: 93.00 m.
2025-06-18T18:41:22.837Z,1750272082.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504576
2025-06-18T18:41:23.089Z,1750272083.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756515
2025-06-18T18:41:23.262Z,1750272083.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.15 m.
2025-06-18T18:41:23.265Z,1750272083.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.149765 m,
nav range: 89.372787 m,
bearing: 134.289801 deg,
approach rate: -0.676426 m/s,
LOS rate: 0.168271 deg/s,
cmd heading: 116.709505 deg,
new cmd heading: 116.937192 deg.
2025-06-18T18:41:23.266Z,1750272083.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.040939 target range: 92.149765 and range: 93.00 m.
2025-06-18T18:41:23.341Z,1750272083.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008722
2025-06-18T18:41:23.593Z,1750272083.593 [DAT](INFO): DAT read: Rx Time:18:41:24.0209
2025-06-18T18:41:23.593Z,1750272083.593 [DAT](INFO): Rx dataTimestamp_ set to:1750272083.593070
2025-06-18T18:41:23.594Z,1750272083.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261652
2025-06-18T18:41:23.636Z,1750272083.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.15 m.
2025-06-18T18:41:23.638Z,1750272083.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.149765 m,
nav range: 89.127686 m,
bearing: 134.350298 deg,
approach rate: -0.656399 m/s,
LOS rate: 0.162462 deg/s,
cmd heading: 116.937196 deg,
new cmd heading: 117.119188 deg.
2025-06-18T18:41:23.639Z,1750272083.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.044116 target range: 92.149765 and range: 93.00 m.
2025-06-18T18:41:23.846Z,1750272083.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513875
2025-06-18T18:41:24.069Z,1750272084.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.15 m.
2025-06-18T18:41:24.072Z,1750272084.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.149765 m,
nav range: 88.824242 m,
bearing: 134.429191 deg,
approach rate: -0.699381 m/s,
LOS rate: 0.182453 deg/s,
cmd heading: 117.119193 deg,
new cmd heading: 117.356677 deg.
2025-06-18T18:41:24.073Z,1750272084.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048260 target range: 92.149765 and range: 93.00 m.
2025-06-18T18:41:24.103Z,1750272084.103 [DAT](INFO): DAT read: 18:41:24.0209 LVL= 30624, 32753, 31362, 32755, AGC= 65, IDX= 400, 0.14, 2.158, 0.694, 1.625, 1.443, PHS= 0.803,-0.703, 0.179, RAW= 125.7, -4.3, CAL= 130.6, -15.6, ROT= 19.4, 15.6
2025-06-18T18:41:24.104Z,1750272084.104 [DAT](INFO): got valid direction response:
18:41:24.0209 LVL= 30624, 32753, 31362, 32755, AGC= 65, IDX= 400, 0.14, 2.158, 0.694, 1.625, 1.443, PHS= 0.803,-0.703, 0.179, RAW= 125.7, -4.3, CAL= 130.6, -15.6, ROT= 19.4, 15.6
2025-06-18T18:41:24.105Z,1750272084.105 [DAT](INFO): DAT read: Bearing 19.4, 15.6 (Local)
2025-06-18T18:41:24.105Z,1750272084.105 [DAT](INFO): Local bearing/azimuth received:
Bearing 19.4, 15.6 (Local)
2025-06-18T18:41:24.107Z,1750272084.107 [DAT](INFO): DAT read: Range 10 to 50 : 90.5 m (Round-trip 120.7 ms) speed 0.5 m/s
2025-06-18T18:41:24.108Z,1750272084.108 [DAT](INFO): DAT read: user:1407>
2025-06-18T18:41:24.108Z,1750272084.108 [DAT](INFO): DAT read: Tx time:18:41:25.1461
2025-06-18T18:41:24.109Z,1750272084.109 [DAT](INFO): Ping request sent.
2025-06-18T18:41:24.109Z,1750272084.109 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:24.109Z,1750272084.109 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:24.110Z,1750272084.110 [DAT](INFO): direction in FSK: [0.908477,0.319925,-0.268920]
2025-06-18T18:41:24.110Z,1750272084.110 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:24.111Z,1750272084.111 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:24.118Z,1750272084.118 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:24.118Z,1750272084.118 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:24.350Z,1750272084.350 [DAT](INFO): DAT read: TxSync time:18:41:25.1454
2025-06-18T18:41:24.458Z,1750272084.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 90.500000 m,
deltaT: 3.779778 s,
deltaX: -2.500000 m,
approachRate: -0.661415 m/s,
rangeRepo size: 4
2025-06-18T18:41:24.477Z,1750272084.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 89.673042 m,
bearing: 135.544593 deg,
lat: 36.905826 deg,
lon: -122.115785 deg,
deltaT: 3.779778 s,
deltaX: -2.476723 m,
approachRate: -0.655256 m/s,
posRepo size: 4
2025-06-18T18:41:24.477Z,1750272084.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.67 m.
2025-06-18T18:41:24.485Z,1750272084.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.673042 m,
nav range: 89.314102 m,
bearing: 135.129404 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.182453 deg/s,
cmd heading: 117.356679 deg,
new cmd heading: 117.569384 deg.
2025-06-18T18:41:24.486Z,1750272084.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051973 target range: 89.673042 and range: 90.50 m.
2025-06-18T18:41:24.988Z,1750272084.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:24.990Z,1750272084.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.67 m.
2025-06-18T18:41:24.997Z,1750272084.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.673042 m,
nav range: 88.994087 m,
bearing: 135.212681 deg,
approach rate: -0.601074 m/s,
LOS rate: 0.156979 deg/s,
cmd heading: 117.569385 deg,
new cmd heading: 117.820113 deg.
2025-06-18T18:41:24.998Z,1750272084.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056349 target range: 89.673042 and range: 90.50 m.
2025-06-18T18:41:25.104Z,1750272085.104 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:25.105Z,1750272085.105 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:25.105Z,1750272085.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:25.359Z,1750272085.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249700
2025-06-18T18:41:25.466Z,1750272085.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.67 m.
2025-06-18T18:41:25.480Z,1750272085.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.673042 m,
nav range: 88.624908 m,
bearing: 135.307323 deg,
approach rate: -0.775757 m/s,
LOS rate: 0.199699 deg/s,
cmd heading: 117.820107 deg,
new cmd heading: 118.105213 deg.
2025-06-18T18:41:25.483Z,1750272085.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.061325 target range: 89.673042 and range: 90.50 m.
2025-06-18T18:41:25.609Z,1750272085.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500425
2025-06-18T18:41:25.831Z,1750272085.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.67 m.
2025-06-18T18:41:25.833Z,1750272085.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.673042 m,
nav range: 88.366714 m,
bearing: 135.373263 deg,
approach rate: -0.708297 m/s,
LOS rate: 0.181420 deg/s,
cmd heading: 118.105213 deg,
new cmd heading: 118.303611 deg.
2025-06-18T18:41:25.834Z,1750272085.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064788 target range: 89.673042 and range: 90.50 m.
2025-06-18T18:41:25.880Z,1750272085.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770844
2025-06-18T18:41:26.129Z,1750272086.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019938
2025-06-18T18:41:26.282Z,1750272086.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.67 m.
2025-06-18T18:41:26.285Z,1750272086.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.673042 m,
nav range: 88.052040 m,
bearing: 135.456853 deg,
approach rate: -0.697228 m/s,
LOS rate: 0.185873 deg/s,
cmd heading: 118.303617 deg,
new cmd heading: 118.555281 deg.
2025-06-18T18:41:26.286Z,1750272086.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.069180 target range: 89.673042 and range: 90.50 m.
2025-06-18T18:41:26.381Z,1750272086.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272094
2025-06-18T18:41:26.633Z,1750272086.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524006
2025-06-18T18:41:26.672Z,1750272086.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.67 m.
2025-06-18T18:41:26.675Z,1750272086.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.673042 m,
nav range: 87.780220 m,
bearing: 135.529583 deg,
approach rate: -0.697041 m/s,
LOS rate: 0.187081 deg/s,
cmd heading: 118.555282 deg,
new cmd heading: 118.774145 deg.
2025-06-18T18:41:26.676Z,1750272086.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073000 target range: 89.673042 and range: 90.50 m.
2025-06-18T18:41:26.885Z,1750272086.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776217
2025-06-18T18:41:27.095Z,1750272087.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:27.101Z,1750272087.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.67 m.
2025-06-18T18:41:27.108Z,1750272087.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.673042 m,
nav range: 87.485916 m,
bearing: 135.606040 deg,
approach rate: -0.685352 m/s,
LOS rate: 0.178647 deg/s,
cmd heading: 118.774148 deg,
new cmd heading: 119.004291 deg.
2025-06-18T18:41:27.109Z,1750272087.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077017 target range: 89.673042 and range: 90.50 m.
2025-06-18T18:41:27.137Z,1750272087.137 [DAT](INFO): DAT read: Rx Time:18:41:27.6675
2025-06-18T18:41:27.137Z,1750272087.137 [DAT](INFO): Rx dataTimestamp_ set to:1750272087.137180
2025-06-18T18:41:27.138Z,1750272087.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029172
2025-06-18T18:41:27.389Z,1750272087.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279924
2025-06-18T18:41:27.512Z,1750272087.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.67 m.
2025-06-18T18:41:27.515Z,1750272087.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.673042 m,
nav range: 87.203537 m,
bearing: 135.679284 deg,
approach rate: -0.715467 m/s,
LOS rate: 0.186180 deg/s,
cmd heading: 119.004285 deg,
new cmd heading: 119.224727 deg.
2025-06-18T18:41:27.520Z,1750272087.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.080864 target range: 89.673042 and range: 90.50 m.
2025-06-18T18:41:27.651Z,1750272087.651 [DAT](INFO): DAT read: 18:41:27.6675 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.07, 0.110,-1.347,-0.382,-0.540, PHS= 0.738,-0.760, 0.155, RAW= 127.3, -2.1, CAL= 133.2, -11.6, ROT= 16.8, 11.6
2025-06-18T18:41:27.653Z,1750272087.653 [DAT](INFO): got valid direction response:
18:41:27.6675 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.07, 0.110,-1.347,-0.382,-0.540, PHS= 0.738,-0.760, 0.155, RAW= 127.3, -2.1, CAL= 133.2, -11.6, ROT= 16.8, 11.6
2025-06-18T18:41:27.654Z,1750272087.654 [DAT](INFO): DAT read: Bearing 16.8, 11.6 (Local)
2025-06-18T18:41:27.654Z,1750272087.654 [DAT](INFO): Local bearing/azimuth received:
Bearing 16.8, 11.6 (Local)
2025-06-18T18:41:27.656Z,1750272087.656 [DAT](INFO): DAT read: Range 10 to 50 : 87.9 m (Round-trip 117.2 ms) speed 0.9 m/s
2025-06-18T18:41:27.657Z,1750272087.657 [DAT](INFO): DAT read: user:1408>
2025-06-18T18:41:27.658Z,1750272087.658 [DAT](INFO): DAT read: Tx time:18:41:28.7961
2025-06-18T18:41:27.658Z,1750272087.658 [DAT](INFO): Ping request sent.
2025-06-18T18:41:27.658Z,1750272087.658 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:27.659Z,1750272087.659 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:27.659Z,1750272087.659 [DAT](INFO): direction in FSK: [0.937766,0.283128,-0.201078]
2025-06-18T18:41:27.663Z,1750272087.663 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:27.665Z,1750272087.665 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:27.668Z,1750272087.668 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:27.669Z,1750272087.669 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:27.893Z,1750272087.893 [DAT](INFO): DAT read: TxSync time:18:41:28.7954
2025-06-18T18:41:27.914Z,1750272087.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 87.900002 m,
deltaT: 3.544357 s,
deltaX: -2.599998 m,
approachRate: -0.733560 m/s,
rangeRepo size: 4
2025-06-18T18:41:27.921Z,1750272087.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 87.096954 m,
bearing: 134.543229 deg,
lat: 36.905826 deg,
lon: -122.115785 deg,
deltaT: 3.544357 s,
deltaX: -2.576088 m,
approachRate: -0.726814 m/s,
posRepo size: 4
2025-06-18T18:41:27.922Z,1750272087.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m.
2025-06-18T18:41:27.931Z,1750272087.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.096954 m,
nav range: 86.922935 m,
bearing: 135.751968 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.186180 deg/s,
cmd heading: 119.224722 deg,
new cmd heading: 119.458035 deg.
2025-06-18T18:41:27.937Z,1750272087.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.084936 target range: 87.096954 and range: 87.90 m.
2025-06-18T18:41:28.295Z,1750272088.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m.
2025-06-18T18:41:28.298Z,1750272088.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.096954 m,
nav range: 86.641373 m,
bearing: 135.820293 deg,
approach rate: -0.739055 m/s,
LOS rate: 0.179924 deg/s,
cmd heading: 119.458028 deg,
new cmd heading: 119.663668 deg.
2025-06-18T18:41:28.299Z,1750272088.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.088525 target range: 87.096954 and range: 87.90 m.
2025-06-18T18:41:28.683Z,1750272088.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m.
2025-06-18T18:41:28.686Z,1750272088.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.096954 m,
nav range: 86.366287 m,
bearing: 135.886630 deg,
approach rate: -0.708720 m/s,
LOS rate: 0.171452 deg/s,
cmd heading: 119.663671 deg,
new cmd heading: 119.863314 deg.
2025-06-18T18:41:28.687Z,1750272088.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092010 target range: 87.096954 and range: 87.90 m.
2025-06-18T18:41:29.113Z,1750272089.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:29.115Z,1750272089.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m.
2025-06-18T18:41:29.122Z,1750272089.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.096954 m,
nav range: 86.068642 m,
bearing: 135.953123 deg,
approach rate: -0.688610 m/s,
LOS rate: 0.154367 deg/s,
cmd heading: 119.863318 deg,
new cmd heading: 120.063488 deg.
2025-06-18T18:41:29.123Z,1750272089.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.095503 target range: 87.096954 and range: 87.90 m.
2025-06-18T18:41:29.153Z,1750272089.153 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:29.153Z,1750272089.153 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:29.153Z,1750272089.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:29.405Z,1750272089.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746582
2025-06-18T18:41:29.495Z,1750272089.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m.
2025-06-18T18:41:29.498Z,1750272089.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.096954 m,
nav range: 85.792877 m,
bearing: 136.014884 deg,
approach rate: -0.731917 m/s,
LOS rate: 0.164450 deg/s,
cmd heading: 120.063483 deg,
new cmd heading: 120.249362 deg.
2025-06-18T18:41:29.499Z,1750272089.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098747 target range: 87.096954 and range: 87.90 m.
2025-06-18T18:41:29.657Z,1750272089.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998512
2025-06-18T18:41:29.909Z,1750272089.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250628
2025-06-18T18:41:29.912Z,1750272089.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m.
2025-06-18T18:41:29.915Z,1750272089.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.096954 m,
nav range: 85.493187 m,
bearing: 136.081960 deg,
approach rate: -0.720084 m/s,
LOS rate: 0.161731 deg/s,
cmd heading: 120.249360 deg,
new cmd heading: 120.451291 deg.
2025-06-18T18:41:29.928Z,1750272089.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102272 target range: 87.096954 and range: 87.90 m.
2025-06-18T18:41:30.162Z,1750272090.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503774
2025-06-18T18:41:30.309Z,1750272090.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m.
2025-06-18T18:41:30.312Z,1750272090.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.096954 m,
nav range: 85.184479 m,
bearing: 136.144582 deg,
approach rate: -0.769383 m/s,
LOS rate: 0.156637 deg/s,
cmd heading: 120.451288 deg,
new cmd heading: 120.639834 deg.
2025-06-18T18:41:30.313Z,1750272090.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105562 target range: 87.096954 and range: 87.90 m.
2025-06-18T18:41:30.414Z,1750272090.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755045
2025-06-18T18:41:30.665Z,1750272090.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006616
2025-06-18T18:41:30.700Z,1750272090.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m.
2025-06-18T18:41:30.702Z,1750272090.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.096954 m,
nav range: 84.896667 m,
bearing: 136.202614 deg,
approach rate: -0.737463 m/s,
LOS rate: 0.149199 deg/s,
cmd heading: 120.639828 deg,
new cmd heading: 120.814512 deg.
2025-06-18T18:41:30.703Z,1750272090.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108611 target range: 87.096954 and range: 87.90 m.
2025-06-18T18:41:30.917Z,1750272090.917 [DAT](INFO): DAT read: Rx Time:18:41:31.3141
2025-06-18T18:41:30.917Z,1750272090.917 [DAT](INFO): Rx dataTimestamp_ set to:1750272090.917092
2025-06-18T18:41:30.918Z,1750272090.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259665
2025-06-18T18:41:31.161Z,1750272091.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:31.163Z,1750272091.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m.
2025-06-18T18:41:31.169Z,1750272091.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510729
2025-06-18T18:41:31.176Z,1750272091.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.096954 m,
nav range: 84.572136 m,
bearing: 136.264881 deg,
approach rate: -0.699725 m/s,
LOS rate: 0.134770 deg/s,
cmd heading: 120.814517 deg,
new cmd heading: 121.002035 deg.
2025-06-18T18:41:31.177Z,1750272091.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.111884 target range: 87.096954 and range: 87.90 m.
2025-06-18T18:41:31.431Z,1750272091.431 [DAT](INFO): DAT read: 18:41:31.3141 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.25,-2.366, 2.356,-2.863,-3.074, PHS= 0.796,-0.806, 0.208, RAW= 128.7, -2.9, CAL= 134.3, -12.9, ROT= 15.7, 12.9
2025-06-18T18:41:31.433Z,1750272091.433 [DAT](INFO): got valid direction response:
18:41:31.3141 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.25,-2.366, 2.356,-2.863,-3.074, PHS= 0.796,-0.806, 0.208, RAW= 128.7, -2.9, CAL= 134.3, -12.9, ROT= 15.7, 12.9
2025-06-18T18:41:31.434Z,1750272091.434 [DAT](INFO): DAT read: Bearing 15.7, 12.9 (Local)
2025-06-18T18:41:31.434Z,1750272091.434 [DAT](INFO): Local bearing/azimuth received:
Bearing 15.7, 12.9 (Local)
2025-06-18T18:41:31.436Z,1750272091.436 [DAT](INFO): DAT read: Range 10 to 50 : 85.2 m (Round-trip 113.7 ms) speed 0.6 m/s
2025-06-18T18:41:31.437Z,1750272091.437 [DAT](INFO): DAT read: user:1409>
2025-06-18T18:41:31.438Z,1750272091.438 [DAT](INFO): DAT read: Tx time:18:41:32.3962
2025-06-18T18:41:31.438Z,1750272091.438 [DAT](INFO): Ping request sent.
2025-06-18T18:41:31.438Z,1750272091.438 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:31.439Z,1750272091.439 [DAT](INFO): DAT read: TxSync time:18:41:32.3955
2025-06-18T18:41:31.439Z,1750272091.439 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:31.441Z,1750272091.441 [DAT](INFO): direction in FSK: [0.938395,0.263771,-0.223250]
2025-06-18T18:41:31.441Z,1750272091.441 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:31.441Z,1750272091.441 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:31.444Z,1750272091.444 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:31.444Z,1750272091.444 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:31.573Z,1750272091.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 85.199997 m,
deltaT: 3.779775 s,
deltaX: -2.700005 m,
approachRate: -0.714329 m/s,
rangeRepo size: 4
2025-06-18T18:41:31.575Z,1750272091.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 84.421921 m,
bearing: 135.632129 deg,
lat: 36.905835 deg,
lon: -122.115783 deg,
deltaT: 3.779775 s,
deltaX: -2.675034 m,
approachRate: -0.707723 m/s,
posRepo size: 4
2025-06-18T18:41:31.580Z,1750272091.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.42 m.
2025-06-18T18:41:31.582Z,1750272091.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.421921 m,
nav range: 83.687561 m,
bearing: 135.788725 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.134770 deg/s,
cmd heading: 121.002033 deg,
new cmd heading: 121.165564 deg.
2025-06-18T18:41:31.583Z,1750272091.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.114738 target range: 84.421921 and range: 85.20 m.
2025-06-18T18:41:31.945Z,1750272091.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.42 m.
2025-06-18T18:41:31.969Z,1750272091.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.421921 m,
nav range: 83.396858 m,
bearing: 135.841395 deg,
approach rate: -0.770270 m/s,
LOS rate: 0.140044 deg/s,
cmd heading: 121.165561 deg,
new cmd heading: 121.324120 deg.
2025-06-18T18:41:31.971Z,1750272091.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.117505 target range: 84.421921 and range: 85.20 m.
2025-06-18T18:41:32.366Z,1750272092.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.42 m.
2025-06-18T18:41:32.368Z,1750272092.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.421921 m,
nav range: 83.084587 m,
bearing: 135.893814 deg,
approach rate: -0.742935 m/s,
LOS rate: 0.125182 deg/s,
cmd heading: 121.324117 deg,
new cmd heading: 121.481967 deg.
2025-06-18T18:41:32.369Z,1750272092.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.120260 target range: 84.421921 and range: 85.20 m.
2025-06-18T18:41:32.765Z,1750272092.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.42 m.
2025-06-18T18:41:32.767Z,1750272092.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.421921 m,
nav range: 82.787582 m,
bearing: 135.942847 deg,
approach rate: -0.744128 m/s,
LOS rate: 0.123289 deg/s,
cmd heading: 121.481963 deg,
new cmd heading: 121.629588 deg.
2025-06-18T18:41:32.789Z,1750272092.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.122837 target range: 84.421921 and range: 85.20 m.
2025-06-18T18:41:33.279Z,1750272093.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:33.282Z,1750272093.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.42 m.
2025-06-18T18:41:33.285Z,1750272093.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.421921 m,
nav range: 82.401207 m,
bearing: 136.004630 deg,
approach rate: -0.747045 m/s,
LOS rate: 0.120016 deg/s,
cmd heading: 121.629591 deg,
new cmd heading: 121.815809 deg.
2025-06-18T18:41:33.286Z,1750272093.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.126087 target range: 84.421921 and range: 85.20 m.
2025-06-18T18:41:33.500Z,1750272093.500 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:33.501Z,1750272093.501 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:33.501Z,1750272093.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:33.656Z,1750272093.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.42 m.
2025-06-18T18:41:33.659Z,1750272093.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.421921 m,
nav range: 82.121002 m,
bearing: 136.049810 deg,
approach rate: -0.749285 m/s,
LOS rate: 0.121228 deg/s,
cmd heading: 121.815809 deg,
new cmd heading: 121.951813 deg.
2025-06-18T18:41:33.660Z,1750272093.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.128461 target range: 84.421921 and range: 85.20 m.
2025-06-18T18:41:33.753Z,1750272093.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.314537
2025-06-18T18:41:34.006Z,1750272094.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.567887
2025-06-18T18:41:34.150Z,1750272094.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.42 m.
2025-06-18T18:41:34.153Z,1750272094.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.421921 m,
nav range: 81.761101 m,
bearing: 136.109013 deg,
approach rate: -0.728644 m/s,
LOS rate: 0.120387 deg/s,
cmd heading: 121.951812 deg,
new cmd heading: 122.130200 deg.
2025-06-18T18:41:34.154Z,1750272094.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.131574 target range: 84.421921 and range: 85.20 m.
2025-06-18T18:41:34.257Z,1750272094.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.818520
2025-06-18T18:41:34.510Z,1750272094.510 [DAT](INFO): DAT read: Rx Time:18:41:34.9105
2025-06-18T18:41:34.511Z,1750272094.511 [DAT](INFO): Rx dataTimestamp_ set to:1750272094.510849
2025-06-18T18:41:34.513Z,1750272094.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.074323
2025-06-18T18:41:34.581Z,1750272094.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.42 m.
2025-06-18T18:41:34.583Z,1750272094.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.421921 m,
nav range: 81.445824 m,
bearing: 136.160726 deg,
approach rate: -0.731763 m/s,
LOS rate: 0.120492 deg/s,
cmd heading: 122.130203 deg,
new cmd heading: 122.285943 deg.
2025-06-18T18:41:34.592Z,1750272094.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.134292 target range: 84.421921 and range: 85.20 m.
2025-06-18T18:41:34.761Z,1750272094.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.322495
2025-06-18T18:41:34.959Z,1750272094.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.42 m.
2025-06-18T18:41:34.962Z,1750272094.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.421921 m,
nav range: 81.169090 m,
bearing: 136.206241 deg,
approach rate: -0.730794 m/s,
LOS rate: 0.120605 deg/s,
cmd heading: 122.285945 deg,
new cmd heading: 122.422954 deg.
2025-06-18T18:41:34.963Z,1750272094.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.136684 target range: 84.421921 and range: 85.20 m.
2025-06-18T18:41:35.023Z,1750272095.023 [DAT](INFO): DAT read: 18:41:34.9105 LVL= 25360, 32753, 27874, 32755, AGC= 69, IDX= 403, 0.47, 1.735, 0.289, 1.283, 1.116, PHS= 0.706,-0.780, 0.163, RAW= 128.8, -1.4, CAL= 134.8, -10.6, ROT= 15.2, 10.6
2025-06-18T18:41:35.027Z,1750272095.027 [DAT](INFO): got valid direction response:
18:41:34.9105 LVL= 25360, 32753, 27874, 32755, AGC= 69, IDX= 403, 0.47, 1.735, 0.289, 1.283, 1.116, PHS= 0.706,-0.780, 0.163, RAW= 128.8, -1.4, CAL= 134.8, -10.6, ROT= 15.2, 10.6
2025-06-18T18:41:35.029Z,1750272095.029 [DAT](INFO): DAT read: Bearing 15.2, 10.6 (Local)
2025-06-18T18:41:35.030Z,1750272095.030 [DAT](INFO): Local bearing/azimuth received:
Bearing 15.2, 10.6 (Local)
2025-06-18T18:41:35.033Z,1750272095.033 [DAT](INFO): DAT read: Range 10 to 50 : 82.5 m (Round-trip 110.1 ms) speed 0.9 m/s
2025-06-18T18:41:35.034Z,1750272095.034 [DAT](INFO): DAT read: user:1410>
2025-06-18T18:41:35.035Z,1750272095.035 [DAT](INFO): DAT read: Tx time:18:41:35.9962
2025-06-18T18:41:35.035Z,1750272095.035 [DAT](INFO): Ping request sent.
2025-06-18T18:41:35.035Z,1750272095.035 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:35.044Z,1750272095.044 [DAT](INFO): DAT read: TxSync time:18:41:35.9955
2025-06-18T18:41:35.045Z,1750272095.045 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:35.046Z,1750272095.046 [DAT](INFO): direction in FSK: [0.948549,0.257715,-0.183951]
2025-06-18T18:41:35.047Z,1750272095.047 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:35.070Z,1750272095.070 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:35.112Z,1750272095.112 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:35.113Z,1750272095.113 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:35.415Z,1750272095.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 82.500000 m,
deltaT: 3.592402 s,
deltaX: -2.699997 m,
approachRate: -0.751585 m/s,
rangeRepo size: 4
2025-06-18T18:41:35.438Z,1750272095.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 81.746590 m,
bearing: 136.827873 deg,
lat: 36.905827 deg,
lon: -122.115785 deg,
deltaT: 3.592402 s,
deltaX: -2.675331 m,
approachRate: -0.744719 m/s,
posRepo size: 4
2025-06-18T18:41:35.438Z,1750272095.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.75 m.
2025-06-18T18:41:35.441Z,1750272095.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.746590 m,
nav range: 81.410698 m,
bearing: 136.796334 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.120605 deg/s,
cmd heading: 122.422958 deg,
new cmd heading: 122.587712 deg.
2025-06-18T18:41:35.442Z,1750272095.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.139559 target range: 81.746590 and range: 82.50 m.
2025-06-18T18:41:35.770Z,1750272095.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:35.772Z,1750272095.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.75 m.
2025-06-18T18:41:35.775Z,1750272095.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.746590 m,
nav range: 81.151398 m,
bearing: 136.841996 deg,
approach rate: -0.725744 m/s,
LOS rate: 0.128211 deg/s,
cmd heading: 122.587716 deg,
new cmd heading: 122.725141 deg.
2025-06-18T18:41:35.776Z,1750272095.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.141958 target range: 81.746590 and range: 82.50 m.
2025-06-18T18:41:36.021Z,1750272096.021 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:36.021Z,1750272096.021 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:36.022Z,1750272096.022 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:36.192Z,1750272096.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.75 m.
2025-06-18T18:41:36.195Z,1750272096.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.746590 m,
nav range: 80.846718 m,
bearing: 136.898963 deg,
approach rate: -0.725570 m/s,
LOS rate: 0.136173 deg/s,
cmd heading: 122.725140 deg,
new cmd heading: 122.896684 deg.
2025-06-18T18:41:36.196Z,1750272096.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.144952 target range: 81.746590 and range: 82.50 m.
2025-06-18T18:41:36.274Z,1750272096.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238456
2025-06-18T18:41:36.525Z,1750272096.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489379
2025-06-18T18:41:36.582Z,1750272096.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.75 m.
2025-06-18T18:41:36.585Z,1750272096.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.746590 m,
nav range: 80.564163 m,
bearing: 136.951947 deg,
approach rate: -0.723616 m/s,
LOS rate: 0.136165 deg/s,
cmd heading: 122.896687 deg,
new cmd heading: 123.056194 deg.
2025-06-18T18:41:36.586Z,1750272096.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.147736 target range: 81.746590 and range: 82.50 m.
2025-06-18T18:41:36.778Z,1750272096.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742215
2025-06-18T18:41:36.999Z,1750272096.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.75 m.
2025-06-18T18:41:37.002Z,1750272097.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.746590 m,
nav range: 80.262367 m,
bearing: 137.008967 deg,
approach rate: -0.723476 m/s,
LOS rate: 0.137205 deg/s,
cmd heading: 123.056199 deg,
new cmd heading: 123.227902 deg.
2025-06-18T18:41:37.003Z,1750272097.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.150733 target range: 81.746590 and range: 82.50 m.
2025-06-18T18:41:37.029Z,1750272097.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993423
2025-06-18T18:41:37.281Z,1750272097.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245379
2025-06-18T18:41:37.430Z,1750272097.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.75 m.
2025-06-18T18:41:37.437Z,1750272097.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.746590 m,
nav range: 79.962242 m,
bearing: 137.070518 deg,
approach rate: -0.696742 m/s,
LOS rate: 0.143429 deg/s,
cmd heading: 123.227896 deg,
new cmd heading: 123.413243 deg.
2025-06-18T18:41:37.438Z,1750272097.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.153967 target range: 81.746590 and range: 82.50 m.
2025-06-18T18:41:37.533Z,1750272097.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497370
2025-06-18T18:41:37.785Z,1750272097.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749570
2025-06-18T18:41:37.787Z,1750272097.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:37.790Z,1750272097.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.75 m.
2025-06-18T18:41:37.794Z,1750272097.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.746590 m,
nav range: 79.686211 m,
bearing: 137.127002 deg,
approach rate: -0.768280 m/s,
LOS rate: 0.157757 deg/s,
cmd heading: 123.413240 deg,
new cmd heading: 123.583278 deg.
2025-06-18T18:41:37.795Z,1750272097.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156935 target range: 81.746590 and range: 82.50 m.
2025-06-18T18:41:38.037Z,1750272098.037 [DAT](INFO): DAT read: Rx Time:18:41:38.5069
2025-06-18T18:41:38.037Z,1750272098.037 [DAT](INFO): Rx dataTimestamp_ set to:1750272098.037068
2025-06-18T18:41:38.038Z,1750272098.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002535
2025-06-18T18:41:38.228Z,1750272098.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.75 m.
2025-06-18T18:41:38.230Z,1750272098.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.746590 m,
nav range: 79.368484 m,
bearing: 137.196952 deg,
approach rate: -0.725338 m/s,
LOS rate: 0.160327 deg/s,
cmd heading: 123.583285 deg,
new cmd heading: 123.793971 deg.
2025-06-18T18:41:38.231Z,1750272098.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.160612 target range: 81.746590 and range: 82.50 m.
2025-06-18T18:41:38.290Z,1750272098.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254991
2025-06-18T18:41:38.547Z,1750272098.547 [DAT](INFO): DAT read: 18:41:38.5069 LVL= 27168, 28513, 29074, 32755, AGC= 69, IDX= 399,-0.13, 1.232,-0.405, 0.734, 0.554, PHS= 0.766,-0.912, 0.177, RAW= 129.8, -0.4, CAL= 135.8, -9.2, ROT= 14.2, 9.2
2025-06-18T18:41:38.548Z,1750272098.548 [DAT](INFO): got valid direction response:
18:41:38.5069 LVL= 27168, 28513, 29074, 32755, AGC= 69, IDX= 399,-0.13, 1.232,-0.405, 0.734, 0.554, PHS= 0.766,-0.912, 0.177, RAW= 129.8, -0.4, CAL= 135.8, -9.2, ROT= 14.2, 9.2
2025-06-18T18:41:38.549Z,1750272098.549 [DAT](INFO): DAT read: Bearing 14.2, 9.2 (Local)
2025-06-18T18:41:38.549Z,1750272098.549 [DAT](INFO): Local bearing/azimuth received:
Bearing 14.2, 9.2 (Local)
2025-06-18T18:41:38.551Z,1750272098.551 [DAT](INFO): DAT read: Range 10 to 50 : 79.8 m (Round-trip 106.5 ms) speed 0.8 m/s
2025-06-18T18:41:38.551Z,1750272098.551 [DAT](INFO): DAT read: user:1411>
2025-06-18T18:41:38.552Z,1750272098.552 [DAT](INFO): DAT read: Tx time:18:41:39.5962
2025-06-18T18:41:38.553Z,1750272098.553 [DAT](INFO): Ping request sent.
2025-06-18T18:41:38.553Z,1750272098.553 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:38.553Z,1750272098.553 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:38.554Z,1750272098.554 [DAT](INFO): direction in FSK: [0.956975,0.242152,-0.159881]
2025-06-18T18:41:38.554Z,1750272098.554 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:38.555Z,1750272098.555 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:38.558Z,1750272098.558 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:38.558Z,1750272098.558 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:38.679Z,1750272098.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 79.800003 m,
deltaT: 3.527401 s,
deltaX: -2.699997 m,
approachRate: -0.765435 m/s,
rangeRepo size: 4
2025-06-18T18:41:38.701Z,1750272098.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 79.071388 m,
bearing: 136.814010 deg,
lat: 36.905833 deg,
lon: -122.115782 deg,
deltaT: 3.527401 s,
deltaX: -2.675201 m,
approachRate: -0.758406 m/s,
posRepo size: 4
2025-06-18T18:41:38.702Z,1750272098.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m.
2025-06-18T18:41:38.717Z,1750272098.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.071388 m,
nav range: 78.688568 m,
bearing: 136.813732 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.160327 deg/s,
cmd heading: 123.793969 deg,
new cmd heading: 124.010732 deg.
2025-06-18T18:41:38.718Z,1750272098.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.164396 target range: 79.071388 and range: 79.80 m.
2025-06-18T18:41:38.793Z,1750272098.793 [DAT](INFO): DAT read: TxSync time:18:41:39.5955
2025-06-18T18:41:39.045Z,1750272099.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m.
2025-06-18T18:41:39.052Z,1750272099.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.071388 m,
nav range: 78.426331 m,
bearing: 136.869348 deg,
approach rate: -0.725180 m/s,
LOS rate: 0.154312 deg/s,
cmd heading: 124.010731 deg,
new cmd heading: 124.178136 deg.
2025-06-18T18:41:39.053Z,1750272099.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.167317 target range: 79.071388 and range: 79.80 m.
2025-06-18T18:41:39.445Z,1750272099.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m.
2025-06-18T18:41:39.447Z,1750272099.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.071388 m,
nav range: 78.104576 m,
bearing: 136.944367 deg,
approach rate: -0.794911 m/s,
LOS rate: 0.186103 deg/s,
cmd heading: 124.178139 deg,
new cmd heading: 124.404123 deg.
2025-06-18T18:41:39.448Z,1750272099.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.171262 target range: 79.071388 and range: 79.80 m.
2025-06-18T18:41:39.827Z,1750272099.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:39.829Z,1750272099.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m.
2025-06-18T18:41:39.831Z,1750272099.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.071388 m,
nav range: 77.836372 m,
bearing: 137.005029 deg,
approach rate: -0.697991 m/s,
LOS rate: 0.158412 deg/s,
cmd heading: 124.404123 deg,
new cmd heading: 124.586733 deg.
2025-06-18T18:41:39.833Z,1750272099.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.174449 target range: 79.071388 and range: 79.80 m.
2025-06-18T18:41:40.053Z,1750272100.053 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:40.053Z,1750272100.053 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:40.053Z,1750272100.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:40.305Z,1750272100.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751958
2025-06-18T18:41:40.306Z,1750272100.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m.
2025-06-18T18:41:40.313Z,1750272100.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.071388 m,
nav range: 77.475441 m,
bearing: 137.089135 deg,
approach rate: -0.756063 m/s,
LOS rate: 0.177003 deg/s,
cmd heading: 124.586735 deg,
new cmd heading: 124.840227 deg.
2025-06-18T18:41:40.314Z,1750272100.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.178873 target range: 79.071388 and range: 79.80 m.
2025-06-18T18:41:40.557Z,1750272100.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003899
2025-06-18T18:41:40.629Z,1750272100.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m.
2025-06-18T18:41:40.632Z,1750272100.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.071388 m,
nav range: 77.230217 m,
bearing: 137.146750 deg,
approach rate: -0.760137 m/s,
LOS rate: 0.179161 deg/s,
cmd heading: 124.840231 deg,
new cmd heading: 125.013625 deg.
2025-06-18T18:41:40.633Z,1750272100.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.181899 target range: 79.071388 and range: 79.80 m.
2025-06-18T18:41:40.811Z,1750272100.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258115
2025-06-18T18:41:41.036Z,1750272101.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m.
2025-06-18T18:41:41.038Z,1750272101.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.071388 m,
nav range: 76.941513 m,
bearing: 137.213602 deg,
approach rate: -0.709899 m/s,
LOS rate: 0.165000 deg/s,
cmd heading: 125.013622 deg,
new cmd heading: 125.214929 deg.
2025-06-18T18:41:41.039Z,1750272101.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.185413 target range: 79.071388 and range: 79.80 m.
2025-06-18T18:41:41.065Z,1750272101.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511996
2025-06-18T18:41:41.317Z,1750272101.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763963
2025-06-18T18:41:41.444Z,1750272101.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m.
2025-06-18T18:41:41.447Z,1750272101.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.071388 m,
nav range: 76.633652 m,
bearing: 137.286882 deg,
approach rate: -0.753146 m/s,
LOS rate: 0.179992 deg/s,
cmd heading: 125.214935 deg,
new cmd heading: 125.435658 deg.
2025-06-18T18:41:41.448Z,1750272101.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.189265 target range: 79.071388 and range: 79.80 m.
2025-06-18T18:41:41.570Z,1750272101.570 [DAT](INFO): DAT read: Rx Time:18:41:42.1034
2025-06-18T18:41:41.570Z,1750272101.570 [DAT](INFO): Rx dataTimestamp_ set to:1750272101.570012
2025-06-18T18:41:41.571Z,1750272101.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017928
2025-06-18T18:41:41.821Z,1750272101.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268037
2025-06-18T18:41:41.846Z,1750272101.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:41.848Z,1750272101.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m.
2025-06-18T18:41:41.851Z,1750272101.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.071388 m,
nav range: 76.340340 m,
bearing: 137.356286 deg,
approach rate: -0.726972 m/s,
LOS rate: 0.172678 deg/s,
cmd heading: 125.435659 deg,
new cmd heading: 125.644670 deg.
2025-06-18T18:41:41.852Z,1750272101.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.192913 target range: 79.071388 and range: 79.80 m.
2025-06-18T18:41:42.080Z,1750272102.080 [DAT](INFO): DAT read: 18:41:42.1034 LVL= 32752, 32753, 25794, 32755, AGC= 68, IDX= 410,-0.17,-1.991, 2.718,-2.484,-2.692, PHS= 0.789,-0.826, 0.206, RAW= 129.1, -2.4, CAL= 134.8, -12.2, ROT= 15.2, 12.2
2025-06-18T18:41:42.081Z,1750272102.081 [DAT](INFO): got valid direction response:
18:41:42.1034 LVL= 32752, 32753, 25794, 32755, AGC= 68, IDX= 410,-0.17,-1.991, 2.718,-2.484,-2.692, PHS= 0.789,-0.826, 0.206, RAW= 129.1, -2.4, CAL= 134.8, -12.2, ROT= 15.2, 12.2
2025-06-18T18:41:42.082Z,1750272102.082 [DAT](INFO): DAT read: Bearing 15.2, 12.2 (Local)
2025-06-18T18:41:42.082Z,1750272102.082 [DAT](INFO): Local bearing/azimuth received:
Bearing 15.2, 12.2 (Local)
2025-06-18T18:41:42.084Z,1750272102.084 [DAT](INFO): DAT read: Range 10 to 50 : 77.1 m (Round-trip 102.9 ms) speed 0.8 m/s
2025-06-18T18:41:42.085Z,1750272102.085 [DAT](INFO): DAT read: user:1412>
2025-06-18T18:41:42.086Z,1750272102.086 [DAT](INFO): DAT read: Tx time:18:41:43.1963
2025-06-18T18:41:42.086Z,1750272102.086 [DAT](INFO): Ping request sent.
2025-06-18T18:41:42.086Z,1750272102.086 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:42.086Z,1750272102.086 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:42.087Z,1750272102.087 [DAT](INFO): direction in FSK: [0.943222,0.256268,-0.211325]
2025-06-18T18:41:42.089Z,1750272102.089 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:42.091Z,1750272102.091 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:42.095Z,1750272102.095 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:42.095Z,1750272102.095 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:42.325Z,1750272102.325 [DAT](INFO): DAT read: TxSync time:18:41:43.1956
2025-06-18T18:41:42.427Z,1750272102.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 77.099998 m,
deltaT: 3.533317 s,
deltaX: -2.700005 m,
approachRate: -0.764156 m/s,
rangeRepo size: 4
2025-06-18T18:41:42.433Z,1750272102.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 76.396027 m,
bearing: 140.093682 deg,
lat: 36.905833 deg,
lon: -122.115782 deg,
deltaT: 3.533317 s,
deltaX: -2.675362 m,
approachRate: -0.757181 m/s,
posRepo size: 4
2025-06-18T18:41:42.434Z,1750272102.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m.
2025-06-18T18:41:42.441Z,1750272102.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.396027 m,
nav range: 75.943382 m,
bearing: 137.442954 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.172678 deg/s,
cmd heading: 125.644663 deg,
new cmd heading: 125.944156 deg.
2025-06-18T18:41:42.442Z,1750272102.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.198140 target range: 76.396027 and range: 77.10 m.
2025-06-18T18:41:42.862Z,1750272102.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m.
2025-06-18T18:41:42.867Z,1750272102.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.396027 m,
nav range: 75.597992 m,
bearing: 137.515334 deg,
approach rate: -0.792969 m/s,
LOS rate: 0.166934 deg/s,
cmd heading: 125.944153 deg,
new cmd heading: 126.162285 deg.
2025-06-18T18:41:42.869Z,1750272102.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201947 target range: 76.396027 and range: 77.10 m.
2025-06-18T18:41:43.331Z,1750272103.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m.
2025-06-18T18:41:43.335Z,1750272103.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.396027 m,
nav range: 75.254738 m,
bearing: 137.582211 deg,
approach rate: -0.731124 m/s,
LOS rate: 0.143096 deg/s,
cmd heading: 126.162282 deg,
new cmd heading: 126.363826 deg.
2025-06-18T18:41:43.337Z,1750272103.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205465 target range: 76.396027 and range: 77.10 m.
2025-06-18T18:41:43.701Z,1750272103.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m.
2025-06-18T18:41:43.704Z,1750272103.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.396027 m,
nav range: 74.985794 m,
bearing: 137.634301 deg,
approach rate: -0.726869 m/s,
LOS rate: 0.141286 deg/s,
cmd heading: 126.363827 deg,
new cmd heading: 126.520656 deg.
2025-06-18T18:41:43.705Z,1750272103.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208202 target range: 76.396027 and range: 77.10 m.
2025-06-18T18:41:44.103Z,1750272104.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:44.105Z,1750272104.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m.
2025-06-18T18:41:44.108Z,1750272104.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.396027 m,
nav range: 74.692551 m,
bearing: 137.691293 deg,
approach rate: -0.725584 m/s,
LOS rate: 0.141572 deg/s,
cmd heading: 126.520662 deg,
new cmd heading: 126.692309 deg.
2025-06-18T18:41:44.109Z,1750272104.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.211198 target range: 76.396027 and range: 77.10 m.
2025-06-18T18:41:44.341Z,1750272104.341 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:44.341Z,1750272104.341 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:44.342Z,1750272104.342 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:44.539Z,1750272104.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m.
2025-06-18T18:41:44.546Z,1750272104.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.396027 m,
nav range: 74.386787 m,
bearing: 137.748776 deg,
approach rate: -0.705104 m/s,
LOS rate: 0.133103 deg/s,
cmd heading: 126.692305 deg,
new cmd heading: 126.865461 deg.
2025-06-18T18:41:44.547Z,1750272104.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214220 target range: 76.396027 and range: 77.10 m.
2025-06-18T18:41:44.594Z,1750272104.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508156
2025-06-18T18:41:44.845Z,1750272104.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758816
2025-06-18T18:41:44.915Z,1750272104.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m.
2025-06-18T18:41:44.918Z,1750272104.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.396027 m,
nav range: 74.099762 m,
bearing: 137.802711 deg,
approach rate: -0.763090 m/s,
LOS rate: 0.143948 deg/s,
cmd heading: 126.865464 deg,
new cmd heading: 127.027896 deg.
2025-06-18T18:41:44.919Z,1750272104.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217055 target range: 76.396027 and range: 77.10 m.
2025-06-18T18:41:45.097Z,1750272105.097 [DAT](INFO): DAT read: Rx Time:18:41:45.6999
2025-06-18T18:41:45.097Z,1750272105.097 [DAT](INFO): Rx dataTimestamp_ set to:1750272105.097008
2025-06-18T18:41:45.098Z,1750272105.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011912
2025-06-18T18:41:45.327Z,1750272105.327 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-32768-32768,V
2025-06-18T18:41:45.343Z,1750272105.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m.
2025-06-18T18:41:45.346Z,1750272105.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.396027 m,
nav range: 73.786613 m,
bearing: 137.861517 deg,
approach rate: -0.731619 m/s,
LOS rate: 0.137974 deg/s,
cmd heading: 127.027899 deg,
new cmd heading: 127.205066 deg.
2025-06-18T18:41:45.347Z,1750272105.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.220147 target range: 76.396027 and range: 77.10 m.
2025-06-18T18:41:45.349Z,1750272105.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263053
2025-06-18T18:41:45.604Z,1750272105.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517200
2025-06-18T18:41:45.736Z,1750272105.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m.
2025-06-18T18:41:45.739Z,1750272105.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.396027 m,
nav range: 73.513580 m,
bearing: 137.912747 deg,
approach rate: -0.702145 m/s,
LOS rate: 0.132235 deg/s,
cmd heading: 127.205061 deg,
new cmd heading: 127.359322 deg.
2025-06-18T18:41:45.746Z,1750272105.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.222840 target range: 76.396027 and range: 77.10 m.
2025-06-18T18:41:45.861Z,1750272105.861 [DAT](INFO): DAT read: 18:41:45.6999 LVL= 21040, 32753, 24866, 32755, AGC= 70, IDX= 406,-0.05, 1.865, 0.239, 1.340, 1.163, PHS= 0.789,-0.877, 0.174, RAW= 128.6, -1.2, CAL= 134.6, -10.3, ROT= 15.4, 10.3
2025-06-18T18:41:45.863Z,1750272105.863 [DAT](INFO): got valid direction response:
18:41:45.6999 LVL= 21040, 32753, 24866, 32755, AGC= 70, IDX= 406,-0.05, 1.865, 0.239, 1.340, 1.163, PHS= 0.789,-0.877, 0.174, RAW= 128.6, -1.2, CAL= 134.6, -10.3, ROT= 15.4, 10.3
2025-06-18T18:41:45.870Z,1750272105.870 [DAT](INFO): DAT read: Bearing 15.4, 10.3 (Local)
2025-06-18T18:41:45.871Z,1750272105.871 [DAT](INFO): Local bearing/azimuth received:
Bearing 15.4, 10.3 (Local)
2025-06-18T18:41:45.888Z,1750272105.888 [DAT](INFO): DAT read: Range 10 to 50 : 74.5 m (Round-trip 99.4 ms) speed 0.7 m/s
2025-06-18T18:41:45.889Z,1750272105.889 [DAT](INFO): DAT read: user:1413>
2025-06-18T18:41:45.890Z,1750272105.890 [DAT](INFO): DAT read: Tx time:18:41:46.7963
2025-06-18T18:41:45.891Z,1750272105.891 [DAT](INFO): Ping request sent.
2025-06-18T18:41:45.891Z,1750272105.891 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:45.891Z,1750272105.891 [DAT](INFO): DAT read: TxSync time:18:41:46.7956
2025-06-18T18:41:45.901Z,1750272105.901 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:45.902Z,1750272105.902 [DAT](INFO): direction in FSK: [0.948559,0.261277,-0.178802]
2025-06-18T18:41:45.902Z,1750272105.902 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:45.902Z,1750272105.902 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:45.917Z,1750272105.917 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:45.918Z,1750272105.918 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:46.127Z,1750272106.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 74.500000 m,
deltaT: 3.778750 s,
deltaX: -2.599998 m,
approachRate: -0.688058 m/s,
rangeRepo size: 4
2025-06-18T18:41:46.131Z,1750272106.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 73.819763 m,
bearing: 142.061175 deg,
lat: 36.905827 deg,
lon: -122.115785 deg,
deltaT: 3.778750 s,
deltaX: -2.576263 m,
approachRate: -0.681777 m/s,
posRepo size: 4
2025-06-18T18:41:46.131Z,1750272106.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.82 m.
2025-06-18T18:41:46.134Z,1750272106.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.819763 m,
nav range: 73.556206 m,
bearing: 138.483248 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.132235 deg/s,
cmd heading: 127.359327 deg,
new cmd heading: 127.515904 deg.
2025-06-18T18:41:46.135Z,1750272106.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.225572 target range: 73.819763 and range: 74.50 m.
2025-06-18T18:41:46.558Z,1750272106.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:46.581Z,1750272106.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.82 m.
2025-06-18T18:41:46.583Z,1750272106.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.819763 m,
nav range: 73.228241 m,
bearing: 138.533287 deg,
approach rate: -0.722267 m/s,
LOS rate: 0.110694 deg/s,
cmd heading: 127.515903 deg,
new cmd heading: 127.666693 deg.
2025-06-18T18:41:46.588Z,1750272106.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.228204 target range: 73.819763 and range: 74.50 m.
2025-06-18T18:41:46.609Z,1750272106.609 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:46.609Z,1750272106.609 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:46.609Z,1750272106.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:46.862Z,1750272106.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.970747
2025-06-18T18:41:46.951Z,1750272106.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.82 m.
2025-06-18T18:41:46.953Z,1750272106.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.819763 m,
nav range: 72.935036 m,
bearing: 138.575834 deg,
approach rate: -0.792466 m/s,
LOS rate: 0.115457 deg/s,
cmd heading: 127.666699 deg,
new cmd heading: 127.794854 deg.
2025-06-18T18:41:46.954Z,1750272106.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.230441 target range: 73.819763 and range: 74.50 m.
2025-06-18T18:41:47.113Z,1750272107.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221931
2025-06-18T18:41:47.365Z,1750272107.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474041
2025-06-18T18:41:47.383Z,1750272107.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.82 m.
2025-06-18T18:41:47.387Z,1750272107.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.819763 m,
nav range: 72.609047 m,
bearing: 138.622067 deg,
approach rate: -0.753190 m/s,
LOS rate: 0.107300 deg/s,
cmd heading: 127.794847 deg,
new cmd heading: 127.934169 deg.
2025-06-18T18:41:47.388Z,1750272107.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.232872 target range: 73.819763 and range: 74.50 m.
2025-06-18T18:41:47.617Z,1750272107.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726025
2025-06-18T18:41:47.746Z,1750272107.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.82 m.
2025-06-18T18:41:47.749Z,1750272107.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.819763 m,
nav range: 72.336395 m,
bearing: 138.660819 deg,
approach rate: -0.752483 m/s,
LOS rate: 0.107355 deg/s,
cmd heading: 127.934170 deg,
new cmd heading: 128.050865 deg.
2025-06-18T18:41:47.750Z,1750272107.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.234909 target range: 73.819763 and range: 74.50 m.
2025-06-18T18:41:47.832Z,1750272107.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:41:47.870Z,1750272107.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978865
2025-06-18T18:41:48.121Z,1750272108.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229931
2025-06-18T18:41:48.158Z,1750272108.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.82 m.
2025-06-18T18:41:48.165Z,1750272108.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.819763 m,
nav range: 72.037445 m,
bearing: 138.703200 deg,
approach rate: -0.724452 m/s,
LOS rate: 0.103128 deg/s,
cmd heading: 128.050870 deg,
new cmd heading: 128.178540 deg.
2025-06-18T18:41:48.166Z,1750272108.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237138 target range: 73.819763 and range: 74.50 m.
2025-06-18T18:41:48.373Z,1750272108.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482156
2025-06-18T18:41:48.568Z,1750272108.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:48.570Z,1750272108.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.82 m.
2025-06-18T18:41:48.573Z,1750272108.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.819763 m,
nav range: 71.711372 m,
bearing: 138.745795 deg,
approach rate: -0.792098 m/s,
LOS rate: 0.103941 deg/s,
cmd heading: 128.178540 deg,
new cmd heading: 128.306904 deg.
2025-06-18T18:41:48.574Z,1750272108.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239378 target range: 73.819763 and range: 74.50 m.
2025-06-18T18:41:48.625Z,1750272108.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734091
2025-06-18T18:41:48.837Z,1750272108.837 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:41:48.878Z,1750272108.878 [DAT](INFO): DAT read: Rx Time:18:41:49.2962
2025-06-18T18:41:48.879Z,1750272108.879 [DAT](INFO): Rx dataTimestamp_ set to:1750272108.878144
2025-06-18T18:41:48.879Z,1750272108.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988497
2025-06-18T18:41:48.967Z,1750272108.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.82 m.
2025-06-18T18:41:48.975Z,1750272108.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.819763 m,
nav range: 71.413910 m,
bearing: 138.784408 deg,
approach rate: -0.748667 m/s,
LOS rate: 0.097588 deg/s,
cmd heading: 128.306907 deg,
new cmd heading: 128.423229 deg.
2025-06-18T18:41:48.980Z,1750272108.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.241408 target range: 73.819763 and range: 74.50 m.
2025-06-18T18:41:49.129Z,1750272109.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238579
2025-06-18T18:41:49.387Z,1750272109.387 [DAT](INFO): DAT read: 18:41:49.2962 LVL= 24688, 32753, 24514, 32755, AGC= 71, IDX= 401, 0.12,-2.680, 2.251,-3.074, 3.022, PHS= 0.668,-0.725, 0.184, RAW= 130.0, -2.1, CAL= 135.7, -11.7, ROT= 14.3, 11.7
2025-06-18T18:41:49.388Z,1750272109.388 [DAT](INFO): got valid direction response:
18:41:49.2962 LVL= 24688, 32753, 24514, 32755, AGC= 71, IDX= 401, 0.12,-2.680, 2.251,-3.074, 3.022, PHS= 0.668,-0.725, 0.184, RAW= 130.0, -2.1, CAL= 135.7, -11.7, ROT= 14.3, 11.7
2025-06-18T18:41:49.389Z,1750272109.389 [DAT](INFO): DAT read: Bearing 14.3, 11.7 (Local)
2025-06-18T18:41:49.389Z,1750272109.389 [DAT](INFO): Local bearing/azimuth received:
Bearing 14.3, 11.7 (Local)
2025-06-18T18:41:49.391Z,1750272109.391 [DAT](INFO): DAT read: Range 10 to 50 : 71.8 m (Round-trip 95.8 ms) speed 0.5 m/s
2025-06-18T18:41:49.391Z,1750272109.391 [DAT](INFO): DAT read: user:1414>
2025-06-18T18:41:49.392Z,1750272109.392 [DAT](INFO): DAT read: Tx time:18:41:50.3963
2025-06-18T18:41:49.393Z,1750272109.393 [DAT](INFO): Ping request sent.
2025-06-18T18:41:49.393Z,1750272109.393 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:49.393Z,1750272109.393 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:49.394Z,1750272109.394 [DAT](INFO): direction in FSK: [0.948882,0.241867,-0.202787]
2025-06-18T18:41:49.394Z,1750272109.394 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:49.394Z,1750272109.394 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:49.398Z,1750272109.398 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:49.398Z,1750272109.398 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:49.482Z,1750272109.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 71.800003 m,
deltaT: 3.527976 s,
deltaX: -2.699997 m,
approachRate: -0.765310 m/s,
rangeRepo size: 4
2025-06-18T18:41:49.488Z,1750272109.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 71.144417 m,
bearing: 142.521141 deg,
lat: 36.905816 deg,
lon: -122.115816 deg,
deltaT: 3.527976 s,
deltaX: -2.675346 m,
approachRate: -0.758323 m/s,
posRepo size: 4
2025-06-18T18:41:49.489Z,1750272109.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:49.496Z,1750272109.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 70.198288 m,
bearing: 141.161537 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.097588 deg/s,
cmd heading: 128.423225 deg,
new cmd heading: 128.573738 deg.
2025-06-18T18:41:49.497Z,1750272109.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.244035 target range: 71.144417 and range: 71.80 m.
2025-06-18T18:41:49.633Z,1750272109.633 [DAT](INFO): DAT read: TxSync time:18:41:50.3956
2025-06-18T18:41:49.783Z,1750272109.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:49.786Z,1750272109.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 69.950302 m,
bearing: 141.206256 deg,
approach rate: -0.822191 m/s,
LOS rate: 0.148792 deg/s,
cmd heading: 128.573735 deg,
new cmd heading: 128.708369 deg.
2025-06-18T18:41:49.787Z,1750272109.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.246385 target range: 71.144417 and range: 71.80 m.
2025-06-18T18:41:50.178Z,1750272110.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:50.181Z,1750272110.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 69.651978 m,
bearing: 141.259453 deg,
approach rate: -0.756303 m/s,
LOS rate: 0.135442 deg/s,
cmd heading: 128.708372 deg,
new cmd heading: 128.868647 deg.
2025-06-18T18:41:50.182Z,1750272110.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249182 target range: 71.144417 and range: 71.80 m.
2025-06-18T18:41:50.582Z,1750272110.582 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061810431189,35.0, +9.9,489.5, 0
2025-06-18T18:41:50.599Z,1750272110.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:50.602Z,1750272110.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:50.604Z,1750272110.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 69.332542 m,
bearing: 141.316935 deg,
approach rate: -0.753179 m/s,
LOS rate: 0.136157 deg/s,
cmd heading: 128.868649 deg,
new cmd heading: 129.041887 deg.
2025-06-18T18:41:50.605Z,1750272110.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252206 target range: 71.144417 and range: 71.80 m.
2025-06-18T18:41:50.641Z,1750272110.641 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:50.641Z,1750272110.641 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:50.641Z,1750272110.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:50.893Z,1750272110.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500129
2025-06-18T18:41:51.053Z,1750272111.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:51.055Z,1750272111.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 68.991653 m,
bearing: 141.377009 deg,
approach rate: -0.755670 m/s,
LOS rate: 0.133829 deg/s,
cmd heading: 129.041890 deg,
new cmd heading: 129.223003 deg.
2025-06-18T18:41:51.057Z,1750272111.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255367 target range: 71.144417 and range: 71.80 m.
2025-06-18T18:41:51.146Z,1750272111.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752846
2025-06-18T18:41:51.397Z,1750272111.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004090
2025-06-18T18:41:51.500Z,1750272111.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:51.503Z,1750272111.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 68.662430 m,
bearing: 141.442983 deg,
approach rate: -0.735452 m/s,
LOS rate: 0.148086 deg/s,
cmd heading: 129.222999 deg,
new cmd heading: 129.421869 deg.
2025-06-18T18:41:51.504Z,1750272111.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.258838 target range: 71.144417 and range: 71.80 m.
2025-06-18T18:41:51.652Z,1750272111.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259205
2025-06-18T18:41:51.901Z,1750272111.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508133
2025-06-18T18:41:51.931Z,1750272111.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:51.934Z,1750272111.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 68.337852 m,
bearing: 141.507210 deg,
approach rate: -0.753886 m/s,
LOS rate: 0.149887 deg/s,
cmd heading: 129.421867 deg,
new cmd heading: 129.615462 deg.
2025-06-18T18:41:51.935Z,1750272111.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262217 target range: 71.144417 and range: 71.80 m.
2025-06-18T18:41:52.153Z,1750272112.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760715
2025-06-18T18:41:52.405Z,1750272112.405 [DAT](INFO): DAT read: Rx Time:18:41:52.8925
2025-06-18T18:41:52.405Z,1750272112.405 [DAT](INFO): Rx dataTimestamp_ set to:1750272112.405074
2025-06-18T18:41:52.406Z,1750272112.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013183
2025-06-18T18:41:52.457Z,1750272112.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:52.464Z,1750272112.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 67.974907 m,
bearing: 141.582728 deg,
approach rate: -0.689406 m/s,
LOS rate: 0.144210 deg/s,
cmd heading: 129.615462 deg,
new cmd heading: 129.843224 deg.
2025-06-18T18:41:52.465Z,1750272112.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.266192 target range: 71.144417 and range: 71.80 m.
2025-06-18T18:41:52.657Z,1750272112.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263990
2025-06-18T18:41:52.766Z,1750272112.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:52.768Z,1750272112.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:52.771Z,1750272112.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 67.723465 m,
bearing: 141.634807 deg,
approach rate: -0.809930 m/s,
LOS rate: 0.168376 deg/s,
cmd heading: 129.843221 deg,
new cmd heading: 130.000037 deg.
2025-06-18T18:41:52.772Z,1750272112.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.268929 target range: 71.144417 and range: 71.80 m.
2025-06-18T18:41:52.911Z,1750272112.911 [DAT](INFO): DAT read: Range 10 to 50 : 68.9 m (Round-trip 91.9 ms) speed 0.6 m/s
2025-06-18T18:41:52.912Z,1750272112.912 [DAT](INFO): DAT read: user:1415>
2025-06-18T18:41:52.913Z,1750272112.913 [DAT](INFO): DAT read: Tx time:18:41:53.9964
2025-06-18T18:41:52.913Z,1750272112.913 [DAT](INFO): Ping request sent.
2025-06-18T18:41:52.913Z,1750272112.913 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:52.913Z,1750272112.913 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:41:52.913Z,1750272112.913 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:52.914Z,1750272112.914 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:53.161Z,1750272113.161 [DAT](INFO): DAT read: TxSync time:18:41:53.9957
2025-06-18T18:41:53.174Z,1750272113.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 68.900002 m,
deltaT: 3.528591 s,
deltaX: -2.900002 m,
approachRate: -0.821858 m/s,
rangeRepo size: 4
2025-06-18T18:41:53.175Z,1750272113.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:53.178Z,1750272113.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 67.424904 m,
bearing: 141.696295 deg,
approach rate: -0.735698 m/s,
LOS rate: 0.152186 deg/s,
cmd heading: 130.000042 deg,
new cmd heading: 130.185322 deg.
2025-06-18T18:41:53.179Z,1750272113.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272162 target range: 71.144417 and range: 68.90 m.
2025-06-18T18:41:53.596Z,1750272113.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:53.598Z,1750272113.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 67.115730 m,
bearing: 141.766234 deg,
approach rate: -0.732687 m/s,
LOS rate: 0.166507 deg/s,
cmd heading: 130.185318 deg,
new cmd heading: 130.396101 deg.
2025-06-18T18:41:53.599Z,1750272113.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275841 target range: 71.144417 and range: 68.90 m.
2025-06-18T18:41:53.989Z,1750272113.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:53.992Z,1750272113.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 66.826942 m,
bearing: 141.831134 deg,
approach rate: -0.734069 m/s,
LOS rate: 0.165682 deg/s,
cmd heading: 130.396098 deg,
new cmd heading: 130.591638 deg.
2025-06-18T18:41:53.993Z,1750272113.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279254 target range: 71.144417 and range: 68.90 m.
2025-06-18T18:41:54.443Z,1750272114.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:54.445Z,1750272114.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 66.497826 m,
bearing: 141.912771 deg,
approach rate: -0.725555 m/s,
LOS rate: 0.180864 deg/s,
cmd heading: 130.591632 deg,
new cmd heading: 130.837754 deg.
2025-06-18T18:41:54.446Z,1750272114.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283550 target range: 71.144417 and range: 68.90 m.
2025-06-18T18:41:54.787Z,1750272114.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:54.789Z,1750272114.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:54.809Z,1750272114.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 66.246544 m,
bearing: 141.975160 deg,
approach rate: -0.725242 m/s,
LOS rate: 0.180747 deg/s,
cmd heading: 130.837751 deg,
new cmd heading: 131.025626 deg.
2025-06-18T18:41:54.810Z,1750272114.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286829 target range: 71.144417 and range: 68.90 m.
2025-06-18T18:41:54.925Z,1750272114.925 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:54.925Z,1750272114.925 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:54.925Z,1750272114.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:55.177Z,1750272115.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263838
2025-06-18T18:41:55.196Z,1750272115.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:55.198Z,1750272115.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 65.951782 m,
bearing: 142.048543 deg,
approach rate: -0.725301 m/s,
LOS rate: 0.181377 deg/s,
cmd heading: 131.025623 deg,
new cmd heading: 131.246756 deg.
2025-06-18T18:41:55.199Z,1750272115.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290688 target range: 71.144417 and range: 68.90 m.
2025-06-18T18:41:55.432Z,1750272115.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518193
2025-06-18T18:41:55.621Z,1750272115.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:55.623Z,1750272115.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 65.645531 m,
bearing: 142.130328 deg,
approach rate: -0.720075 m/s,
LOS rate: 0.193193 deg/s,
cmd heading: 131.246757 deg,
new cmd heading: 131.493253 deg.
2025-06-18T18:41:55.625Z,1750272115.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.294990 target range: 71.144417 and range: 68.90 m.
2025-06-18T18:41:55.683Z,1750272115.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769782
2025-06-18T18:41:55.934Z,1750272115.934 [DAT](INFO): DAT read: Rx Time:18:41:56.4890
2025-06-18T18:41:55.935Z,1750272115.935 [DAT](INFO): Rx dataTimestamp_ set to:1750272115.934117
2025-06-18T18:41:55.937Z,1750272115.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022489
2025-06-18T18:41:56.025Z,1750272116.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.14 m.
2025-06-18T18:41:56.027Z,1750272116.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.144417 m,
nav range: 65.355560 m,
bearing: 142.207659 deg,
approach rate: -0.719481 m/s,
LOS rate: 0.192729 deg/s,
cmd heading: 131.493258 deg,
new cmd heading: 131.726282 deg.
2025-06-18T18:41:56.029Z,1750272116.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299057 target range: 71.144417 and range: 68.90 m.
2025-06-18T18:41:56.185Z,1750272116.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271637
2025-06-18T18:41:56.443Z,1750272116.443 [DAT](INFO): DAT read: 18:41:56.4890 LVL= 19584, 28481, 19426, 32755, AGC= 68, IDX= 405, 0.13, 2.771, 1.384, 2.508, 2.210, PHS= 0.650,-0.779, 0.296, RAW= 136.2, -2.6, CAL= 141.6, -12.2, ROT= 8.4, 12.2
2025-06-18T18:41:56.445Z,1750272116.445 [DAT](INFO): got valid direction response:
18:41:56.4890 LVL= 19584, 28481, 19426, 32755, AGC= 68, IDX= 405, 0.13, 2.771, 1.384, 2.508, 2.210, PHS= 0.650,-0.779, 0.296, RAW= 136.2, -2.6, CAL= 141.6, -12.2, ROT= 8.4, 12.2
2025-06-18T18:41:56.446Z,1750272116.446 [DAT](INFO): DAT read: Bearing 8.4, 12.2 (Local)
2025-06-18T18:41:56.446Z,1750272116.446 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.4, 12.2 (Local)
2025-06-18T18:41:56.447Z,1750272116.447 [DAT](INFO): DAT read: Range 10 to 50 : 66.3 m (Round-trip 88.4 ms) speed 0.7 m/s
2025-06-18T18:41:56.448Z,1750272116.448 [DAT](INFO): DAT read: user:1416>
2025-06-18T18:41:56.449Z,1750272116.449 [DAT](INFO): DAT read: Tx time:18:41:57.5964
2025-06-18T18:41:56.449Z,1750272116.449 [DAT](INFO): Ping request sent.
2025-06-18T18:41:56.450Z,1750272116.450 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:41:56.450Z,1750272116.450 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:41:56.451Z,1750272116.451 [DAT](INFO): direction in FSK: [0.966931,0.142784,-0.211325]
2025-06-18T18:41:56.451Z,1750272116.451 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:56.451Z,1750272116.451 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:56.455Z,1750272116.455 [DAT](INFO): publishing transmit ping time
2025-06-18T18:41:56.455Z,1750272116.455 [DAT](INFO): publishing direction and range info
2025-06-18T18:41:56.574Z,1750272116.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 66.300003 m,
deltaT: 3.527478 s,
deltaX: -2.599998 m,
approachRate: -0.737070 m/s,
rangeRepo size: 4
2025-06-18T18:41:56.580Z,1750272116.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 65.694550 m,
bearing: 139.852560 deg,
lat: 36.905816 deg,
lon: -122.115816 deg,
deltaT: 7.056069 s,
deltaX: -5.449867 m,
approachRate: -0.772366 m/s,
posRepo size: 4
2025-06-18T18:41:56.581Z,1750272116.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-06-18T18:41:56.583Z,1750272116.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.694550 m,
nav range: 64.972946 m,
bearing: 142.303178 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.192729 deg/s,
cmd heading: 131.726277 deg,
new cmd heading: 132.043902 deg.
2025-06-18T18:41:56.597Z,1750272116.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304601 target range: 65.694550 and range: 66.30 m.
2025-06-18T18:41:56.689Z,1750272116.689 [DAT](INFO): DAT read: TxSync time:18:41:57.5957
2025-06-18T18:41:56.897Z,1750272116.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:56.899Z,1750272116.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-06-18T18:41:56.902Z,1750272116.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.694550 m,
nav range: 64.722038 m,
bearing: 142.365562 deg,
approach rate: -0.769489 m/s,
LOS rate: 0.192061 deg/s,
cmd heading: 132.043908 deg,
new cmd heading: 132.231784 deg.
2025-06-18T18:41:56.903Z,1750272116.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307880 target range: 65.694550 and range: 66.30 m.
2025-06-18T18:41:56.941Z,1750272116.941 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:41:56.941Z,1750272116.941 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:41:56.941Z,1750272116.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:41:57.193Z,1750272117.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743140
2025-06-18T18:41:57.286Z,1750272117.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-06-18T18:41:57.289Z,1750272117.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.694550 m,
nav range: 64.442162 m,
bearing: 142.434258 deg,
approach rate: -0.723852 m/s,
LOS rate: 0.178442 deg/s,
cmd heading: 132.231779 deg,
new cmd heading: 132.438761 deg.
2025-06-18T18:41:57.290Z,1750272117.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311492 target range: 65.694550 and range: 66.30 m.
2025-06-18T18:41:57.448Z,1750272117.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997644
2025-06-18T18:41:57.697Z,1750272117.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247251
2025-06-18T18:41:57.723Z,1750272117.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-06-18T18:41:57.726Z,1750272117.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.694550 m,
nav range: 64.126511 m,
bearing: 142.507425 deg,
approach rate: -0.721854 m/s,
LOS rate: 0.168148 deg/s,
cmd heading: 132.438761 deg,
new cmd heading: 132.659343 deg.
2025-06-18T18:41:57.727Z,1750272117.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.315342 target range: 65.694550 and range: 66.30 m.
2025-06-18T18:41:57.949Z,1750272117.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499163
2025-06-18T18:41:58.108Z,1750272118.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-06-18T18:41:58.111Z,1750272118.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.694550 m,
nav range: 63.863922 m,
bearing: 142.567120 deg,
approach rate: -0.682321 m/s,
LOS rate: 0.155750 deg/s,
cmd heading: 132.659349 deg,
new cmd heading: 132.839168 deg.
2025-06-18T18:41:58.112Z,1750272118.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.318481 target range: 65.694550 and range: 66.30 m.
2025-06-18T18:41:58.204Z,1750272118.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753440
2025-06-18T18:41:58.456Z,1750272118.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005654
2025-06-18T18:41:58.574Z,1750272118.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-06-18T18:41:58.577Z,1750272118.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.694550 m,
nav range: 63.508904 m,
bearing: 142.641096 deg,
approach rate: -0.762217 m/s,
LOS rate: 0.159713 deg/s,
cmd heading: 132.839174 deg,
new cmd heading: 133.062343 deg.
2025-06-18T18:41:58.578Z,1750272118.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.322376 target range: 65.694550 and range: 66.30 m.
2025-06-18T18:41:58.705Z,1750272118.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255268
2025-06-18T18:41:58.944Z,1750272118.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:41:58.946Z,1750272118.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-06-18T18:41:58.953Z,1750272118.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.694550 m,
nav range: 63.249222 m,
bearing: 142.695079 deg,
approach rate: -0.697816 m/s,
LOS rate: 0.145658 deg/s,
cmd heading: 133.062344 deg,
new cmd heading: 133.224957 deg.
2025-06-18T18:41:58.954Z,1750272118.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325214 target range: 65.694550 and range: 66.30 m.
2025-06-18T18:41:58.957Z,1750272118.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507383
2025-06-18T18:41:59.209Z,1750272119.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759190
2025-06-18T18:41:59.406Z,1750272119.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-06-18T18:41:59.415Z,1750272119.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.694550 m,
nav range: 62.920033 m,
bearing: 142.763329 deg,
approach rate: -0.716052 m/s,
LOS rate: 0.149235 deg/s,
cmd heading: 133.224957 deg,
new cmd heading: 133.430779 deg.
2025-06-18T18:41:59.421Z,1750272119.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328806 target range: 65.694550 and range: 66.30 m.
2025-06-18T18:41:59.465Z,1750272119.465 [DAT](INFO): DAT read: Rx Time:18:42:00.0854
2025-06-18T18:41:59.466Z,1750272119.466 [DAT](INFO): Rx dataTimestamp_ set to:1750272119.465205
2025-06-18T18:41:59.467Z,1750272119.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017591
2025-06-18T18:41:59.713Z,1750272119.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263332
2025-06-18T18:41:59.825Z,1750272119.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-06-18T18:41:59.827Z,1750272119.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.694550 m,
nav range: 62.592106 m,
bearing: 142.825820 deg,
approach rate: -0.782703 m/s,
LOS rate: 0.149936 deg/s,
cmd heading: 133.430778 deg,
new cmd heading: 133.619233 deg.
2025-06-18T18:41:59.829Z,1750272119.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332096 target range: 65.694550 and range: 66.30 m.
2025-06-18T18:41:59.968Z,1750272119.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517807
2025-06-18T18:42:00.201Z,1750272120.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.69 m.
2025-06-18T18:42:00.203Z,1750272120.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.694550 m,
nav range: 62.313877 m,
bearing: 142.877629 deg,
approach rate: -0.739901 m/s,
LOS rate: 0.138393 deg/s,
cmd heading: 133.619237 deg,
new cmd heading: 133.775358 deg.
2025-06-18T18:42:00.205Z,1750272120.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334821 target range: 65.694550 and range: 66.30 m.
2025-06-18T18:42:00.227Z,1750272120.227 [DAT](INFO): DAT read: 18:42:00.0854 LVL= 24032, 32753, 21106, 32755, AGC= 70, IDX= 400, 0.44, 0.921,-0.454, 0.714, 0.415, PHS= 0.595,-0.822, 0.296, RAW= 138.5, -1.1, CAL= 143.4, -10.2, ROT= 6.6, 10.2
2025-06-18T18:42:00.228Z,1750272120.228 [DAT](INFO): got valid direction response:
18:42:00.0854 LVL= 24032, 32753, 21106, 32755, AGC= 70, IDX= 400, 0.44, 0.921,-0.454, 0.714, 0.415, PHS= 0.595,-0.822, 0.296, RAW= 138.5, -1.1, CAL= 143.4, -10.2, ROT= 6.6, 10.2
2025-06-18T18:42:00.229Z,1750272120.229 [DAT](INFO): DAT read: Bearing 6.6, 10.2 (Local)
2025-06-18T18:42:00.229Z,1750272120.229 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.6, 10.2 (Local)
2025-06-18T18:42:00.231Z,1750272120.231 [DAT](INFO): DAT read: Range 10 to 50 : 63.6 m (Round-trip 84.8 ms) speed 0.5 m/s
2025-06-18T18:42:00.253Z,1750272120.253 [DAT](INFO): DAT read: user:1417>
2025-06-18T18:42:00.271Z,1750272120.271 [DAT](INFO): DAT read: Tx time:18:42:01.1980
2025-06-18T18:42:00.271Z,1750272120.271 [DAT](INFO): Ping request sent.
2025-06-18T18:42:00.271Z,1750272120.271 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:00.284Z,1750272120.284 [DAT](INFO): DAT read: TxSync time:18:42:01.1972
2025-06-18T18:42:00.285Z,1750272120.285 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:42:00.286Z,1750272120.286 [DAT](INFO): direction in FSK: [0.977673,0.113121,-0.177085]
2025-06-18T18:42:00.286Z,1750272120.286 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:00.286Z,1750272120.286 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:00.334Z,1750272120.334 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:00.334Z,1750272120.334 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:00.705Z,1750272120.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 63.599998 m,
deltaT: 3.782017 s,
deltaX: -2.700005 m,
approachRate: -0.713906 m/s,
rangeRepo size: 4
2025-06-18T18:42:00.707Z,1750272120.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 63.019112 m,
bearing: 139.993626 deg,
lat: 36.905816 deg,
lon: -122.115816 deg,
deltaT: 3.782017 s,
deltaX: -2.675438 m,
approachRate: -0.707410 m/s,
posRepo size: 4
2025-06-18T18:42:00.712Z,1750272120.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:00.715Z,1750272120.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 61.957779 m,
bearing: 142.930544 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.138393 deg/s,
cmd heading: 133.775361 deg,
new cmd heading: 133.982577 deg.
2025-06-18T18:42:00.722Z,1750272120.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.338437 target range: 63.019112 and range: 63.60 m.
2025-06-18T18:42:01.028Z,1750272121.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:01.030Z,1750272121.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:01.033Z,1750272121.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 61.701664 m,
bearing: 142.968291 deg,
approach rate: -0.775366 m/s,
LOS rate: 0.114749 deg/s,
cmd heading: 133.982575 deg,
new cmd heading: 134.096285 deg.
2025-06-18T18:42:01.034Z,1750272121.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340422 target range: 63.019112 and range: 63.60 m.
2025-06-18T18:42:01.225Z,1750272121.225 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:42:01.225Z,1750272121.225 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:42:01.225Z,1750272121.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:42:01.424Z,1750272121.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:01.427Z,1750272121.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 61.410355 m,
bearing: 143.010337 deg,
approach rate: -0.739478 m/s,
LOS rate: 0.107239 deg/s,
cmd heading: 134.096284 deg,
new cmd heading: 134.223021 deg.
2025-06-18T18:42:01.444Z,1750272121.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342634 target range: 63.019112 and range: 63.60 m.
2025-06-18T18:42:01.480Z,1750272121.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.208027
2025-06-18T18:42:01.729Z,1750272121.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.457583
2025-06-18T18:42:01.860Z,1750272121.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:01.865Z,1750272121.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 61.083828 m,
bearing: 143.064025 deg,
approach rate: -0.749649 m/s,
LOS rate: 0.123917 deg/s,
cmd heading: 134.223025 deg,
new cmd heading: 134.384950 deg.
2025-06-18T18:42:01.867Z,1750272121.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.345460 target range: 63.019112 and range: 63.60 m.
2025-06-18T18:42:01.982Z,1750272121.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710171
2025-06-18T18:42:02.233Z,1750272122.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961616
2025-06-18T18:42:02.241Z,1750272122.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:02.243Z,1750272122.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 60.795017 m,
bearing: 143.111427 deg,
approach rate: -0.757431 m/s,
LOS rate: 0.124906 deg/s,
cmd heading: 134.384955 deg,
new cmd heading: 134.527836 deg.
2025-06-18T18:42:02.245Z,1750272122.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.347954 target range: 63.019112 and range: 63.60 m.
2025-06-18T18:42:02.492Z,1750272122.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220058
2025-06-18T18:42:02.678Z,1750272122.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:02.686Z,1750272122.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 60.472588 m,
bearing: 143.154795 deg,
approach rate: -0.737738 m/s,
LOS rate: 0.099758 deg/s,
cmd heading: 134.527829 deg,
new cmd heading: 134.658628 deg.
2025-06-18T18:42:02.687Z,1750272122.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.350236 target range: 63.019112 and range: 63.60 m.
2025-06-18T18:42:02.737Z,1750272122.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465750
2025-06-18T18:42:02.989Z,1750272122.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717589
2025-06-18T18:42:03.051Z,1750272123.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:03.054Z,1750272123.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:03.057Z,1750272123.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 60.167999 m,
bearing: 143.195236 deg,
approach rate: -0.810595 m/s,
LOS rate: 0.108169 deg/s,
cmd heading: 134.658627 deg,
new cmd heading: 134.780564 deg.
2025-06-18T18:42:03.058Z,1750272123.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.352365 target range: 63.019112 and range: 63.60 m.
2025-06-18T18:42:03.241Z,1750272123.241 [DAT](INFO): DAT read: Rx Time:18:42:03.6833
2025-06-18T18:42:03.242Z,1750272123.242 [DAT](INFO): Rx dataTimestamp_ set to:1750272123.241340
2025-06-18T18:42:03.242Z,1750272123.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971013
2025-06-18T18:42:03.447Z,1750272123.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:03.449Z,1750272123.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 59.864887 m,
bearing: 143.235098 deg,
approach rate: -0.771627 m/s,
LOS rate: 0.101989 deg/s,
cmd heading: 134.780560 deg,
new cmd heading: 134.900750 deg.
2025-06-18T18:42:03.450Z,1750272123.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.354462 target range: 63.019112 and range: 63.60 m.
2025-06-18T18:42:03.496Z,1750272123.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224108
2025-06-18T18:42:03.746Z,1750272123.746 [DAT](INFO): DAT read: Range 10 to 50 : 60.8 m (Round-trip 81.1 ms) speed 0.7 m/s
2025-06-18T18:42:03.746Z,1750272123.746 [DAT](INFO): DAT read: user:1418>
2025-06-18T18:42:03.747Z,1750272123.747 [DAT](INFO): DAT read: Tx time:18:42:04.7964
2025-06-18T18:42:03.747Z,1750272123.747 [DAT](INFO): Ping request sent.
2025-06-18T18:42:03.748Z,1750272123.748 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:03.748Z,1750272123.748 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:42:03.748Z,1750272123.748 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:03.749Z,1750272123.749 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:03.903Z,1750272123.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 60.799999 m,
deltaT: 3.525781 s,
deltaX: -2.799999 m,
approachRate: -0.794150 m/s,
rangeRepo size: 4
2025-06-18T18:42:03.904Z,1750272123.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:03.907Z,1750272123.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 59.512611 m,
bearing: 143.284026 deg,
approach rate: -0.772293 m/s,
LOS rate: 0.107899 deg/s,
cmd heading: 134.900744 deg,
new cmd heading: 135.048396 deg.
2025-06-18T18:42:03.928Z,1750272123.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.357039 target range: 63.019112 and range: 60.80 m.
2025-06-18T18:42:03.998Z,1750272123.998 [DAT](INFO): DAT read: TxSync time:18:42:04.7957
2025-06-18T18:42:04.258Z,1750272124.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:04.260Z,1750272124.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 59.237354 m,
bearing: 143.321393 deg,
approach rate: -0.775645 m/s,
LOS rate: 0.105785 deg/s,
cmd heading: 135.048399 deg,
new cmd heading: 135.161021 deg.
2025-06-18T18:42:04.261Z,1750272124.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.359005 target range: 63.019112 and range: 60.80 m.
2025-06-18T18:42:04.694Z,1750272124.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:04.697Z,1750272124.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 58.901161 m,
bearing: 143.372224 deg,
approach rate: -0.770050 m/s,
LOS rate: 0.117094 deg/s,
cmd heading: 135.161015 deg,
new cmd heading: 135.314380 deg.
2025-06-18T18:42:04.698Z,1750272124.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.361681 target range: 63.019112 and range: 60.80 m.
2025-06-18T18:42:05.070Z,1750272125.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:05.077Z,1750272125.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:05.079Z,1750272125.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 58.619492 m,
bearing: 143.413092 deg,
approach rate: -0.745720 m/s,
LOS rate: 0.108718 deg/s,
cmd heading: 135.314380 deg,
new cmd heading: 135.437574 deg.
2025-06-18T18:42:05.085Z,1750272125.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.363832 target range: 63.019112 and range: 60.80 m.
2025-06-18T18:42:05.257Z,1750272125.257 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:42:05.257Z,1750272125.257 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:42:05.257Z,1750272125.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:42:05.494Z,1750272125.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:05.499Z,1750272125.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 58.300587 m,
bearing: 143.459308 deg,
approach rate: -0.755740 m/s,
LOS rate: 0.110121 deg/s,
cmd heading: 135.437570 deg,
new cmd heading: 135.576974 deg.
2025-06-18T18:42:05.505Z,1750272125.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.366265 target range: 63.019112 and range: 60.80 m.
2025-06-18T18:42:05.509Z,1750272125.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761528
2025-06-18T18:42:05.761Z,1750272125.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013237
2025-06-18T18:42:05.913Z,1750272125.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:05.916Z,1750272125.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 57.966572 m,
bearing: 143.511668 deg,
approach rate: -0.796007 m/s,
LOS rate: 0.125500 deg/s,
cmd heading: 135.576974 deg,
new cmd heading: 135.734957 deg.
2025-06-18T18:42:05.917Z,1750272125.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.369022 target range: 63.019112 and range: 60.80 m.
2025-06-18T18:42:06.013Z,1750272126.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265366
2025-06-18T18:42:06.265Z,1750272126.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517245
2025-06-18T18:42:06.297Z,1750272126.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:06.299Z,1750272126.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 57.692516 m,
bearing: 143.553987 deg,
approach rate: -0.714799 m/s,
LOS rate: 0.110903 deg/s,
cmd heading: 135.734956 deg,
new cmd heading: 135.862518 deg.
2025-06-18T18:42:06.301Z,1750272126.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.371248 target range: 63.019112 and range: 60.80 m.
2025-06-18T18:42:06.519Z,1750272126.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771360
2025-06-18T18:42:06.708Z,1750272126.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:06.710Z,1750272126.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 57.369843 m,
bearing: 143.611051 deg,
approach rate: -0.785737 m/s,
LOS rate: 0.139737 deg/s,
cmd heading: 135.862517 deg,
new cmd heading: 136.034672 deg.
2025-06-18T18:42:06.711Z,1750272126.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.374253 target range: 63.019112 and range: 60.80 m.
2025-06-18T18:42:06.770Z,1750272126.770 [DAT](INFO): DAT read: Rx Time:18:42:07.2780
2025-06-18T18:42:06.770Z,1750272126.770 [DAT](INFO): Rx dataTimestamp_ set to:1750272126.769794
2025-06-18T18:42:06.771Z,1750272126.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023001
2025-06-18T18:42:07.021Z,1750272127.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273121
2025-06-18T18:42:07.098Z,1750272127.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:07.100Z,1750272127.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.02 m.
2025-06-18T18:42:07.103Z,1750272127.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.019112 m,
nav range: 57.079613 m,
bearing: 143.662938 deg,
approach rate: -0.738927 m/s,
LOS rate: 0.132774 deg/s,
cmd heading: 136.034678 deg,
new cmd heading: 136.191128 deg.
2025-06-18T18:42:07.104Z,1750272127.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376984 target range: 63.019112 and range: 60.80 m.
2025-06-18T18:42:07.284Z,1750272127.284 [DAT](INFO): DAT read: 18:42:07.2780 LVL= 24544, 32753, 21970, 32755, AGC= 70, IDX= 404, 0.15,-1.362,-2.690,-1.453,-1.748, PHS= 0.474,-0.895, 0.292, RAW= 143.0, 2.0, CAL= 146.7, -6.7, ROT= 3.3, 6.7
2025-06-18T18:42:07.285Z,1750272127.285 [DAT](INFO): got valid direction response:
18:42:07.2780 LVL= 24544, 32753, 21970, 32755, AGC= 70, IDX= 404, 0.15,-1.362,-2.690,-1.453,-1.748, PHS= 0.474,-0.895, 0.292, RAW= 143.0, 2.0, CAL= 146.7, -6.7, ROT= 3.3, 6.7
2025-06-18T18:42:07.286Z,1750272127.286 [DAT](INFO): DAT read: Bearing 3.3, 6.7 (Local)
2025-06-18T18:42:07.287Z,1750272127.287 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.3, 6.7 (Local)
2025-06-18T18:42:07.289Z,1750272127.289 [DAT](INFO): DAT read: Range 10 to 50 : 57.9 m (Round-trip 77.3 ms) speed 0.6 m/s
2025-06-18T18:42:07.289Z,1750272127.289 [DAT](INFO): DAT read: user:1419>
2025-06-18T18:42:07.290Z,1750272127.290 [DAT](INFO): DAT read: Tx time:18:42:08.3965
2025-06-18T18:42:07.290Z,1750272127.290 [DAT](INFO): Ping request sent.
2025-06-18T18:42:07.291Z,1750272127.291 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:07.291Z,1750272127.291 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:42:07.292Z,1750272127.292 [DAT](INFO): direction in FSK: [0.991524,0.057171,-0.116671]
2025-06-18T18:42:07.292Z,1750272127.292 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:07.293Z,1750272127.293 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:07.296Z,1750272127.296 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:07.296Z,1750272127.296 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:07.525Z,1750272127.525 [DAT](INFO): DAT read: TxSync time:18:42:08.3958
2025-06-18T18:42:07.531Z,1750272127.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 57.900002 m,
deltaT: 3.528110 s,
deltaX: -2.899998 m,
approachRate: -0.821969 m/s,
rangeRepo size: 4
2025-06-18T18:42:07.542Z,1750272127.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 57.370972 m,
bearing: 139.098302 deg,
lat: 36.905836 deg,
lon: -122.115800 deg,
deltaT: 7.053891 s,
deltaX: -5.648140 m,
approachRate: -0.800713 m/s,
posRepo size: 4
2025-06-18T18:42:07.543Z,1750272127.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.37 m.
2025-06-18T18:42:07.543Z,1750272127.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-18T18:42:07.578Z,1750272127.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.370972 m,
nav range: 55.886047 m,
bearing: 141.178908 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.132774 deg/s,
cmd heading: 136.191131 deg,
new cmd heading: 136.358286 deg.
2025-06-18T18:42:07.600Z,1750272127.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.379901 target range: 57.370972 and range: 57.90 m.
2025-06-18T18:42:07.641Z,1750272127.641 [DockingStepper](INFO): Changing to mode: 2
2025-06-18T18:42:07.641Z,1750272127.641 [DockingStepper](INFO): Armed mode.
2025-06-18T18:42:07.704Z,1750272127.704 [DockingStepper](INFO): Commanding negative:54593
2025-06-18T18:42:07.972Z,1750272127.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.37 m.
2025-06-18T18:42:07.973Z,1750272127.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-18T18:42:07.975Z,1750272127.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.370972 m,
nav range: 55.547264 m,
bearing: 141.227113 deg,
approach rate: -0.756295 m/s,
LOS rate: 0.108268 deg/s,
cmd heading: 136.358293 deg,
new cmd heading: 136.503789 deg.
2025-06-18T18:42:07.981Z,1750272127.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.382441 target range: 57.370972 and range: 57.90 m.
2025-06-18T18:42:08.345Z,1750272128.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.37 m.
2025-06-18T18:42:08.345Z,1750272128.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-18T18:42:08.381Z,1750272128.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.370972 m,
nav range: 55.259960 m,
bearing: 141.266916 deg,
approach rate: -0.766690 m/s,
LOS rate: 0.106770 deg/s,
cmd heading: 136.503789 deg,
new cmd heading: 136.623819 deg.
2025-06-18T18:42:08.382Z,1750272128.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384536 target range: 57.370972 and range: 57.90 m.
2025-06-18T18:42:08.761Z,1750272128.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.37 m.
2025-06-18T18:42:08.762Z,1750272128.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-18T18:42:08.765Z,1750272128.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.370972 m,
nav range: 54.949703 m,
bearing: 141.311369 deg,
approach rate: -0.741443 m/s,
LOS rate: 0.106831 deg/s,
cmd heading: 136.623823 deg,
new cmd heading: 136.757934 deg.
2025-06-18T18:42:08.766Z,1750272128.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386876 target range: 57.370972 and range: 57.90 m.
2025-06-18T18:42:09.177Z,1750272129.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:09.179Z,1750272129.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.37 m.
2025-06-18T18:42:09.180Z,1750272129.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-18T18:42:09.183Z,1750272129.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.370972 m,
nav range: 54.645927 m,
bearing: 141.354864 deg,
approach rate: -0.726425 m/s,
LOS rate: 0.104589 deg/s,
cmd heading: 136.757927 deg,
new cmd heading: 136.889137 deg.
2025-06-18T18:42:09.184Z,1750272129.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389166 target range: 57.370972 and range: 57.90 m.
2025-06-18T18:42:09.289Z,1750272129.289 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:42:09.289Z,1750272129.289 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:42:09.289Z,1750272129.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:42:09.541Z,1750272129.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250253
2025-06-18T18:42:09.659Z,1750272129.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.37 m.
2025-06-18T18:42:09.664Z,1750272129.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-18T18:42:09.667Z,1750272129.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.370972 m,
nav range: 54.331642 m,
bearing: 141.399662 deg,
approach rate: -0.654885 m/s,
LOS rate: 0.093888 deg/s,
cmd heading: 136.889135 deg,
new cmd heading: 137.024308 deg.
2025-06-18T18:42:09.672Z,1750272129.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.391525 target range: 57.370972 and range: 57.90 m.
2025-06-18T18:42:09.793Z,1750272129.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502303
2025-06-18T18:42:10.048Z,1750272130.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757052
2025-06-18T18:42:10.126Z,1750272130.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.37 m.
2025-06-18T18:42:10.126Z,1750272130.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-18T18:42:10.129Z,1750272130.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.370972 m,
nav range: 53.953880 m,
bearing: 141.464756 deg,
approach rate: -0.809911 m/s,
LOS rate: 0.140536 deg/s,
cmd heading: 137.024304 deg,
new cmd heading: 137.220951 deg.
2025-06-18T18:42:10.130Z,1750272130.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.394957 target range: 57.370972 and range: 57.90 m.
2025-06-18T18:42:10.298Z,1750272130.298 [DAT](INFO): DAT read: Rx Time:18:42:10.8744
2025-06-18T18:42:10.298Z,1750272130.298 [DAT](INFO): Rx dataTimestamp_ set to:1750272130.298001
2025-06-18T18:42:10.299Z,1750272130.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008634
2025-06-18T18:42:10.507Z,1750272130.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.37 m.
2025-06-18T18:42:10.507Z,1750272130.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-18T18:42:10.510Z,1750272130.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.370972 m,
nav range: 53.673515 m,
bearing: 141.512665 deg,
approach rate: -0.735037 m/s,
LOS rate: 0.126260 deg/s,
cmd heading: 137.220946 deg,
new cmd heading: 137.365423 deg.
2025-06-18T18:42:10.511Z,1750272130.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.397479 target range: 57.370972 and range: 57.90 m.
2025-06-18T18:42:10.549Z,1750272130.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258345
2025-06-18T18:42:10.811Z,1750272130.811 [DAT](INFO): DAT read: 18:42:10.8744 LVL= 17808, 32081, 17234, 26147, AGC= 66, IDX= 399,-0.38,-2.845, 1.997,-3.020, 3.043, PHS= 0.483,-0.999, 0.217, RAW= 140.3, 4.4, CAL= 144.2, -3.7, ROT= 5.8, 3.7
2025-06-18T18:42:10.813Z,1750272130.813 [DAT](INFO): got valid direction response:
18:42:10.8744 LVL= 17808, 32081, 17234, 26147, AGC= 66, IDX= 399,-0.38,-2.845, 1.997,-3.020, 3.043, PHS= 0.483,-0.999, 0.217, RAW= 140.3, 4.4, CAL= 144.2, -3.7, ROT= 5.8, 3.7
2025-06-18T18:42:10.813Z,1750272130.813 [DAT](INFO): DAT read: Bearing 5.8, 3.7 (Local)
2025-06-18T18:42:10.814Z,1750272130.814 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.8, 3.7 (Local)
2025-06-18T18:42:10.820Z,1750272130.820 [DAT](INFO): DAT read: Range 10 to 50 : 55.2 m (Round-trip 73.7 ms) speed 0.6 m/s
2025-06-18T18:42:10.821Z,1750272130.821 [DAT](INFO): DAT read: user:1420>
2025-06-18T18:42:10.822Z,1750272130.822 [DAT](INFO): DAT read: Tx time:18:42:11.9965
2025-06-18T18:42:10.822Z,1750272130.822 [DAT](INFO): Ping request sent.
2025-06-18T18:42:10.822Z,1750272130.822 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:10.823Z,1750272130.823 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:42:10.825Z,1750272130.825 [DAT](INFO): direction in FSK: [0.992807,0.100846,-0.064532]
2025-06-18T18:42:10.825Z,1750272130.825 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:10.825Z,1750272130.825 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:10.828Z,1750272130.828 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:10.829Z,1750272130.829 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:11.005Z,1750272131.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 55.200001 m,
deltaT: 3.529306 s,
deltaX: -2.700001 m,
approachRate: -0.765023 m/s,
rangeRepo size: 4
2025-06-18T18:42:11.007Z,1750272131.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 54.695641 m,
bearing: 142.872203 deg,
lat: 36.905836 deg,
lon: -122.115800 deg,
deltaT: 3.529306 s,
deltaX: -2.675331 m,
approachRate: -0.758033 m/s,
posRepo size: 4
2025-06-18T18:42:11.018Z,1750272131.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.70 m.
2025-06-18T18:42:11.026Z,1750272131.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-18T18:42:11.033Z,1750272131.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.695641 m,
nav range: 53.317646 m,
bearing: 141.570310 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.126260 deg/s,
cmd heading: 137.365418 deg,
new cmd heading: 137.553887 deg.
2025-06-18T18:42:11.034Z,1750272131.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.400768 target range: 54.695641 and range: 55.20 m.
2025-06-18T18:42:11.053Z,1750272131.053 [DAT](INFO): DAT read: TxSync time:18:42:11.9958
2025-06-18T18:42:11.317Z,1750272131.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:11.319Z,1750272131.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.70 m.
2025-06-18T18:42:11.319Z,1750272131.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-18T18:42:11.322Z,1750272131.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.695641 m,
nav range: 53.073441 m,
bearing: 141.609310 deg,
approach rate: -0.777660 m/s,
LOS rate: 0.124765 deg/s,
cmd heading: 137.553890 deg,
new cmd heading: 137.671428 deg.
2025-06-18T18:42:11.323Z,1750272131.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402820 target range: 54.695641 and range: 55.20 m.
2025-06-18T18:42:11.557Z,1750272131.557 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:42:11.557Z,1750272131.557 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:42:11.557Z,1750272131.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:42:11.760Z,1750272131.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.70 m.
2025-06-18T18:42:11.761Z,1750272131.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-18T18:42:11.764Z,1750272131.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.695641 m,
nav range: 52.746269 m,
bearing: 141.663280 deg,
approach rate: -0.742063 m/s,
LOS rate: 0.123171 deg/s,
cmd heading: 137.671424 deg,
new cmd heading: 137.834339 deg.
2025-06-18T18:42:11.765Z,1750272131.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405663 target range: 54.695641 and range: 55.20 m.
2025-06-18T18:42:11.809Z,1750272131.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986524
2025-06-18T18:42:12.061Z,1750272132.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238320
2025-06-18T18:42:12.143Z,1750272132.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.70 m.
2025-06-18T18:42:12.143Z,1750272132.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-18T18:42:12.146Z,1750272132.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.695641 m,
nav range: 52.475883 m,
bearing: 141.707263 deg,
approach rate: -0.742706 m/s,
LOS rate: 0.121434 deg/s,
cmd heading: 137.834338 deg,
new cmd heading: 137.966964 deg.
2025-06-18T18:42:12.147Z,1750272132.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.407978 target range: 54.695641 and range: 55.20 m.
2025-06-18T18:42:12.313Z,1750272132.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490308
2025-06-18T18:42:12.531Z,1750272132.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.70 m.
2025-06-18T18:42:12.532Z,1750272132.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-18T18:42:12.535Z,1750272132.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.695641 m,
nav range: 52.173073 m,
bearing: 141.755921 deg,
approach rate: -0.742460 m/s,
LOS rate: 0.119998 deg/s,
cmd heading: 137.966966 deg,
new cmd heading: 138.113788 deg.
2025-06-18T18:42:12.536Z,1750272132.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410540 target range: 54.695641 and range: 55.20 m.
2025-06-18T18:42:12.565Z,1750272132.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742439
2025-06-18T18:42:12.817Z,1750272132.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994262
2025-06-18T18:42:12.947Z,1750272132.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.70 m.
2025-06-18T18:42:12.968Z,1750272132.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-18T18:42:12.971Z,1750272132.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.695641 m,
nav range: 51.864349 m,
bearing: 141.799503 deg,
approach rate: -0.742102 m/s,
LOS rate: 0.105385 deg/s,
cmd heading: 138.113788 deg,
new cmd heading: 138.245312 deg.
2025-06-18T18:42:12.976Z,1750272132.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.412836 target range: 54.695641 and range: 55.20 m.
2025-06-18T18:42:13.069Z,1750272133.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246449
2025-06-18T18:42:13.321Z,1750272133.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498431
2025-06-18T18:42:13.334Z,1750272133.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:13.336Z,1750272133.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.70 m.
2025-06-18T18:42:13.336Z,1750272133.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-18T18:42:13.339Z,1750272133.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.695641 m,
nav range: 51.576195 m,
bearing: 141.839212 deg,
approach rate: -0.742167 m/s,
LOS rate: 0.102846 deg/s,
cmd heading: 138.245310 deg,
new cmd heading: 138.365103 deg.
2025-06-18T18:42:13.340Z,1750272133.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.414927 target range: 54.695641 and range: 55.20 m.
2025-06-18T18:42:13.573Z,1750272133.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750436
2025-06-18T18:42:13.762Z,1750272133.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.70 m.
2025-06-18T18:42:13.763Z,1750272133.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-18T18:42:13.763Z,1750272133.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 55.20 m.
2025-06-18T18:42:13.763Z,1750272133.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-18T18:42:13.766Z,1750272133.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.695641 m,
nav range: 51.256664 m,
bearing: 141.870460 deg,
approach rate: -0.749215 m/s,
LOS rate: 0.073725 deg/s,
cmd heading: 138.365098 deg,
new cmd heading: 138.459426 deg.
2025-06-18T18:42:13.767Z,1750272133.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.416573 target range: 54.695641 and range: 55.20 m.
2025-06-18T18:42:13.826Z,1750272133.826 [DAT](INFO): DAT read: Rx Time:18:42:14.4708
2025-06-18T18:42:13.827Z,1750272133.827 [DAT](INFO): Rx dataTimestamp_ set to:1750272133.826041
2025-06-18T18:42:13.827Z,1750272133.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004782
2025-06-18T18:42:14.077Z,1750272134.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254401
2025-06-18T18:42:14.140Z,1750272134.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.70 m.
2025-06-18T18:42:14.143Z,1750272134.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.695641 m,
nav range: 50.973763 m,
bearing: 141.897004 deg,
approach rate: -0.749151 m/s,
LOS rate: 0.070681 deg/s,
cmd heading: 138.459423 deg,
new cmd heading: 138.539497 deg.
2025-06-18T18:42:14.160Z,1750272134.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.417970 target range: 54.695641 and range: 55.20 m.
2025-06-18T18:42:14.329Z,1750272134.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506322
2025-06-18T18:42:14.545Z,1750272134.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.70 m.
2025-06-18T18:42:14.548Z,1750272134.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.695641 m,
nav range: 50.670101 m,
bearing: 141.924270 deg,
approach rate: -0.749326 m/s,
LOS rate: 0.067687 deg/s,
cmd heading: 138.539500 deg,
new cmd heading: 138.621789 deg.
2025-06-18T18:42:14.549Z,1750272134.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419407 target range: 54.695641 and range: 55.20 m.
2025-06-18T18:42:14.590Z,1750272134.590 [DAT](INFO): DAT read: 18:42:14.4708 LVL= 25728, 32753, 22066, 32755, AGC= 69, IDX= 410,-0.08, 1.942, 0.570, 1.940, 1.621, PHS= 0.409,-1.005, 0.315, RAW= 146.6, 4.2, CAL= 149.2, -4.6, ROT= 0.8, 4.6
2025-06-18T18:42:14.592Z,1750272134.592 [DAT](INFO): got valid direction response:
18:42:14.4708 LVL= 25728, 32753, 22066, 32755, AGC= 69, IDX= 410,-0.08, 1.942, 0.570, 1.940, 1.621, PHS= 0.409,-1.005, 0.315, RAW= 146.6, 4.2, CAL= 149.2, -4.6, ROT= 0.8, 4.6
2025-06-18T18:42:14.593Z,1750272134.593 [DAT](INFO): DAT read: Bearing 0.8, 4.6 (Local)
2025-06-18T18:42:14.594Z,1750272134.594 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.8, 4.6 (Local)
2025-06-18T18:42:14.596Z,1750272134.596 [DAT](INFO): DAT read: Range 10 to 50 : 52.5 m (Round-trip 70.1 ms) speed 0.8 m/s
2025-06-18T18:42:14.597Z,1750272134.597 [DAT](INFO): DAT read: user:1421>
2025-06-18T18:42:14.598Z,1750272134.598 [DAT](INFO): DAT read: Tx time:18:42:15.5965
2025-06-18T18:42:14.599Z,1750272134.599 [DAT](INFO): Ping request sent.
2025-06-18T18:42:14.599Z,1750272134.599 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:14.599Z,1750272134.599 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:42:14.609Z,1750272134.609 [DAT](INFO): direction in FSK: [0.996682,0.013917,-0.080199]
2025-06-18T18:42:14.609Z,1750272134.609 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:14.609Z,1750272134.609 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:14.624Z,1750272134.624 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:14.624Z,1750272134.624 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:14.833Z,1750272134.833 [DAT](INFO): DAT read: TxSync time:18:42:15.5958
2025-06-18T18:42:14.978Z,1750272134.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.500000 m,
deltaT: 3.779182 s,
deltaX: -2.700001 m,
approachRate: -0.714441 m/s,
rangeRepo size: 4
2025-06-18T18:42:14.980Z,1750272134.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.020187 m,
bearing: 140.279697 deg,
lat: 36.905836 deg,
lon: -122.115790 deg,
deltaT: 3.779182 s,
deltaX: -2.675453 m,
approachRate: -0.707945 m/s,
posRepo size: 4
2025-06-18T18:42:14.981Z,1750272134.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:42:14.984Z,1750272134.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020187 m,
nav range: 50.839962 m,
bearing: 141.165301 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.067687 deg/s,
cmd heading: 138.621790 deg,
new cmd heading: 138.709548 deg.
2025-06-18T18:42:14.985Z,1750272134.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420938 target range: 52.020187 and range: 52.50 m.
2025-06-18T18:42:15.370Z,1750272135.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:15.372Z,1750272135.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:42:15.375Z,1750272135.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020187 m,
nav range: 50.541107 m,
bearing: 141.178768 deg,
approach rate: -0.757296 m/s,
LOS rate: 0.034328 deg/s,
cmd heading: 138.709544 deg,
new cmd heading: 138.750185 deg.
2025-06-18T18:42:15.380Z,1750272135.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421648 target range: 52.020187 and range: 52.50 m.
2025-06-18T18:42:15.589Z,1750272135.589 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:42:15.589Z,1750272135.589 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:42:15.589Z,1750272135.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:42:15.788Z,1750272135.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:42:15.791Z,1750272135.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020187 m,
nav range: 50.238987 m,
bearing: 141.179451 deg,
approach rate: -0.726111 m/s,
LOS rate: 0.001649 deg/s,
cmd heading: 138.750184 deg,
new cmd heading: 138.752243 deg.
2025-06-18T18:42:15.792Z,1750272135.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421684 target range: 52.020187 and range: 52.50 m.
2025-06-18T18:42:15.841Z,1750272135.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242072
2025-06-18T18:42:16.094Z,1750272136.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494830
2025-06-18T18:42:16.181Z,1750272136.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:42:16.188Z,1750272136.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020187 m,
nav range: 49.959274 m,
bearing: 141.179382 deg,
approach rate: -0.710957 m/s,
LOS rate: -0.000174 deg/s,
cmd heading: 138.752247 deg,
new cmd heading: 138.752041 deg.
2025-06-18T18:42:16.189Z,1750272136.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421680 target range: 52.020187 and range: 52.50 m.
2025-06-18T18:42:16.345Z,1750272136.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745964
2025-06-18T18:42:16.592Z,1750272136.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:42:16.594Z,1750272136.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020187 m,
nav range: 49.670319 m,
bearing: 141.178961 deg,
approach rate: -0.711396 m/s,
LOS rate: -0.001044 deg/s,
cmd heading: 138.752042 deg,
new cmd heading: 138.750769 deg.
2025-06-18T18:42:16.597Z,1750272136.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998037
2025-06-18T18:42:16.595Z,1750272136.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421658 target range: 52.020187 and range: 52.50 m.
2025-06-18T18:42:16.849Z,1750272136.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250339
2025-06-18T18:42:17.015Z,1750272137.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:42:17.023Z,1750272137.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020187 m,
nav range: 49.358051 m,
bearing: 141.179223 deg,
approach rate: -0.730498 m/s,
LOS rate: 0.000618 deg/s,
cmd heading: 138.750771 deg,
new cmd heading: 138.751564 deg.
2025-06-18T18:42:17.028Z,1750272137.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421672 target range: 52.020187 and range: 52.50 m.
2025-06-18T18:42:17.102Z,1750272137.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502606
2025-06-18T18:42:17.354Z,1750272137.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754939
2025-06-18T18:42:17.399Z,1750272137.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:17.401Z,1750272137.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:42:17.404Z,1750272137.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020187 m,
nav range: 49.058811 m,
bearing: 141.178836 deg,
approach rate: -0.775316 m/s,
LOS rate: -0.001009 deg/s,
cmd heading: 138.751564 deg,
new cmd heading: 138.750395 deg.
2025-06-18T18:42:17.405Z,1750272137.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421651 target range: 52.020187 and range: 52.50 m.
2025-06-18T18:42:17.605Z,1750272137.605 [DAT](INFO): DAT read: Rx Time:18:42:18.0674
2025-06-18T18:42:17.606Z,1750272137.606 [DAT](INFO): Rx dataTimestamp_ set to:1750272137.605349
2025-06-18T18:42:17.606Z,1750272137.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007342
2025-06-18T18:42:17.816Z,1750272137.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.02 m.
2025-06-18T18:42:17.819Z,1750272137.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.020187 m,
nav range: 48.761761 m,
bearing: 141.172696 deg,
approach rate: -0.714995 m/s,
LOS rate: -0.014868 deg/s,
cmd heading: 138.750389 deg,
new cmd heading: 138.731857 deg.
2025-06-18T18:42:17.820Z,1750272137.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421328 target range: 52.020187 and range: 52.50 m.
2025-06-18T18:42:17.858Z,1750272137.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258635
2025-06-18T18:42:18.115Z,1750272138.115 [DAT](INFO): DAT read: 18:42:18.0674 LVL= 24416, 30481, 17970, 32755, AGC= 68, IDX= 406, 0.33, 2.330, 1.024, 2.560, 2.120, PHS= 0.298,-1.049, 0.436, RAW= 154.8, 4.5, CAL= 156.2, -4.6, ROT= 353.8, 4.6
2025-06-18T18:42:18.116Z,1750272138.116 [DAT](INFO): got valid direction response:
18:42:18.0674 LVL= 24416, 30481, 17970, 32755, AGC= 68, IDX= 406, 0.33, 2.330, 1.024, 2.560, 2.120, PHS= 0.298,-1.049, 0.436, RAW= 154.8, 4.5, CAL= 156.2, -4.6, ROT= 353.8, 4.6
2025-06-18T18:42:18.117Z,1750272138.117 [DAT](INFO): DAT read: Bearing 353.8, 4.6 (Local)
2025-06-18T18:42:18.117Z,1750272138.117 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.8, 4.6 (Local)
2025-06-18T18:42:18.119Z,1750272138.119 [DAT](INFO): DAT read: Range 10 to 50 : 49.9 m (Round-trip 66.6 ms) speed 0.6 m/s
2025-06-18T18:42:18.119Z,1750272138.119 [DAT](INFO): DAT read: user:1422>
2025-06-18T18:42:18.120Z,1750272138.120 [DAT](INFO): DAT read: Tx time:18:42:19.1466
2025-06-18T18:42:18.120Z,1750272138.120 [DAT](INFO): Ping request sent.
2025-06-18T18:42:18.121Z,1750272138.121 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:18.121Z,1750272138.121 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:42:18.122Z,1750272138.122 [DAT](INFO): direction in FSK: [0.990949,-0.107651,-0.080199]
2025-06-18T18:42:18.122Z,1750272138.122 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:18.122Z,1750272138.122 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:18.126Z,1750272138.126 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:18.126Z,1750272138.126 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:18.261Z,1750272138.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.900002 m,
deltaT: 3.527486 s,
deltaX: -2.599998 m,
approachRate: -0.737068 m/s,
rangeRepo size: 4
2025-06-18T18:42:18.263Z,1750272138.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.443874 m,
bearing: 134.392583 deg,
lat: 36.905836 deg,
lon: -122.115779 deg,
deltaT: 3.527486 s,
deltaX: -2.576313 m,
approachRate: -0.730354 m/s,
posRepo size: 4
2025-06-18T18:42:18.268Z,1750272138.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.44 m.
2025-06-18T18:42:18.271Z,1750272138.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.443874 m,
nav range: 49.107613 m,
bearing: 140.236903 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.014868 deg/s,
cmd heading: 138.731852 deg,
new cmd heading: 138.712052 deg.
2025-06-18T18:42:18.276Z,1750272138.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420982 target range: 49.443874 and range: 49.90 m.
2025-06-18T18:42:18.362Z,1750272138.362 [DAT](INFO): DAT read: TxSync time:18:42:19.1458
2025-06-18T18:42:18.604Z,1750272138.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.44 m.
2025-06-18T18:42:18.607Z,1750272138.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.443874 m,
nav range: 48.851772 m,
bearing: 140.225181 deg,
approach rate: -0.744705 m/s,
LOS rate: -0.034299 deg/s,
cmd heading: 138.712058 deg,
new cmd heading: 138.676708 deg.
2025-06-18T18:42:18.616Z,1750272138.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420365 target range: 49.443874 and range: 49.90 m.
2025-06-18T18:42:18.956Z,1750272138.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:42:19.013Z,1750272139.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.44 m.
2025-06-18T18:42:19.016Z,1750272139.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.443874 m,
nav range: 48.553585 m,
bearing: 140.209828 deg,
approach rate: -0.728124 m/s,
LOS rate: -0.037720 deg/s,
cmd heading: 138.676705 deg,
new cmd heading: 138.630363 deg.
2025-06-18T18:42:19.017Z,1750272139.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419556 target range: 49.443874 and range: 49.90 m.
2025-06-18T18:42:19.399Z,1750272139.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.44 m.
2025-06-18T18:42:19.402Z,1750272139.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.443874 m,
nav range: 48.281223 m,
bearing: 140.194946 deg,
approach rate: -0.706725 m/s,
LOS rate: -0.038834 deg/s,
cmd heading: 138.630369 deg,
new cmd heading: 138.585471 deg.
2025-06-18T18:42:19.403Z,1750272139.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418773 target range: 49.443874 and range: 49.90 m.
2025-06-18T18:42:19.842Z,1750272139.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:19.845Z,1750272139.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.44 m.
2025-06-18T18:42:19.848Z,1750272139.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.443874 m,
nav range: 47.956078 m,
bearing: 140.194725 deg,
approach rate: -0.728925 m/s,
LOS rate: -0.000500 deg/s,
cmd heading: 138.585467 deg,
new cmd heading: 138.584799 deg.
2025-06-18T18:42:19.849Z,1750272139.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418761 target range: 49.443874 and range: 49.90 m.
2025-06-18T18:42:19.873Z,1750272139.873 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:42:19.873Z,1750272139.873 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:42:19.874Z,1750272139.874 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:42:19.960Z,1750272139.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:42:20.125Z,1750272140.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004166
2025-06-18T18:42:20.207Z,1750272140.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.44 m.
2025-06-18T18:42:20.210Z,1750272140.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.443874 m,
nav range: 47.692539 m,
bearing: 140.194815 deg,
approach rate: -0.726988 m/s,
LOS rate: 0.000249 deg/s,
cmd heading: 138.584798 deg,
new cmd heading: 138.585069 deg.
2025-06-18T18:42:20.211Z,1750272140.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418766 target range: 49.443874 and range: 49.90 m.
2025-06-18T18:42:20.377Z,1750272140.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256142
2025-06-18T18:42:20.603Z,1750272140.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.44 m.
2025-06-18T18:42:20.606Z,1750272140.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.443874 m,
nav range: 47.405624 m,
bearing: 140.194522 deg,
approach rate: -0.724582 m/s,
LOS rate: -0.000745 deg/s,
cmd heading: 138.585071 deg,
new cmd heading: 138.584187 deg.
2025-06-18T18:42:20.607Z,1750272140.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418750 target range: 49.443874 and range: 49.90 m.
2025-06-18T18:42:20.629Z,1750272140.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508537
2025-06-18T18:42:20.881Z,1750272140.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760648
2025-06-18T18:42:21.032Z,1750272141.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.44 m.
2025-06-18T18:42:21.035Z,1750272141.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.443874 m,
nav range: 47.089848 m,
bearing: 140.204072 deg,
approach rate: -0.737025 m/s,
LOS rate: 0.022439 deg/s,
cmd heading: 138.584183 deg,
new cmd heading: 138.613026 deg.
2025-06-18T18:42:21.036Z,1750272141.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419254 target range: 49.443874 and range: 49.90 m.
2025-06-18T18:42:21.133Z,1750272141.133 [DAT](INFO): DAT read: Rx Time:18:42:21.6138
2025-06-18T18:42:21.133Z,1750272141.133 [DAT](INFO): Rx dataTimestamp_ set to:1750272141.133149
2025-06-18T18:42:21.134Z,1750272141.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013378
2025-06-18T18:42:21.385Z,1750272141.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264224
2025-06-18T18:42:21.442Z,1750272141.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.44 m.
2025-06-18T18:42:21.449Z,1750272141.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.443874 m,
nav range: 46.793461 m,
bearing: 140.212295 deg,
approach rate: -0.722940 m/s,
LOS rate: 0.020184 deg/s,
cmd heading: 138.613020 deg,
new cmd heading: 138.637845 deg.
2025-06-18T18:42:21.450Z,1750272141.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419687 target range: 49.443874 and range: 49.90 m.
2025-06-18T18:42:21.643Z,1750272141.643 [DAT](INFO): DAT read: 18:42:21.6138 LVL= 32752, 32753, 27234, 32755, AGC= 70, IDX= 401, 0.41,-1.106,-2.442,-0.733,-1.289, PHS= 0.271,-1.106, 0.553, RAW= 159.2, 3.7, CAL= 160.2, -5.4, ROT= 349.8, 5.4
2025-06-18T18:42:21.644Z,1750272141.644 [DAT](INFO): got valid direction response:
18:42:21.6138 LVL= 32752, 32753, 27234, 32755, AGC= 70, IDX= 401, 0.41,-1.106,-2.442,-0.733,-1.289, PHS= 0.271,-1.106, 0.553, RAW= 159.2, 3.7, CAL= 160.2, -5.4, ROT= 349.8, 5.4
2025-06-18T18:42:21.645Z,1750272141.645 [DAT](INFO): DAT read: Bearing 349.8, 5.4 (Local)
2025-06-18T18:42:21.645Z,1750272141.645 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.8, 5.4 (Local)
2025-06-18T18:42:21.647Z,1750272141.647 [DAT](INFO): DAT read: Range 10 to 50 : 47.2 m (Round-trip 63.0 ms) speed 0.7 m/s
2025-06-18T18:42:21.647Z,1750272141.647 [DAT](INFO): DAT read: user:1423>
2025-06-18T18:42:21.648Z,1750272141.648 [DAT](INFO): DAT read: Tx time:18:42:22.6966
2025-06-18T18:42:21.648Z,1750272141.648 [DAT](INFO): Ping request sent.
2025-06-18T18:42:21.648Z,1750272141.648 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:21.649Z,1750272141.649 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:42:21.650Z,1750272141.650 [DAT](INFO): direction in FSK: [0.979828,-0.176299,-0.094108]
2025-06-18T18:42:21.650Z,1750272141.650 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:21.650Z,1750272141.650 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:21.654Z,1750272141.654 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:21.654Z,1750272141.654 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:21.890Z,1750272141.890 [DAT](INFO): DAT read: TxSync time:18:42:22.6958
2025-06-18T18:42:21.970Z,1750272141.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.200001 m,
deltaT: 3.527965 s,
deltaX: -2.700001 m,
approachRate: -0.765314 m/s,
rangeRepo size: 4
2025-06-18T18:42:21.976Z,1750272141.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.768639 m,
bearing: 131.322057 deg,
lat: 36.905844 deg,
lon: -122.115778 deg,
deltaT: 3.527965 s,
deltaX: -2.675236 m,
approachRate: -0.758294 m/s,
posRepo size: 4
2025-06-18T18:42:21.977Z,1750272141.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.77 m.
2025-06-18T18:42:21.985Z,1750272141.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.768639 m,
nav range: 45.868660 m,
bearing: 139.503018 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.020184 deg/s,
cmd heading: 138.637841 deg,
new cmd heading: 138.669782 deg.
2025-06-18T18:42:21.986Z,1750272141.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420244 target range: 46.768639 and range: 47.20 m.
2025-06-18T18:42:22.284Z,1750272142.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:22.286Z,1750272142.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.77 m.
2025-06-18T18:42:22.293Z,1750272142.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.768639 m,
nav range: 45.628708 m,
bearing: 139.508698 deg,
approach rate: -0.757666 m/s,
LOS rate: 0.018029 deg/s,
cmd heading: 138.669779 deg,
new cmd heading: 138.686908 deg.
2025-06-18T18:42:22.294Z,1750272142.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420543 target range: 46.768639 and range: 47.20 m.
2025-06-18T18:42:22.393Z,1750272142.393 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:42:22.393Z,1750272142.393 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:42:22.394Z,1750272142.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:42:22.645Z,1750272142.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996351
2025-06-18T18:42:22.697Z,1750272142.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.77 m.
2025-06-18T18:42:22.704Z,1750272142.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.768639 m,
nav range: 45.322170 m,
bearing: 139.515423 deg,
approach rate: -0.744958 m/s,
LOS rate: 0.016455 deg/s,
cmd heading: 138.686909 deg,
new cmd heading: 138.707221 deg.
2025-06-18T18:42:22.705Z,1750272142.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420898 target range: 46.768639 and range: 47.20 m.
2025-06-18T18:42:22.897Z,1750272142.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248307
2025-06-18T18:42:23.103Z,1750272143.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.77 m.
2025-06-18T18:42:23.106Z,1750272143.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.768639 m,
nav range: 45.005058 m,
bearing: 139.526478 deg,
approach rate: -0.782239 m/s,
LOS rate: 0.027461 deg/s,
cmd heading: 138.707222 deg,
new cmd heading: 138.740619 deg.
2025-06-18T18:42:23.107Z,1750272143.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421481 target range: 46.768639 and range: 47.20 m.
2025-06-18T18:42:23.149Z,1750272143.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500438
2025-06-18T18:42:23.401Z,1750272143.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752306
2025-06-18T18:42:23.496Z,1750272143.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.77 m.
2025-06-18T18:42:23.499Z,1750272143.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.768639 m,
nav range: 44.712784 m,
bearing: 139.535988 deg,
approach rate: -0.743688 m/s,
LOS rate: 0.024358 deg/s,
cmd heading: 138.740622 deg,
new cmd heading: 138.769340 deg.
2025-06-18T18:42:23.500Z,1750272143.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421982 target range: 46.768639 and range: 47.20 m.
2025-06-18T18:42:23.653Z,1750272143.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004259
2025-06-18T18:42:23.905Z,1750272143.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256405
2025-06-18T18:42:23.927Z,1750272143.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.77 m.
2025-06-18T18:42:23.930Z,1750272143.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.768639 m,
nav range: 44.403038 m,
bearing: 139.545954 deg,
approach rate: -0.718963 m/s,
LOS rate: 0.023292 deg/s,
cmd heading: 138.769336 deg,
new cmd heading: 138.799440 deg.
2025-06-18T18:42:23.931Z,1750272143.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422507 target range: 46.768639 and range: 47.20 m.
2025-06-18T18:42:24.157Z,1750272144.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508211
2025-06-18T18:42:24.294Z,1750272144.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:24.297Z,1750272144.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.77 m.
2025-06-18T18:42:24.299Z,1750272144.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.768639 m,
nav range: 44.137360 m,
bearing: 139.554398 deg,
approach rate: -0.718164 m/s,
LOS rate: 0.022963 deg/s,
cmd heading: 138.799443 deg,
new cmd heading: 138.824928 deg.
2025-06-18T18:42:24.301Z,1750272144.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422952 target range: 46.768639 and range: 47.20 m.
2025-06-18T18:42:24.409Z,1750272144.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760419
2025-06-18T18:42:24.661Z,1750272144.661 [DAT](INFO): DAT read: Rx Time:18:42:25.1604
2025-06-18T18:42:24.661Z,1750272144.661 [DAT](INFO): Rx dataTimestamp_ set to:1750272144.661095
2025-06-18T18:42:24.662Z,1750272144.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013451
2025-06-18T18:42:24.715Z,1750272144.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.77 m.
2025-06-18T18:42:24.730Z,1750272144.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.768639 m,
nav range: 43.835697 m,
bearing: 139.563852 deg,
approach rate: -0.720218 m/s,
LOS rate: 0.022727 deg/s,
cmd heading: 138.824934 deg,
new cmd heading: 138.853491 deg.
2025-06-18T18:42:24.731Z,1750272144.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423451 target range: 46.768639 and range: 47.20 m.
2025-06-18T18:42:24.913Z,1750272144.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264261
2025-06-18T18:42:25.140Z,1750272145.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.77 m.
2025-06-18T18:42:25.143Z,1750272145.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.768639 m,
nav range: 43.539299 m,
bearing: 139.566176 deg,
approach rate: -0.698418 m/s,
LOS rate: 0.005513 deg/s,
cmd heading: 138.853497 deg,
new cmd heading: 138.860517 deg.
2025-06-18T18:42:25.144Z,1750272145.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423573 target range: 46.768639 and range: 47.20 m.
2025-06-18T18:42:25.173Z,1750272145.173 [DAT](INFO): DAT read: 18:42:25.1604 LVL= 30496, 27025, 22258, 32755, AGC= 70, IDX= 398, 0.17,-2.222, 2.742,-1.806,-2.433, PHS= 0.299,-1.062, 0.623, RAW= 160.5, 1.8, CAL= 162.0, -7.0, ROT= 348.0, 7.0
2025-06-18T18:42:25.174Z,1750272145.174 [DAT](INFO): got valid direction response:
18:42:25.1604 LVL= 30496, 27025, 22258, 32755, AGC= 70, IDX= 398, 0.17,-2.222, 2.742,-1.806,-2.433, PHS= 0.299,-1.062, 0.623, RAW= 160.5, 1.8, CAL= 162.0, -7.0, ROT= 348.0, 7.0
2025-06-18T18:42:25.175Z,1750272145.175 [DAT](INFO): DAT read: Bearing 348.0, 7.0 (Local)
2025-06-18T18:42:25.175Z,1750272145.175 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.0, 7.0 (Local)
2025-06-18T18:42:25.177Z,1750272145.177 [DAT](INFO): DAT read: Range 10 to 50 : 44.7 m (Round-trip 59.6 ms) speed 0.8 m/s
2025-06-18T18:42:25.178Z,1750272145.178 [DAT](INFO): DAT read: user:1424>
2025-06-18T18:42:25.179Z,1750272145.179 [DAT](INFO): DAT read: Tx time:18:42:26.2466
2025-06-18T18:42:25.179Z,1750272145.179 [DAT](INFO): Ping request sent.
2025-06-18T18:42:25.179Z,1750272145.179 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:25.179Z,1750272145.179 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:42:25.180Z,1750272145.180 [DAT](INFO): direction in FSK: [0.970857,-0.206362,-0.121869]
2025-06-18T18:42:25.181Z,1750272145.181 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:25.181Z,1750272145.181 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:25.184Z,1750272145.184 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:25.184Z,1750272145.184 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:25.422Z,1750272145.422 [DAT](INFO): DAT read: TxSync time:18:42:26.2458
2025-06-18T18:42:25.523Z,1750272145.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 44.700001 m,
deltaT: 3.530310 s,
deltaX: -2.500000 m,
approachRate: -0.708153 m/s,
rangeRepo size: 4
2025-06-18T18:42:25.529Z,1750272145.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.291435 m,
bearing: 130.259437 deg,
lat: 36.905868 deg,
lon: -122.115739 deg,
deltaT: 3.530310 s,
deltaX: -2.477203 m,
approachRate: -0.701696 m/s,
posRepo size: 4
2025-06-18T18:42:25.530Z,1750272145.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.29 m.
2025-06-18T18:42:25.537Z,1750272145.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.291435 m,
nav range: 43.613239 m,
bearing: 133.784031 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.005513 deg/s,
cmd heading: 138.860519 deg,
new cmd heading: 138.866839 deg.
2025-06-18T18:42:25.538Z,1750272145.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423684 target range: 44.291435 and range: 44.70 m.
2025-06-18T18:42:25.963Z,1750272145.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.29 m.
2025-06-18T18:42:25.966Z,1750272145.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.291435 m,
nav range: 43.301693 m,
bearing: 133.736865 deg,
approach rate: -0.706794 m/s,
LOS rate: -0.107774 deg/s,
cmd heading: 138.866844 deg,
new cmd heading: 138.724328 deg.
2025-06-18T18:42:25.967Z,1750272145.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421196 target range: 44.291435 and range: 44.70 m.
2025-06-18T18:42:26.320Z,1750272146.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:26.322Z,1750272146.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.29 m.
2025-06-18T18:42:26.325Z,1750272146.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.291435 m,
nav range: 43.055771 m,
bearing: 133.699149 deg,
approach rate: -0.684808 m/s,
LOS rate: -0.105627 deg/s,
cmd heading: 138.724325 deg,
new cmd heading: 138.610529 deg.
2025-06-18T18:42:26.326Z,1750272146.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419210 target range: 44.291435 and range: 44.70 m.
2025-06-18T18:42:26.431Z,1750272146.431 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:42:26.431Z,1750272146.431 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:42:26.431Z,1750272146.431 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:42:26.685Z,1750272146.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505908
2025-06-18T18:42:26.721Z,1750272146.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.29 m.
2025-06-18T18:42:26.744Z,1750272146.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.291435 m,
nav range: 42.782078 m,
bearing: 133.656049 deg,
approach rate: -0.685499 m/s,
LOS rate: -0.108639 deg/s,
cmd heading: 138.610534 deg,
new cmd heading: 138.480409 deg.
2025-06-18T18:42:26.745Z,1750272146.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.416939 target range: 44.291435 and range: 44.70 m.
2025-06-18T18:42:26.938Z,1750272146.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759273
2025-06-18T18:42:27.189Z,1750272147.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009914
2025-06-18T18:42:27.191Z,1750272147.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.29 m.
2025-06-18T18:42:27.195Z,1750272147.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.291435 m,
nav range: 42.466946 m,
bearing: 133.600668 deg,
approach rate: -0.670055 m/s,
LOS rate: -0.118629 deg/s,
cmd heading: 138.480405 deg,
new cmd heading: 138.313030 deg.
2025-06-18T18:42:27.197Z,1750272147.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.414018 target range: 44.291435 and range: 44.70 m.
2025-06-18T18:42:27.441Z,1750272147.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262101
2025-06-18T18:42:27.567Z,1750272147.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.29 m.
2025-06-18T18:42:27.570Z,1750272147.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.291435 m,
nav range: 42.210629 m,
bearing: 133.555796 deg,
approach rate: -0.681604 m/s,
LOS rate: -0.120049 deg/s,
cmd heading: 138.313025 deg,
new cmd heading: 138.177592 deg.
2025-06-18T18:42:27.571Z,1750272147.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.411654 target range: 44.291435 and range: 44.70 m.
2025-06-18T18:42:27.693Z,1750272147.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513886
2025-06-18T18:42:27.945Z,1750272147.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765873
2025-06-18T18:42:28.003Z,1750272148.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.29 m.
2025-06-18T18:42:28.006Z,1750272148.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.291435 m,
nav range: 41.913887 m,
bearing: 133.498192 deg,
approach rate: -0.681630 m/s,
LOS rate: -0.133257 deg/s,
cmd heading: 138.177596 deg,
new cmd heading: 138.003560 deg.
2025-06-18T18:42:28.007Z,1750272148.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.408617 target range: 44.291435 and range: 44.70 m.
2025-06-18T18:42:28.197Z,1750272148.197 [DAT](INFO): DAT read: Rx Time:18:42:28.7071
2025-06-18T18:42:28.199Z,1750272148.199 [DAT](INFO): Rx dataTimestamp_ set to:1750272148.197869
2025-06-18T18:42:28.202Z,1750272148.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022343
2025-06-18T18:42:28.373Z,1750272148.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:28.375Z,1750272148.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.29 m.
2025-06-18T18:42:28.378Z,1750272148.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.291435 m,
nav range: 41.656677 m,
bearing: 133.448326 deg,
approach rate: -0.690722 m/s,
LOS rate: -0.134740 deg/s,
cmd heading: 138.003562 deg,
new cmd heading: 137.853040 deg.
2025-06-18T18:42:28.379Z,1750272148.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405989 target range: 44.291435 and range: 44.70 m.
2025-06-18T18:42:28.449Z,1750272148.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270090
2025-06-18T18:42:28.707Z,1750272148.707 [DAT](INFO): DAT read: 18:42:28.7072 LVL= 27232, 30353, 19154, 32755, AGC= 66, IDX= 413,-0.10,-1.117,-2.382,-0.734,-1.249, PHS= 0.219,-1.086, 0.512, RAW= 159.9, 4.9, CAL= 160.5, -4.4, ROT= 349.5, 4.4
2025-06-18T18:42:28.708Z,1750272148.708 [DAT](INFO): got valid direction response:
18:42:28.7072 LVL= 27232, 30353, 19154, 32755, AGC= 66, IDX= 413,-0.10,-1.117,-2.382,-0.734,-1.249, PHS= 0.219,-1.086, 0.512, RAW= 159.9, 4.9, CAL= 160.5, -4.4, ROT= 349.5, 4.4
2025-06-18T18:42:28.709Z,1750272148.709 [DAT](INFO): DAT read: Bearing 349.5, 4.4 (Local)
2025-06-18T18:42:28.709Z,1750272148.709 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.5, 4.4 (Local)
2025-06-18T18:42:28.710Z,1750272148.710 [DAT](INFO): DAT read: Range 10 to 50 : 42.2 m (Round-trip 56.3 ms) speed 0.6 m/s
2025-06-18T18:42:28.711Z,1750272148.711 [DAT](INFO): DAT read: user:1425>
2025-06-18T18:42:28.712Z,1750272148.712 [DAT](INFO): DAT read: Tx time:18:42:29.7967
2025-06-18T18:42:28.712Z,1750272148.712 [DAT](INFO): Ping request sent.
2025-06-18T18:42:28.712Z,1750272148.712 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:28.713Z,1750272148.713 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:42:28.714Z,1750272148.714 [DAT](INFO): direction in FSK: [0.980357,-0.181699,-0.076719]
2025-06-18T18:42:28.714Z,1750272148.714 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:28.714Z,1750272148.714 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:28.725Z,1750272148.725 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:28.725Z,1750272148.725 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:28.842Z,1750272148.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.200001 m,
deltaT: 3.533664 s,
deltaX: -2.500000 m,
approachRate: -0.707481 m/s,
rangeRepo size: 4
2025-06-18T18:42:28.857Z,1750272148.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.814178 m,
bearing: 131.268892 deg,
lat: 36.905879 deg,
lon: -122.115728 deg,
deltaT: 3.533664 s,
deltaX: -2.477257 m,
approachRate: -0.701045 m/s,
posRepo size: 4
2025-06-18T18:42:28.865Z,1750272148.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.81 m.
2025-06-18T18:42:28.883Z,1750272148.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.814178 m,
nav range: 41.353443 m,
bearing: 131.268742 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.134740 deg/s,
cmd heading: 137.853039 deg,
new cmd heading: 137.664682 deg.
2025-06-18T18:42:28.895Z,1750272148.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402702 target range: 41.814178 and range: 42.20 m.
2025-06-18T18:42:28.954Z,1750272148.954 [DAT](INFO): DAT read: TxSync time:18:42:29.7959
2025-06-18T18:42:29.213Z,1750272149.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.81 m.
2025-06-18T18:42:29.215Z,1750272149.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.814178 m,
nav range: 41.074043 m,
bearing: 131.197323 deg,
approach rate: -0.751932 m/s,
LOS rate: -0.193515 deg/s,
cmd heading: 137.664676 deg,
new cmd heading: 137.448960 deg.
2025-06-18T18:42:29.217Z,1750272149.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398937 target range: 41.814178 and range: 42.20 m.
2025-06-18T18:42:29.588Z,1750272149.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.81 m.
2025-06-18T18:42:29.591Z,1750272149.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.814178 m,
nav range: 40.816235 m,
bearing: 131.130909 deg,
approach rate: -0.687745 m/s,
LOS rate: -0.178287 deg/s,
cmd heading: 137.448965 deg,
new cmd heading: 137.248466 deg.
2025-06-18T18:42:29.592Z,1750272149.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395438 target range: 41.814178 and range: 42.20 m.
2025-06-18T18:42:30.020Z,1750272150.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.81 m.
2025-06-18T18:42:30.022Z,1750272150.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.814178 m,
nav range: 40.506481 m,
bearing: 131.054173 deg,
approach rate: -0.717135 m/s,
LOS rate: -0.179015 deg/s,
cmd heading: 137.248471 deg,
new cmd heading: 137.016505 deg.
2025-06-18T18:42:30.023Z,1750272150.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.391389 target range: 41.814178 and range: 42.20 m.
2025-06-18T18:42:30.406Z,1750272150.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:30.428Z,1750272150.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.81 m.
2025-06-18T18:42:30.431Z,1750272150.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.814178 m,
nav range: 40.228085 m,
bearing: 130.984181 deg,
approach rate: -0.716730 m/s,
LOS rate: -0.181441 deg/s,
cmd heading: 137.016504 deg,
new cmd heading: 136.805076 deg.
2025-06-18T18:42:30.444Z,1750272150.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387699 target range: 41.814178 and range: 42.20 m.
2025-06-18T18:42:30.465Z,1750272150.465 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:42:30.465Z,1750272150.465 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:42:30.465Z,1750272150.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:42:30.717Z,1750272150.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004324
2025-06-18T18:42:30.792Z,1750272150.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.81 m.
2025-06-18T18:42:30.795Z,1750272150.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.814178 m,
nav range: 39.952564 m,
bearing: 130.915106 deg,
approach rate: -0.718114 m/s,
LOS rate: -0.181279 deg/s,
cmd heading: 136.805069 deg,
new cmd heading: 136.596415 deg.
2025-06-18T18:42:30.796Z,1750272150.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384057 target range: 41.814178 and range: 42.20 m.
2025-06-18T18:42:30.969Z,1750272150.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256361
2025-06-18T18:42:31.221Z,1750272151.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508525
2025-06-18T18:42:31.230Z,1750272151.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.81 m.
2025-06-18T18:42:31.232Z,1750272151.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.814178 m,
nav range: 39.642727 m,
bearing: 130.844058 deg,
approach rate: -0.707575 m/s,
LOS rate: -0.163520 deg/s,
cmd heading: 136.596420 deg,
new cmd heading: 136.381612 deg.
2025-06-18T18:42:31.233Z,1750272151.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.380308 target range: 41.814178 and range: 42.20 m.
2025-06-18T18:42:31.473Z,1750272151.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760730
2025-06-18T18:42:31.618Z,1750272151.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.81 m.
2025-06-18T18:42:31.626Z,1750272151.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.814178 m,
nav range: 39.377949 m,
bearing: 130.782986 deg,
approach rate: -0.714666 m/s,
LOS rate: -0.165949 deg/s,
cmd heading: 136.381611 deg,
new cmd heading: 136.197163 deg.
2025-06-18T18:42:31.627Z,1750272151.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.377089 target range: 41.814178 and range: 42.20 m.
2025-06-18T18:42:31.725Z,1750272151.725 [DAT](INFO): DAT read: Rx Time:18:42:32.2538
2025-06-18T18:42:31.725Z,1750272151.725 [DAT](INFO): Rx dataTimestamp_ set to:1750272151.725094
2025-06-18T18:42:31.726Z,1750272151.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013420
2025-06-18T18:42:31.977Z,1750272151.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264643
2025-06-18T18:42:32.071Z,1750272152.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.81 m.
2025-06-18T18:42:32.074Z,1750272152.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.814178 m,
nav range: 39.052841 m,
bearing: 130.710098 deg,
approach rate: -0.689964 m/s,
LOS rate: -0.155975 deg/s,
cmd heading: 136.197169 deg,
new cmd heading: 135.976685 deg.
2025-06-18T18:42:32.075Z,1750272152.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373241 target range: 41.814178 and range: 42.20 m.
2025-06-18T18:42:32.235Z,1750272152.235 [DAT](INFO): DAT read: 18:42:32.2538 LVL= 26800, 32753, 18402, 32579, AGC= 67, IDX= 410, 0.03, 0.332,-0.964, 0.794, 0.159, PHS= 0.261,-1.076, 0.632, RAW= 161.9, 2.4, CAL= 163.1, -6.5, ROT= 346.9, 6.5
2025-06-18T18:42:32.236Z,1750272152.236 [DAT](INFO): got valid direction response:
18:42:32.2538 LVL= 26800, 32753, 18402, 32579, AGC= 67, IDX= 410, 0.03, 0.332,-0.964, 0.794, 0.159, PHS= 0.261,-1.076, 0.632, RAW= 161.9, 2.4, CAL= 163.1, -6.5, ROT= 346.9, 6.5
2025-06-18T18:42:32.237Z,1750272152.237 [DAT](INFO): DAT read: Bearing 346.9, 6.5 (Local)
2025-06-18T18:42:32.237Z,1750272152.237 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.9, 6.5 (Local)
2025-06-18T18:42:32.239Z,1750272152.239 [DAT](INFO): DAT read: Range 10 to 50 : 39.6 m (Round-trip 52.9 ms) speed 0.6 m/s
2025-06-18T18:42:32.240Z,1750272152.240 [DAT](INFO): DAT read: user:1426>
2025-06-18T18:42:32.249Z,1750272152.249 [DAT](INFO): DAT read: Tx time:18:42:33.3467
2025-06-18T18:42:32.250Z,1750272152.250 [DAT](INFO): Ping request sent.
2025-06-18T18:42:32.250Z,1750272152.250 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:32.250Z,1750272152.250 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:42:32.251Z,1750272152.251 [DAT](INFO): direction in FSK: [0.967715,-0.225195,-0.113203]
2025-06-18T18:42:32.251Z,1750272152.251 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:32.252Z,1750272152.252 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:32.255Z,1750272152.255 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:32.255Z,1750272152.255 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:32.429Z,1750272152.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.599998 m,
deltaT: 3.528080 s,
deltaX: -2.600002 m,
approachRate: -0.736945 m/s,
rangeRepo size: 4
2025-06-18T18:42:32.431Z,1750272152.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.237926 m,
bearing: 128.041450 deg,
lat: 36.905883 deg,
lon: -122.115723 deg,
deltaT: 3.528080 s,
deltaX: -2.576252 m,
approachRate: -0.730214 m/s,
posRepo size: 4
2025-06-18T18:42:32.436Z,1750272152.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.24 m.
2025-06-18T18:42:32.439Z,1750272152.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.237926 m,
nav range: 38.769165 m,
bearing: 129.675047 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.155975 deg/s,
cmd heading: 135.976690 deg,
new cmd heading: 135.809617 deg.
2025-06-18T18:42:32.446Z,1750272152.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.370325 target range: 39.237926 and range: 39.60 m.
2025-06-18T18:42:32.482Z,1750272152.482 [DAT](INFO): DAT read: TxSync time:18:42:33.3459
2025-06-18T18:42:32.814Z,1750272152.814 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-18T18:42:32.815Z,1750272152.815 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-18T18:42:32.815Z,1750272152.815 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-18T18:42:32.817Z,1750272152.817 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.599998 m (mode 2.000000 count ).
2025-06-18T18:42:32.817Z,1750272152.817 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-18T18:42:32.817Z,1750272152.817 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-18T18:42:32.818Z,1750272152.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:32.820Z,1750272152.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.24 m.
2025-06-18T18:42:32.823Z,1750272152.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.237926 m,
nav range: 38.477142 m,
bearing: 129.601341 deg,
approach rate: -0.745700 m/s,
LOS rate: -0.189643 deg/s,
cmd heading: 135.809624 deg,
new cmd heading: 135.586827 deg.
2025-06-18T18:42:32.824Z,1750272152.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.366436 target range: 39.237926 and range: 39.60 m.
2025-06-18T18:42:32.985Z,1750272152.985 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:42:32.985Z,1750272152.985 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:42:32.985Z,1750272152.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:42:33.237Z,1750272153.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987163
2025-06-18T18:42:33.251Z,1750272153.251 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-18T18:42:33.251Z,1750272153.251 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-18T18:42:33.254Z,1750272153.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.24 m.
2025-06-18T18:42:33.257Z,1750272153.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.237926 m,
nav range: 38.164368 m,
bearing: 129.525100 deg,
approach rate: -0.720765 m/s,
LOS rate: -0.177130 deg/s,
cmd heading: 135.586823 deg,
new cmd heading: 135.356228 deg.
2025-06-18T18:42:33.258Z,1750272153.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.362412 target range: 39.237926 and range: 39.60 m.
2025-06-18T18:42:33.490Z,1750272153.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240191
2025-06-18T18:42:33.623Z,1750272153.623 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-18T18:42:33.623Z,1750272153.623 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-18T18:42:33.625Z,1750272153.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.24 m.
2025-06-18T18:42:33.628Z,1750272153.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.237926 m,
nav range: 37.898621 m,
bearing: 129.460439 deg,
approach rate: -0.715738 m/s,
LOS rate: -0.175373 deg/s,
cmd heading: 135.356222 deg,
new cmd heading: 135.160879 deg.
2025-06-18T18:42:33.629Z,1750272153.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.359002 target range: 39.237926 and range: 39.60 m.
2025-06-18T18:42:33.741Z,1750272153.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491228
2025-06-18T18:42:33.995Z,1750272153.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744951
2025-06-18T18:42:34.061Z,1750272154.061 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-18T18:42:34.061Z,1750272154.061 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-18T18:42:34.061Z,1750272154.061 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-18T18:42:34.061Z,1750272154.061 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-18T18:42:34.063Z,1750272154.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.24 m.
2025-06-18T18:42:34.067Z,1750272154.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.237926 m,
nav range: 37.589298 m,
bearing: 129.390273 deg,
approach rate: -0.705998 m/s,
LOS rate: -0.161466 deg/s,
cmd heading: 135.160879 deg,
new cmd heading: 134.948648 deg.
2025-06-18T18:42:34.068Z,1750272154.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.355298 target range: 39.237926 and range: 39.60 m.
2025-06-18T18:42:34.249Z,1750272154.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999235
2025-06-18T18:42:34.441Z,1750272154.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.24 m.
2025-06-18T18:42:34.444Z,1750272154.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.237926 m,
nav range: 37.321503 m,
bearing: 129.330487 deg,
approach rate: -0.708401 m/s,
LOS rate: -0.159285 deg/s,
cmd heading: 134.948651 deg,
new cmd heading: 134.768009 deg.
2025-06-18T18:42:34.445Z,1750272154.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.352145 target range: 39.237926 and range: 39.60 m.
2025-06-18T18:42:34.498Z,1750272154.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247912
2025-06-18T18:42:34.749Z,1750272154.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499079
2025-06-18T18:42:34.836Z,1750272154.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:34.838Z,1750272154.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.24 m.
2025-06-18T18:42:34.841Z,1750272154.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.237926 m,
nav range: 37.041042 m,
bearing: 129.269342 deg,
approach rate: -0.706577 m/s,
LOS rate: -0.155213 deg/s,
cmd heading: 134.768006 deg,
new cmd heading: 134.583181 deg.
2025-06-18T18:42:34.842Z,1750272154.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.348920 target range: 39.237926 and range: 39.60 m.
2025-06-18T18:42:35.004Z,1750272155.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753531
2025-06-18T18:42:35.253Z,1750272155.253 [DAT](INFO): DAT read: Rx Time:18:42:35.8004
2025-06-18T18:42:35.253Z,1750272155.253 [DAT](INFO): Rx dataTimestamp_ set to:1750272155.253198
2025-06-18T18:42:35.254Z,1750272155.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004357
2025-06-18T18:42:35.267Z,1750272155.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.24 m.
2025-06-18T18:42:35.316Z,1750272155.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.237926 m,
nav range: 36.740768 m,
bearing: 129.205224 deg,
approach rate: -0.699631 m/s,
LOS rate: -0.150613 deg/s,
cmd heading: 134.583181 deg,
new cmd heading: 134.389257 deg.
2025-06-18T18:42:35.317Z,1750272155.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.345535 target range: 39.237926 and range: 39.60 m.
2025-06-18T18:42:35.505Z,1750272155.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255054
2025-06-18T18:42:35.663Z,1750272155.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.24 m.
2025-06-18T18:42:35.666Z,1750272155.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.237926 m,
nav range: 36.463970 m,
bearing: 129.145174 deg,
approach rate: -0.699019 m/s,
LOS rate: -0.152800 deg/s,
cmd heading: 134.389258 deg,
new cmd heading: 134.207742 deg.
2025-06-18T18:42:35.667Z,1750272155.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342367 target range: 39.237926 and range: 39.60 m.
2025-06-18T18:42:35.763Z,1750272155.763 [DAT](INFO): DAT read: 18:42:35.8004 LVL= 19856, 28289, 14530, 32755, AGC= 66, IDX= 408,-0.22, 0.391,-0.895, 0.702, 0.149, PHS= 0.330,-0.997, 0.550, RAW= 157.6, 1.6, CAL= 159.5, -7.2, ROT= 350.5, 7.2
2025-06-18T18:42:35.765Z,1750272155.765 [DAT](INFO): got valid direction response:
18:42:35.8004 LVL= 19856, 28289, 14530, 32755, AGC= 66, IDX= 408,-0.22, 0.391,-0.895, 0.702, 0.149, PHS= 0.330,-0.997, 0.550, RAW= 157.6, 1.6, CAL= 159.5, -7.2, ROT= 350.5, 7.2
2025-06-18T18:42:35.766Z,1750272155.766 [DAT](INFO): DAT read: Bearing 350.5, 7.2 (Local)
2025-06-18T18:42:35.766Z,1750272155.766 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.5, 7.2 (Local)
2025-06-18T18:42:35.769Z,1750272155.769 [DAT](INFO): DAT read: Range 10 to 50 : 37.2 m (Round-trip 49.6 ms) speed 0.6 m/s
2025-06-18T18:42:35.770Z,1750272155.770 [DAT](INFO): DAT read: user:1427>
2025-06-18T18:42:35.771Z,1750272155.771 [DAT](INFO): DAT read: Tx time:18:42:36.8967
2025-06-18T18:42:35.771Z,1750272155.771 [DAT](INFO): Ping request sent.
2025-06-18T18:42:35.772Z,1750272155.772 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:35.777Z,1750272155.777 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:42:35.778Z,1750272155.778 [DAT](INFO): direction in FSK: [0.978508,-0.163746,-0.125333]
2025-06-18T18:42:35.779Z,1750272155.779 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:35.779Z,1750272155.779 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:35.793Z,1750272155.793 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:35.793Z,1750272155.793 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:36.012Z,1750272156.012 [DAT](INFO): DAT read: TxSync time:18:42:36.8959
2025-06-18T18:42:36.146Z,1750272156.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.200001 m,
deltaT: 3.528577 s,
deltaX: -2.399998 m,
approachRate: -0.680160 m/s,
rangeRepo size: 4
2025-06-18T18:42:36.152Z,1750272156.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.859840 m,
bearing: 129.759982 deg,
lat: 36.905883 deg,
lon: -122.115723 deg,
deltaT: 3.528577 s,
deltaX: -2.378086 m,
approachRate: -0.673950 m/s,
posRepo size: 4
2025-06-18T18:42:36.153Z,1750272156.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.86 m.
2025-06-18T18:42:36.155Z,1750272156.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.859840 m,
nav range: 36.144325 m,
bearing: 129.081559 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.152800 deg/s,
cmd heading: 134.207739 deg,
new cmd heading: 133.986861 deg.
2025-06-18T18:42:36.161Z,1750272156.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.338512 target range: 36.859840 and range: 37.20 m.
2025-06-18T18:42:36.469Z,1750272156.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.86 m.
2025-06-18T18:42:36.472Z,1750272156.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.859840 m,
nav range: 35.922855 m,
bearing: 129.037770 deg,
approach rate: -0.683290 m/s,
LOS rate: -0.135935 deg/s,
cmd heading: 133.986865 deg,
new cmd heading: 133.854686 deg.
2025-06-18T18:42:36.473Z,1750272156.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336205 target range: 36.859840 and range: 37.20 m.
2025-06-18T18:42:36.874Z,1750272156.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:36.877Z,1750272156.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.86 m.
2025-06-18T18:42:36.887Z,1750272156.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.859840 m,
nav range: 35.634632 m,
bearing: 128.979992 deg,
approach rate: -0.706705 m/s,
LOS rate: -0.142812 deg/s,
cmd heading: 133.854687 deg,
new cmd heading: 133.679954 deg.
2025-06-18T18:42:36.889Z,1750272156.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333155 target range: 36.859840 and range: 37.20 m.
2025-06-18T18:42:37.019Z,1750272157.019 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:42:37.020Z,1750272157.020 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:42:37.021Z,1750272157.021 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-18T18:42:37.269Z,1750272157.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497306
2025-06-18T18:42:37.290Z,1750272157.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.86 m.
2025-06-18T18:42:37.293Z,1750272157.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.859840 m,
nav range: 35.343090 m,
bearing: 128.922492 deg,
approach rate: -0.705450 m/s,
LOS rate: -0.140283 deg/s,
cmd heading: 133.679957 deg,
new cmd heading: 133.506033 deg.
2025-06-18T18:42:37.294Z,1750272157.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330120 target range: 36.859840 and range: 37.20 m.
2025-06-18T18:42:37.521Z,1750272157.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749265
2025-06-18T18:42:37.690Z,1750272157.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.86 m.
2025-06-18T18:42:37.693Z,1750272157.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.859840 m,
nav range: 35.073204 m,
bearing: 128.869971 deg,
approach rate: -0.675492 m/s,
LOS rate: -0.132464 deg/s,
cmd heading: 133.506033 deg,
new cmd heading: 133.347260 deg.
2025-06-18T18:42:37.694Z,1750272157.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327349 target range: 36.859840 and range: 37.20 m.
2025-06-18T18:42:37.774Z,1750272157.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001996
2025-06-18T18:42:38.028Z,1750272158.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255929
2025-06-18T18:42:38.136Z,1750272158.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.86 m.
2025-06-18T18:42:38.139Z,1750272158.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.859840 m,
nav range: 34.765297 m,
bearing: 128.802550 deg,
approach rate: -0.689839 m/s,
LOS rate: -0.152388 deg/s,
cmd heading: 133.347258 deg,
new cmd heading: 133.143206 deg.
2025-06-18T18:42:38.144Z,1750272158.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323787 target range: 36.859840 and range: 37.20 m.
2025-06-18T18:42:38.277Z,1750272158.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505215
2025-06-18T18:42:38.508Z,1750272158.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.86 m.
2025-06-18T18:42:38.511Z,1750272158.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.859840 m,
nav range: 34.495338 m,
bearing: 128.742440 deg,
approach rate: -0.727073 m/s,
LOS rate: -0.163161 deg/s,
cmd heading: 133.143200 deg,
new cmd heading: 132.961458 deg.
2025-06-18T18:42:38.512Z,1750272158.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320615 target range: 36.859840 and range: 37.20 m.
2025-06-18T18:42:38.530Z,1750272158.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758191
2025-06-18T18:42:38.781Z,1750272158.781 [DAT](INFO): DAT read: Rx Time:18:42:39.3470
2025-06-18T18:42:38.781Z,1750272158.781 [DAT](INFO): Rx dataTimestamp_ set to:1750272158.781025
2025-06-18T18:42:38.783Z,1750272158.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010810
2025-06-18T18:42:38.898Z,1750272158.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:38.900Z,1750272158.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.86 m.
2025-06-18T18:42:38.902Z,1750272158.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.859840 m,
nav range: 34.222515 m,
bearing: 128.684151 deg,
approach rate: -0.696008 m/s,
LOS rate: -0.149890 deg/s,
cmd heading: 132.961462 deg,
new cmd heading: 132.785200 deg.
2025-06-18T18:42:38.903Z,1750272158.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.317539 target range: 36.859840 and range: 37.20 m.
2025-06-18T18:42:39.035Z,1750272159.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262974
2025-06-18T18:42:39.294Z,1750272159.294 [DAT](INFO): DAT read: 18:42:39.3471 LVL= 21744, 32753, 17842, 32755, AGC= 66, IDX= 405,-0.04,-2.025, 2.923,-1.843,-2.295, PHS= 0.358,-1.019, 0.449, RAW= 153.2, 3.0, CAL= 155.1, -5.9, ROT= 354.9, 5.9
2025-06-18T18:42:39.295Z,1750272159.295 [DAT](INFO): got valid direction response:
18:42:39.3471 LVL= 21744, 32753, 17842, 32755, AGC= 66, IDX= 405,-0.04,-2.025, 2.923,-1.843,-2.295, PHS= 0.358,-1.019, 0.449, RAW= 153.2, 3.0, CAL= 155.1, -5.9, ROT= 354.9, 5.9
2025-06-18T18:42:39.296Z,1750272159.296 [DAT](INFO): DAT read: Bearing 354.9, 5.9 (Local)
2025-06-18T18:42:39.296Z,1750272159.296 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.9, 5.9 (Local)
2025-06-18T18:42:39.298Z,1750272159.298 [DAT](INFO): DAT read: Range 10 to 50 : 34.5 m (Round-trip 46.1 ms) speed 0.6 m/s
2025-06-18T18:42:39.298Z,1750272159.298 [DAT](INFO): DAT read: user:1428>
2025-06-18T18:42:39.299Z,1750272159.299 [DAT](INFO): DAT read: Tx time:18:42:40.4468
2025-06-18T18:42:39.299Z,1750272159.299 [DAT](INFO): Ping request sent.
2025-06-18T18:42:39.299Z,1750272159.299 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:39.304Z,1750272159.304 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-18T18:42:39.305Z,1750272159.305 [DAT](INFO): direction in FSK: [0.990765,-0.088424,-0.102793]
2025-06-18T18:42:39.305Z,1750272159.305 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:39.306Z,1750272159.306 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:39.313Z,1750272159.313 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:39.313Z,1750272159.313 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:39.329Z,1750272159.329 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.029197
2025-06-18T18:42:39.454Z,1750272159.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.500000 m,
deltaT: 3.528727 s,
deltaX: -2.700001 m,
approachRate: -0.765149 m/s,
rangeRepo size: 4
2025-06-18T18:42:39.461Z,1750272159.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.184486 m,
bearing: 132.590821 deg,
lat: 36.905879 deg,
lon: -122.115725 deg,
deltaT: 3.528727 s,
deltaX: -2.675354 m,
approachRate: -0.758164 m/s,
posRepo size: 4
2025-06-18T18:42:39.462Z,1750272159.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-06-18T18:42:39.471Z,1750272159.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.184486 m,
nav range: 34.031277 m,
bearing: 129.328424 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.149890 deg/s,
cmd heading: 132.785202 deg,
new cmd heading: 132.535992 deg.
2025-06-18T18:42:39.480Z,1750272159.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313190 target range: 34.184486 and range: 34.50 m.
2025-06-18T18:42:39.538Z,1750272159.538 [DAT](INFO): DAT read: TxSync time:18:42:40.4460
2025-06-18T18:42:39.539Z,1750272159.539 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.239690
2025-06-18T18:42:39.767Z,1750272159.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-06-18T18:42:39.774Z,1750272159.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.184486 m,
nav range: 33.806370 m,
bearing: 129.284648 deg,
approach rate: -0.718484 m/s,
LOS rate: -0.140777 deg/s,
cmd heading: 132.535996 deg,
new cmd heading: 132.403794 deg.
2025-06-18T18:42:39.775Z,1750272159.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310882 target range: 34.184486 and range: 34.50 m.
2025-06-18T18:42:39.789Z,1750272159.789 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.489376
2025-06-18T18:42:40.047Z,1750272160.047 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.747338
2025-06-18T18:42:40.166Z,1750272160.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-06-18T18:42:40.170Z,1750272160.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.184486 m,
nav range: 33.515144 m,
bearing: 129.220613 deg,
approach rate: -0.728811 m/s,
LOS rate: -0.161644 deg/s,
cmd heading: 132.403791 deg,
new cmd heading: 132.210018 deg.
2025-06-18T18:42:40.171Z,1750272160.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307500 target range: 34.184486 and range: 34.50 m.
2025-06-18T18:42:40.294Z,1750272160.294 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.994296
2025-06-18T18:42:40.545Z,1750272160.545 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.245465
2025-06-18T18:42:40.558Z,1750272160.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-06-18T18:42:40.561Z,1750272160.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.184486 m,
nav range: 33.236572 m,
bearing: 129.160190 deg,
approach rate: -0.711674 m/s,
LOS rate: -0.155656 deg/s,
cmd heading: 132.210018 deg,
new cmd heading: 132.027232 deg.
2025-06-18T18:42:40.562Z,1750272160.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304310 target range: 34.184486 and range: 34.50 m.
2025-06-18T18:42:40.797Z,1750272160.797 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.497235
2025-06-18T18:42:40.957Z,1750272160.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:40.959Z,1750272160.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-06-18T18:42:40.962Z,1750272160.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.184486 m,
nav range: 32.950405 m,
bearing: 129.098788 deg,
approach rate: -0.713127 m/s,
LOS rate: -0.154344 deg/s,
cmd heading: 132.027229 deg,
new cmd heading: 131.841422 deg.
2025-06-18T18:42:40.963Z,1750272160.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301067 target range: 34.184486 and range: 34.50 m.
2025-06-18T18:42:41.058Z,1750272161.058 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.757882
2025-06-18T18:42:41.305Z,1750272161.305 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.005266
2025-06-18T18:42:41.388Z,1750272161.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-06-18T18:42:41.391Z,1750272161.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.184486 m,
nav range: 32.643166 m,
bearing: 129.020746 deg,
approach rate: -0.716987 m/s,
LOS rate: -0.183836 deg/s,
cmd heading: 131.841420 deg,
new cmd heading: 131.605092 deg.
2025-06-18T18:42:41.392Z,1750272161.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296942 target range: 34.184486 and range: 34.50 m.
2025-06-18T18:42:41.557Z,1750272161.557 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.257194
2025-06-18T18:42:41.778Z,1750272161.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-06-18T18:42:41.781Z,1750272161.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.184486 m,
nav range: 32.365398 m,
bearing: 128.948901 deg,
approach rate: -0.711066 m/s,
LOS rate: -0.185497 deg/s,
cmd heading: 131.605096 deg,
new cmd heading: 131.387712 deg.
2025-06-18T18:42:41.782Z,1750272161.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.293148 target range: 34.184486 and range: 34.50 m.
2025-06-18T18:42:41.809Z,1750272161.809 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.509173
2025-06-18T18:42:42.066Z,1750272162.066 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.765749
2025-06-18T18:42:42.214Z,1750272162.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-06-18T18:42:42.217Z,1750272162.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.184486 m,
nav range: 32.055126 m,
bearing: 128.865796 deg,
approach rate: -0.711666 m/s,
LOS rate: -0.192461 deg/s,
cmd heading: 131.387718 deg,
new cmd heading: 131.135992 deg.
2025-06-18T18:42:42.218Z,1750272162.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288755 target range: 34.184486 and range: 34.50 m.
2025-06-18T18:42:42.317Z,1750272162.317 [DAT](INFO): DAT read: Rx Time:18:42:42.8938
2025-06-18T18:42:42.318Z,1750272162.318 [DAT](INFO): Rx dataTimestamp_ set to:1750272162.317529
2025-06-18T18:42:42.318Z,1750272162.318 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.018825
2025-06-18T18:42:42.570Z,1750272162.570 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.270805
2025-06-18T18:42:42.588Z,1750272162.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m.
2025-06-18T18:42:42.591Z,1750272162.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.184486 m,
nav range: 31.803761 m,
bearing: 128.798687 deg,
approach rate: -0.680380 m/s,
LOS rate: -0.183082 deg/s,
cmd heading: 131.135998 deg,
new cmd heading: 130.933081 deg.
2025-06-18T18:42:42.596Z,1750272162.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.285213 target range: 34.184486 and range: 34.50 m.
2025-06-18T18:42:42.835Z,1750272162.835 [DAT](INFO): DAT read: 18:42:42.8938 LVL= 29520, 28145, 21298, 32755, AGC= 65, IDX= 402, 0.22, 1.623, 0.173, 1.698, 1.286, PHS= 0.425,-1.066, 0.409, RAW= 149.5, 3.2, CAL= 151.8, -5.7, ROT= 358.2, 5.7
2025-06-18T18:42:42.836Z,1750272162.836 [DAT](INFO): got valid direction response:
18:42:42.8938 LVL= 29520, 28145, 21298, 32755, AGC= 65, IDX= 402, 0.22, 1.623, 0.173, 1.698, 1.286, PHS= 0.425,-1.066, 0.409, RAW= 149.5, 3.2, CAL= 151.8, -5.7, ROT= 358.2, 5.7
2025-06-18T18:42:42.837Z,1750272162.837 [DAT](INFO): DAT read: Bearing 358.2, 5.7 (Local)
2025-06-18T18:42:42.837Z,1750272162.837 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.2, 5.7 (Local)
2025-06-18T18:42:42.839Z,1750272162.839 [DAT](INFO): DAT read: Range 10 to 50 : 32.1 m (Round-trip 42.8 ms) speed 0.8 m/s
2025-06-18T18:42:42.840Z,1750272162.840 [DAT](INFO): DAT read: user:1429>
2025-06-18T18:42:42.841Z,1750272162.841 [DAT](INFO): DAT read: Tx time:18:42:43.9968
2025-06-18T18:42:42.841Z,1750272162.841 [DAT](INFO): Ping request sent.
2025-06-18T18:42:42.841Z,1750272162.841 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:42.841Z,1750272162.841 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-18T18:42:42.842Z,1750272162.842 [DAT](INFO): direction in FSK: [0.994565,-0.031255,-0.099320]
2025-06-18T18:42:42.842Z,1750272162.842 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:42.843Z,1750272162.843 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:42.846Z,1750272162.846 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:42.846Z,1750272162.846 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:42.850Z,1750272162.850 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.008569
2025-06-18T18:42:43.008Z,1750272163.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.099998 m,
deltaT: 3.536347 s,
deltaX: -2.400002 m,
approachRate: -0.678667 m/s,
rangeRepo size: 4
2025-06-18T18:42:43.010Z,1750272163.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.806475 m,
bearing: 134.061162 deg,
lat: 36.905879 deg,
lon: -122.115728 deg,
deltaT: 3.536347 s,
deltaX: -2.378012 m,
approachRate: -0.672449 m/s,
posRepo size: 4
2025-06-18T18:42:43.011Z,1750272163.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.81 m.
2025-06-18T18:42:43.023Z,1750272163.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.806475 m,
nav range: 31.336163 m,
bearing: 129.142004 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.183082 deg/s,
cmd heading: 130.933087 deg,
new cmd heading: 130.702593 deg.
2025-06-18T18:42:43.025Z,1750272163.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281191 target range: 31.806475 and range: 32.10 m.
2025-06-18T18:42:43.076Z,1750272163.076 [DAT](INFO): DAT read: TxSync time:18:42:43.9960
2025-06-18T18:42:43.079Z,1750272163.079 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.237477
2025-06-18T18:42:43.326Z,1750272163.326 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.485234
2025-06-18T18:42:43.406Z,1750272163.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:43.424Z,1750272163.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.81 m.
2025-06-18T18:42:43.427Z,1750272163.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.806475 m,
nav range: 31.040627 m,
bearing: 129.073000 deg,
approach rate: -0.730464 m/s,
LOS rate: -0.172179 deg/s,
cmd heading: 130.702596 deg,
new cmd heading: 130.493613 deg.
2025-06-18T18:42:43.432Z,1750272163.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277543 target range: 31.806475 and range: 32.10 m.
2025-06-18T18:42:43.577Z,1750272163.577 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.735841
2025-06-18T18:42:43.796Z,1750272163.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.81 m.
2025-06-18T18:42:43.799Z,1750272163.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.806475 m,
nav range: 30.778551 m,
bearing: 129.011135 deg,
approach rate: -0.674777 m/s,
LOS rate: -0.160642 deg/s,
cmd heading: 130.493619 deg,
new cmd heading: 130.306445 deg.
2025-06-18T18:42:43.804Z,1750272163.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.274276 target range: 31.806475 and range: 32.10 m.
2025-06-18T18:42:43.829Z,1750272163.829 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.987914
2025-06-18T18:42:44.081Z,1750272164.081 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.239796
2025-06-18T18:42:44.223Z,1750272164.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.81 m.
2025-06-18T18:42:44.230Z,1750272164.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.806475 m,
nav range: 30.480921 m,
bearing: 128.947372 deg,
approach rate: -0.697422 m/s,
LOS rate: -0.150873 deg/s,
cmd heading: 130.306445 deg,
new cmd heading: 130.113286 deg.
2025-06-18T18:42:44.231Z,1750272164.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270905 target range: 31.806475 and range: 32.10 m.
2025-06-18T18:42:44.333Z,1750272164.333 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.492193
2025-06-18T18:42:44.585Z,1750272164.585 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.743869
2025-06-18T18:42:44.591Z,1750272164.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.81 m.
2025-06-18T18:42:44.594Z,1750272164.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.806475 m,
nav range: 30.214348 m,
bearing: 128.891072 deg,
approach rate: -0.724013 m/s,
LOS rate: -0.154258 deg/s,
cmd heading: 130.113287 deg,
new cmd heading: 129.942899 deg.
2025-06-18T18:42:44.595Z,1750272164.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.267931 target range: 31.806475 and range: 32.10 m.
2025-06-18T18:42:44.837Z,1750272164.837 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.995780
2025-06-18T18:42:44.992Z,1750272164.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.81 m.
2025-06-18T18:42:44.995Z,1750272164.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.806475 m,
nav range: 29.933119 m,
bearing: 128.833447 deg,
approach rate: -0.701111 m/s,
LOS rate: -0.145012 deg/s,
cmd heading: 129.942901 deg,
new cmd heading: 129.768400 deg.
2025-06-18T18:42:44.997Z,1750272164.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.264886 target range: 31.806475 and range: 32.10 m.
2025-06-18T18:42:45.092Z,1750272165.092 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.250601
2025-06-18T18:42:45.341Z,1750272165.341 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.499683
2025-06-18T18:42:45.429Z,1750272165.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:45.431Z,1750272165.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.81 m.
2025-06-18T18:42:45.434Z,1750272165.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.806475 m,
nav range: 29.630857 m,
bearing: 128.779533 deg,
approach rate: -0.689418 m/s,
LOS rate: -0.124223 deg/s,
cmd heading: 129.768403 deg,
new cmd heading: 129.605014 deg.
2025-06-18T18:42:45.435Z,1750272165.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262034 target range: 31.806475 and range: 32.10 m.
2025-06-18T18:42:45.593Z,1750272165.593 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.751872
2025-06-18T18:42:45.815Z,1750272165.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.81 m.
2025-06-18T18:42:45.818Z,1750272165.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.806475 m,
nav range: 29.366499 m,
bearing: 128.734044 deg,
approach rate: -0.687807 m/s,
LOS rate: -0.119420 deg/s,
cmd heading: 129.605012 deg,
new cmd heading: 129.467315 deg.
2025-06-18T18:42:45.819Z,1750272165.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.259631 target range: 31.806475 and range: 32.10 m.
2025-06-18T18:42:45.845Z,1750272165.845 [DAT](INFO): DAT read: Rx Time:18:42:46.4404
2025-06-18T18:42:45.845Z,1750272165.845 [DAT](INFO): Rx dataTimestamp_ set to:1750272165.845147
2025-06-18T18:42:45.846Z,1750272165.846 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.004990
2025-06-18T18:42:46.099Z,1750272166.099 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.257291
2025-06-18T18:42:46.251Z,1750272166.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.81 m.
2025-06-18T18:42:46.255Z,1750272166.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.806475 m,
nav range: 29.061380 m,
bearing: 128.691795 deg,
approach rate: -0.699922 m/s,
LOS rate: -0.097934 deg/s,
cmd heading: 129.467315 deg,
new cmd heading: 129.339237 deg.
2025-06-18T18:42:46.256Z,1750272166.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257396 target range: 31.806475 and range: 32.10 m.
2025-06-18T18:42:46.352Z,1750272166.352 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.510643
2025-06-18T18:42:46.607Z,1750272166.607 [DAT](INFO): DAT read: 18:42:46.4404 LVL= 25456, 32753, 22978, 32755, AGC= 65, IDX= 400,-0.20,-1.932, 3.009,-2.042,-2.211, PHS= 0.367,-1.015, 0.167, RAW= 142.3, 7.5, CAL= 145.1, -0.3, ROT= 4.9, 0.3
2025-06-18T18:42:46.608Z,1750272166.608 [DAT](INFO): got valid direction response:
18:42:46.4404 LVL= 25456, 32753, 22978, 32755, AGC= 65, IDX= 400,-0.20,-1.932, 3.009,-2.042,-2.211, PHS= 0.367,-1.015, 0.167, RAW= 142.3, 7.5, CAL= 145.1, -0.3, ROT= 4.9, 0.3
2025-06-18T18:42:46.610Z,1750272166.610 [DAT](INFO): DAT read: Bearing 4.9, 0.3 (Local)
2025-06-18T18:42:46.610Z,1750272166.610 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.9, 0.3 (Local)
2025-06-18T18:42:46.611Z,1750272166.611 [DAT](INFO): DAT read: Range 10 to 50 : 29.5 m (Round-trip 39.4 ms) speed 0.6 m/s
2025-06-18T18:42:46.612Z,1750272166.612 [DAT](INFO): DAT read: user:1430>
2025-06-18T18:42:46.613Z,1750272166.613 [DAT](INFO): DAT read: Tx time:18:42:47.5468
2025-06-18T18:42:46.613Z,1750272166.613 [DAT](INFO): Ping request sent.
2025-06-18T18:42:46.613Z,1750272166.613 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:46.614Z,1750272166.614 [DAT](INFO): DAT read: TxSync time:18:42:47.5460
2025-06-18T18:42:46.615Z,1750272166.615 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-18T18:42:46.624Z,1750272166.624 [DAT](INFO): direction in FSK: [0.996332,0.085416,-0.005236]
2025-06-18T18:42:46.624Z,1750272166.624 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:46.625Z,1750272166.625 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:46.633Z,1750272166.633 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:46.633Z,1750272166.633 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:46.652Z,1750272166.652 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.038770
2025-06-18T18:42:46.654Z,1750272166.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.500000 m,
deltaT: 3.778460 s,
deltaX: -2.599998 m,
approachRate: -0.688111 m/s,
rangeRepo size: 4
2025-06-18T18:42:46.660Z,1750272166.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.230160 m,
bearing: 138.628625 deg,
lat: 36.905867 deg,
lon: -122.115740 deg,
deltaT: 3.778460 s,
deltaX: -2.576315 m,
approachRate: -0.681843 m/s,
posRepo size: 4
2025-06-18T18:42:46.661Z,1750272166.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.23 m.
2025-06-18T18:42:46.663Z,1750272166.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.230160 m,
nav range: 28.775471 m,
bearing: 132.030699 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.097934 deg/s,
cmd heading: 129.339235 deg,
new cmd heading: 129.222713 deg.
2025-06-18T18:42:46.669Z,1750272166.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255362 target range: 29.230160 and range: 29.50 m.
2025-06-18T18:42:46.853Z,1750272166.853 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.239926
2025-06-18T18:42:47.043Z,1750272167.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.23 m.
2025-06-18T18:42:47.050Z,1750272167.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.230160 m,
nav range: 28.497532 m,
bearing: 132.028204 deg,
approach rate: -0.702400 m/s,
LOS rate: -0.006365 deg/s,
cmd heading: 129.222712 deg,
new cmd heading: 129.215156 deg.
2025-06-18T18:42:47.051Z,1750272167.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255230 target range: 29.230160 and range: 29.50 m.
2025-06-18T18:42:47.106Z,1750272167.106 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.492092
2025-06-18T18:42:47.357Z,1750272167.357 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.743431
2025-06-18T18:42:47.441Z,1750272167.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:47.443Z,1750272167.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.23 m.
2025-06-18T18:42:47.462Z,1750272167.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.230160 m,
nav range: 28.213459 m,
bearing: 132.031721 deg,
approach rate: -0.711297 m/s,
LOS rate: 0.008893 deg/s,
cmd heading: 129.215158 deg,
new cmd heading: 129.225813 deg.
2025-06-18T18:42:47.463Z,1750272167.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255416 target range: 29.230160 and range: 29.50 m.
2025-06-18T18:42:47.609Z,1750272167.609 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.995307
2025-06-18T18:42:47.862Z,1750272167.862 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.248156
2025-06-18T18:42:47.863Z,1750272167.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.23 m.
2025-06-18T18:42:47.871Z,1750272167.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.230160 m,
nav range: 27.936720 m,
bearing: 132.036667 deg,
approach rate: -0.669946 m/s,
LOS rate: 0.012093 deg/s,
cmd heading: 129.225813 deg,
new cmd heading: 129.240799 deg.
2025-06-18T18:42:47.877Z,1750272167.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255677 target range: 29.230160 and range: 29.50 m.
2025-06-18T18:42:48.113Z,1750272168.113 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.499671
2025-06-18T18:42:48.281Z,1750272168.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.23 m.
2025-06-18T18:42:48.283Z,1750272168.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.230160 m,
nav range: 27.640379 m,
bearing: 132.057413 deg,
approach rate: -0.697616 m/s,
LOS rate: 0.049361 deg/s,
cmd heading: 129.240798 deg,
new cmd heading: 129.303702 deg.
2025-06-18T18:42:48.285Z,1750272168.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.256775 target range: 29.230160 and range: 29.50 m.
2025-06-18T18:42:48.366Z,1750272168.366 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.752499
2025-06-18T18:42:48.617Z,1750272168.617 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.003144
2025-06-18T18:42:48.634Z,1750272168.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.23 m.
2025-06-18T18:42:48.639Z,1750272168.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.230160 m,
nav range: 27.399487 m,
bearing: 132.077378 deg,
approach rate: -0.682481 m/s,
LOS rate: 0.057061 deg/s,
cmd heading: 129.303705 deg,
new cmd heading: 129.364126 deg.
2025-06-18T18:42:48.660Z,1750272168.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257830 target range: 29.230160 and range: 29.50 m.
2025-06-18T18:42:48.870Z,1750272168.870 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.256690
2025-06-18T18:42:49.032Z,1750272169.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.23 m.
2025-06-18T18:42:49.035Z,1750272169.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.230160 m,
nav range: 27.128059 m,
bearing: 132.102820 deg,
approach rate: -0.681973 m/s,
LOS rate: 0.064565 deg/s,
cmd heading: 129.364124 deg,
new cmd heading: 129.441216 deg.
2025-06-18T18:42:49.036Z,1750272169.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.259175 target range: 29.230160 and range: 29.50 m.
2025-06-18T18:42:49.123Z,1750272169.123 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.509104
2025-06-18T18:42:49.373Z,1750272169.373 [DAT](INFO): DAT read: Rx Time:18:42:49.9871
2025-06-18T18:42:49.373Z,1750272169.373 [DAT](INFO): Rx dataTimestamp_ set to:1750272169.373111
2025-06-18T18:42:49.374Z,1750272169.374 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.760465
2025-06-18T18:42:49.468Z,1750272169.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:49.470Z,1750272169.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.23 m.
2025-06-18T18:42:49.473Z,1750272169.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.230160 m,
nav range: 26.830622 m,
bearing: 132.135263 deg,
approach rate: -0.678230 m/s,
LOS rate: 0.074796 deg/s,
cmd heading: 129.441210 deg,
new cmd heading: 129.539616 deg.
2025-06-18T18:42:49.474Z,1750272169.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.260893 target range: 29.230160 and range: 29.50 m.
2025-06-18T18:42:49.625Z,1750272169.625 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.011303
2025-06-18T18:42:49.840Z,1750272169.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.23 m.
2025-06-18T18:42:49.843Z,1750272169.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.230160 m,
nav range: 26.579515 m,
bearing: 132.164844 deg,
approach rate: -0.679628 m/s,
LOS rate: 0.080818 deg/s,
cmd heading: 129.539619 deg,
new cmd heading: 129.629201 deg.
2025-06-18T18:42:49.844Z,1750272169.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262456 target range: 29.230160 and range: 29.50 m.
2025-06-18T18:42:49.881Z,1750272169.881 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.266361
2025-06-18T18:42:50.093Z,1750272170.093 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:42:50.135Z,1750272170.135 [DAT](INFO): DAT read: 18:42:49.9871 LVL= 31920, 32753, 27378, 32755, AGC= 61, IDX= 414,-0.15,-1.613,-2.948,-1.874,-1.945, PHS= 0.420,-0.955, 0.069, RAW= 135.8, 7.6, CAL= 140.5, 0.9, ROT= 9.5, -0.9
2025-06-18T18:42:50.136Z,1750272170.136 [DAT](INFO): got valid direction response:
18:42:49.9871 LVL= 31920, 32753, 27378, 32755, AGC= 61, IDX= 414,-0.15,-1.613,-2.948,-1.874,-1.945, PHS= 0.420,-0.955, 0.069, RAW= 135.8, 7.6, CAL= 140.5, 0.9, ROT= 9.5, -0.9
2025-06-18T18:42:50.137Z,1750272170.137 [DAT](INFO): DAT read: Bearing 9.5, -0.9 (Local)
2025-06-18T18:42:50.137Z,1750272170.137 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.5, -0.9 (Local)
2025-06-18T18:42:50.139Z,1750272170.139 [DAT](INFO): DAT read: Range 10 to 50 : 27.0 m (Round-trip 36.1 ms) speed 0.7 m/s
2025-06-18T18:42:50.140Z,1750272170.140 [DAT](INFO): DAT read: user:1431>
2025-06-18T18:42:50.141Z,1750272170.141 [DAT](INFO): DAT read: Tx time:18:42:51.0968
2025-06-18T18:42:50.141Z,1750272170.141 [DAT](INFO): Ping request sent.
2025-06-18T18:42:50.141Z,1750272170.141 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:50.142Z,1750272170.142 [DAT](INFO): DAT read: TxSync time:18:42:51.0961
2025-06-18T18:42:50.142Z,1750272170.142 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-18T18:42:50.143Z,1750272170.143 [DAT](INFO): direction in FSK: [0.986164,0.165027,0.015707]
2025-06-18T18:42:50.144Z,1750272170.144 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:50.144Z,1750272170.144 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:50.147Z,1750272170.147 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:50.147Z,1750272170.147 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:50.150Z,1750272170.150 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.009292
2025-06-18T18:42:50.381Z,1750272170.381 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.240006
2025-06-18T18:42:50.423Z,1750272170.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.000000 m,
deltaT: 3.527825 s,
deltaX: -2.500000 m,
approachRate: -0.708652 m/s,
rangeRepo size: 4
2025-06-18T18:42:50.430Z,1750272170.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.753105 m,
bearing: 141.539475 deg,
lat: 36.905859 deg,
lon: -122.115746 deg,
deltaT: 3.527825 s,
deltaX: -2.477055 m,
approachRate: -0.702148 m/s,
posRepo size: 4
2025-06-18T18:42:50.431Z,1750272170.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m.
2025-06-18T18:42:50.438Z,1750272170.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.753105 m,
nav range: 26.428446 m,
bearing: 134.387961 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.080818 deg/s,
cmd heading: 129.629204 deg,
new cmd heading: 129.770574 deg.
2025-06-18T18:42:50.439Z,1750272170.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.264924 target range: 26.753105 and range: 27.00 m.
2025-06-18T18:42:50.633Z,1750272170.633 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.491643
2025-06-18T18:42:50.734Z,1750272170.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m.
2025-06-18T18:42:50.737Z,1750272170.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.753105 m,
nav range: 26.202316 m,
bearing: 134.437938 deg,
approach rate: -0.726791 m/s,
LOS rate: 0.162015 deg/s,
cmd heading: 129.770575 deg,
new cmd heading: 129.921800 deg.
2025-06-18T18:42:50.738Z,1750272170.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.267563 target range: 26.753105 and range: 27.00 m.
2025-06-18T18:42:50.886Z,1750272170.886 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.744666
2025-06-18T18:42:51.096Z,1750272171.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:42:51.137Z,1750272171.137 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.995648
2025-06-18T18:42:51.154Z,1750272171.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m.
2025-06-18T18:42:51.158Z,1750272171.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.753105 m,
nav range: 25.911911 m,
bearing: 134.503407 deg,
approach rate: -0.691593 m/s,
LOS rate: 0.157659 deg/s,
cmd heading: 129.921796 deg,
new cmd heading: 130.120401 deg.
2025-06-18T18:42:51.162Z,1750272171.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.271029 target range: 26.753105 and range: 27.00 m.
2025-06-18T18:42:51.390Z,1750272171.390 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.248063
2025-06-18T18:42:51.578Z,1750272171.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:51.580Z,1750272171.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m.
2025-06-18T18:42:51.583Z,1750272171.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.753105 m,
nav range: 25.612120 m,
bearing: 134.567928 deg,
approach rate: -0.703447 m/s,
LOS rate: 0.153169 deg/s,
cmd heading: 130.120404 deg,
new cmd heading: 130.316234 deg.
2025-06-18T18:42:51.584Z,1750272171.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.274447 target range: 26.753105 and range: 27.00 m.
2025-06-18T18:42:51.641Z,1750272171.641 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.500285
2025-06-18T18:42:51.893Z,1750272171.893 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.751771
2025-06-18T18:42:51.957Z,1750272171.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m.
2025-06-18T18:42:51.960Z,1750272171.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.753105 m,
nav range: 25.345974 m,
bearing: 134.626494 deg,
approach rate: -0.705369 m/s,
LOS rate: 0.156846 deg/s,
cmd heading: 130.316239 deg,
new cmd heading: 130.493780 deg.
2025-06-18T18:42:51.961Z,1750272171.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277546 target range: 26.753105 and range: 27.00 m.
2025-06-18T18:42:52.145Z,1750272172.145 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.003784
2025-06-18T18:42:52.389Z,1750272172.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m.
2025-06-18T18:42:52.392Z,1750272172.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.753105 m,
nav range: 25.042736 m,
bearing: 134.679855 deg,
approach rate: -0.702716 m/s,
LOS rate: 0.125154 deg/s,
cmd heading: 130.493783 deg,
new cmd heading: 130.655803 deg.
2025-06-18T18:42:52.394Z,1750272172.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280374 target range: 26.753105 and range: 27.00 m.
2025-06-18T18:42:52.397Z,1750272172.397 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.255801
2025-06-18T18:42:52.649Z,1750272172.649 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.507739
2025-06-18T18:42:52.769Z,1750272172.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m.
2025-06-18T18:42:52.772Z,1750272172.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.753105 m,
nav range: 24.775181 m,
bearing: 134.727616 deg,
approach rate: -0.703060 m/s,
LOS rate: 0.126860 deg/s,
cmd heading: 130.655809 deg,
new cmd heading: 130.800641 deg.
2025-06-18T18:42:52.773Z,1750272172.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282902 target range: 26.753105 and range: 27.00 m.
2025-06-18T18:42:52.901Z,1750272172.901 [DAT](INFO): DAT read: Rx Time:18:42:53.5339
2025-06-18T18:42:52.901Z,1750272172.901 [DAT](INFO): Rx dataTimestamp_ set to:1750272172.901087
2025-06-18T18:42:52.902Z,1750272172.902 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.760806
2025-06-18T18:42:53.153Z,1750272173.153 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.012026
2025-06-18T18:42:53.157Z,1750272173.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m.
2025-06-18T18:42:53.159Z,1750272173.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.753105 m,
nav range: 24.504267 m,
bearing: 134.776320 deg,
approach rate: -0.699310 m/s,
LOS rate: 0.127109 deg/s,
cmd heading: 130.800636 deg,
new cmd heading: 130.948362 deg.
2025-06-18T18:42:53.161Z,1750272173.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.285480 target range: 26.753105 and range: 27.00 m.
2025-06-18T18:42:53.405Z,1750272173.405 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.263812
2025-06-18T18:42:53.597Z,1750272173.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:53.599Z,1750272173.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m.
2025-06-18T18:42:53.602Z,1750272173.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.753105 m,
nav range: 24.184813 m,
bearing: 134.829626 deg,
approach rate: -0.721562 m/s,
LOS rate: 0.121995 deg/s,
cmd heading: 130.948359 deg,
new cmd heading: 131.110390 deg.
2025-06-18T18:42:53.603Z,1750272173.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288308 target range: 26.753105 and range: 27.00 m.
2025-06-18T18:42:53.670Z,1750272173.670 [DAT](INFO): DAT read: 18:42:53.5339 LVL= 26176, 28817, 20866, 32755, AGC= 63, IDX= 413,-0.29,-1.873, 2.978,-2.219,-2.255, PHS= 0.470,-1.003, 0.033, RAW= 133.2, 7.7, CAL= 138.7, 1.4, ROT= 11.3, -1.4
2025-06-18T18:42:53.672Z,1750272173.672 [DAT](INFO): got valid direction response:
18:42:53.5339 LVL= 26176, 28817, 20866, 32755, AGC= 63, IDX= 413,-0.29,-1.873, 2.978,-2.219,-2.255, PHS= 0.470,-1.003, 0.033, RAW= 133.2, 7.7, CAL= 138.7, 1.4, ROT= 11.3, -1.4
2025-06-18T18:42:53.674Z,1750272173.674 [DAT](INFO): DAT read: Bearing 11.3, -1.4 (Local)
2025-06-18T18:42:53.674Z,1750272173.674 [DAT](INFO): Local bearing/azimuth received:
Bearing 11.3, -1.4 (Local)
2025-06-18T18:42:53.684Z,1750272173.684 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (Round-trip 32.9 ms) speed 0.5 m/s
2025-06-18T18:42:53.685Z,1750272173.685 [DAT](INFO): DAT read: user:1432>
2025-06-18T18:42:53.686Z,1750272173.686 [DAT](INFO): DAT read: Tx time:18:42:54.6469
2025-06-18T18:42:53.686Z,1750272173.686 [DAT](INFO): Ping request sent.
2025-06-18T18:42:53.686Z,1750272173.686 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:53.687Z,1750272173.687 [DAT](INFO): DAT read: TxSync time:18:42:54.6461
2025-06-18T18:42:53.687Z,1750272173.687 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-18T18:42:53.697Z,1750272173.697 [DAT](INFO): direction in FSK: [0.980322,0.195888,0.024432]
2025-06-18T18:42:53.698Z,1750272173.698 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:53.698Z,1750272173.698 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:53.718Z,1750272173.718 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:53.718Z,1750272173.718 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:53.726Z,1750272173.726 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.039656
2025-06-18T18:42:53.909Z,1750272173.909 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.222551
2025-06-18T18:42:53.985Z,1750272173.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 3.528818 s,
deltaX: -2.400000 m,
approachRate: -0.680114 m/s,
rangeRepo size: 4
2025-06-18T18:42:53.987Z,1750272173.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.375061 m,
bearing: 143.130761 deg,
lat: 36.905843 deg,
lon: -122.115764 deg,
deltaT: 3.528818 s,
deltaX: -2.378044 m,
approachRate: -0.673893 m/s,
posRepo size: 4
2025-06-18T18:42:53.992Z,1750272173.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:42:53.995Z,1750272173.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.375061 m,
nav range: 24.186182 m,
bearing: 140.450958 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.121995 deg/s,
cmd heading: 131.110385 deg,
new cmd heading: 131.251351 deg.
2025-06-18T18:42:54.000Z,1750272174.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290768 target range: 24.375061 and range: 24.60 m.
2025-06-18T18:42:54.161Z,1750272174.161 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.475123
2025-06-18T18:42:54.413Z,1750272174.413 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.726539
2025-06-18T18:42:54.433Z,1750272174.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:42:54.456Z,1750272174.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.375061 m,
nav range: 23.846819 m,
bearing: 140.559705 deg,
approach rate: -0.756180 m/s,
LOS rate: 0.245761 deg/s,
cmd heading: 131.251347 deg,
new cmd heading: 131.582226 deg.
2025-06-18T18:42:54.458Z,1750272174.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296543 target range: 24.375061 and range: 24.60 m.
2025-06-18T18:42:54.665Z,1750272174.665 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.978713
2025-06-18T18:42:54.827Z,1750272174.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:42:54.830Z,1750272174.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.375061 m,
nav range: 23.561975 m,
bearing: 140.651287 deg,
approach rate: -0.723629 m/s,
LOS rate: 0.235472 deg/s,
cmd heading: 131.582228 deg,
new cmd heading: 131.860294 deg.
2025-06-18T18:42:54.831Z,1750272174.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301396 target range: 24.375061 and range: 24.60 m.
2025-06-18T18:42:54.917Z,1750272174.917 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.230822
2025-06-18T18:42:55.169Z,1750272175.169 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.482773
2025-06-18T18:42:55.227Z,1750272175.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:42:55.230Z,1750272175.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.375061 m,
nav range: 23.270088 m,
bearing: 140.747365 deg,
approach rate: -0.728976 m/s,
LOS rate: 0.242959 deg/s,
cmd heading: 131.860299 deg,
new cmd heading: 132.152144 deg.
2025-06-18T18:42:55.231Z,1750272175.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306490 target range: 24.375061 and range: 24.60 m.
2025-06-18T18:42:55.421Z,1750272175.421 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.734530
2025-06-18T18:42:55.626Z,1750272175.626 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD98.00, +6871.41, 3, 8.0
2025-06-18T18:42:55.639Z,1750272175.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:55.642Z,1750272175.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:42:55.645Z,1750272175.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.375061 m,
nav range: 22.964735 m,
bearing: 140.851202 deg,
approach rate: -0.737231 m/s,
LOS rate: 0.254034 deg/s,
cmd heading: 132.152139 deg,
new cmd heading: 132.467790 deg.
2025-06-18T18:42:55.646Z,1750272175.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311999 target range: 24.375061 and range: 24.60 m.
2025-06-18T18:42:55.673Z,1750272175.673 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.986676
2025-06-18T18:42:55.925Z,1750272175.925 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.238738
2025-06-18T18:42:56.049Z,1750272176.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:42:56.056Z,1750272176.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.375061 m,
nav range: 22.678562 m,
bearing: 140.950766 deg,
approach rate: -0.701980 m/s,
LOS rate: 0.247311 deg/s,
cmd heading: 132.467790 deg,
new cmd heading: 132.770246 deg.
2025-06-18T18:42:56.057Z,1750272176.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.317278 target range: 24.375061 and range: 24.60 m.
2025-06-18T18:42:56.177Z,1750272176.177 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.491183
2025-06-18T18:42:56.429Z,1750272176.429 [DAT](INFO): DAT read: Rx Time:18:42:57.0805
2025-06-18T18:42:56.429Z,1750272176.429 [DAT](INFO): Rx dataTimestamp_ set to:1750272176.429157
2025-06-18T18:42:56.430Z,1750272176.430 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.743709
2025-06-18T18:42:56.463Z,1750272176.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:42:56.466Z,1750272176.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.375061 m,
nav range: 22.375158 m,
bearing: 141.029487 deg,
approach rate: -0.733317 m/s,
LOS rate: 0.192846 deg/s,
cmd heading: 132.770244 deg,
new cmd heading: 133.009609 deg.
2025-06-18T18:42:56.467Z,1750272176.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321456 target range: 24.375061 and range: 24.60 m.
2025-06-18T18:42:56.681Z,1750272176.681 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.994503
2025-06-18T18:42:56.876Z,1750272176.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m.
2025-06-18T18:42:56.881Z,1750272176.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.375061 m,
nav range: 22.092340 m,
bearing: 141.103780 deg,
approach rate: -0.692516 m/s,
LOS rate: 0.184245 deg/s,
cmd heading: 133.009615 deg,
new cmd heading: 133.235347 deg.
2025-06-18T18:42:56.882Z,1750272176.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325396 target range: 24.375061 and range: 24.60 m.
2025-06-18T18:42:56.933Z,1750272176.933 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.246906
2025-06-18T18:42:57.191Z,1750272177.191 [DAT](INFO): DAT read: 18:42:57.0805 LVL= 32752, 32753, 27570, 32755, AGC= 63, IDX= 410,-0.48,-1.544,-2.900,-1.882,-1.869, PHS= 0.413,-0.984,-0.017, RAW= 132.5, 9.5, CAL= 137.9, 3.6, ROT= 12.1, -3.6
2025-06-18T18:42:57.192Z,1750272177.192 [DAT](INFO): got valid direction response:
18:42:57.0805 LVL= 32752, 32753, 27570, 32755, AGC= 63, IDX= 410,-0.48,-1.544,-2.900,-1.882,-1.869, PHS= 0.413,-0.984,-0.017, RAW= 132.5, 9.5, CAL= 137.9, 3.6, ROT= 12.1, -3.6
2025-06-18T18:42:57.193Z,1750272177.193 [DAT](INFO): DAT read: Bearing 12.1, -3.6 (Local)
2025-06-18T18:42:57.193Z,1750272177.193 [DAT](INFO): Local bearing/azimuth received:
Bearing 12.1, -3.6 (Local)
2025-06-18T18:42:57.195Z,1750272177.195 [DAT](INFO): DAT read: Range 10 to 50 : 22.0 m (Round-trip 29.4 ms) speed 0.6 m/s
2025-06-18T18:42:57.196Z,1750272177.196 [DAT](INFO): DAT read: user:1433>
2025-06-18T18:42:57.197Z,1750272177.197 [DAT](INFO): DAT read: Tx time:18:42:58.1969
2025-06-18T18:42:57.197Z,1750272177.197 [DAT](INFO): Ping request sent.
2025-06-18T18:42:57.197Z,1750272177.197 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:42:57.197Z,1750272177.197 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-18T18:42:57.198Z,1750272177.198 [DAT](INFO): direction in FSK: [0.975854,0.209205,0.062791]
2025-06-18T18:42:57.198Z,1750272177.198 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:57.199Z,1750272177.199 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:57.202Z,1750272177.202 [DAT](INFO): publishing transmit ping time
2025-06-18T18:42:57.202Z,1750272177.202 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:57.214Z,1750272177.214 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.016505
2025-06-18T18:42:57.386Z,1750272177.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.000000 m,
deltaT: 3.527340 s,
deltaX: -2.600000 m,
approachRate: -0.737099 m/s,
rangeRepo size: 4
2025-06-18T18:42:57.392Z,1750272177.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.798861 m,
bearing: 144.259821 deg,
lat: 36.905837 deg,
lon: -122.115771 deg,
deltaT: 3.527340 s,
deltaX: -2.576200 m,
approachRate: -0.730352 m/s,
posRepo size: 4
2025-06-18T18:42:57.393Z,1750272177.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:42:57.400Z,1750272177.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.798861 m,
nav range: 21.862156 m,
bearing: 143.752144 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.184245 deg/s,
cmd heading: 133.235353 deg,
new cmd heading: 133.519275 deg.
2025-06-18T18:42:57.401Z,1750272177.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330351 target range: 21.798861 and range: 22.00 m.
2025-06-18T18:42:57.437Z,1750272177.437 [DAT](INFO): DAT read: TxSync time:18:42:58.1961
2025-06-18T18:42:57.438Z,1750272177.438 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.240772
2025-06-18T18:42:57.689Z,1750272177.689 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.491841
2025-06-18T18:42:57.717Z,1750272177.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:42:57.719Z,1750272177.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:42:57.742Z,1750272177.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.798861 m,
nav range: 21.612558 m,
bearing: 143.856961 deg,
approach rate: -0.748322 m/s,
LOS rate: 0.317882 deg/s,
cmd heading: 133.519270 deg,
new cmd heading: 133.837349 deg.
2025-06-18T18:42:57.743Z,1750272177.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335902 target range: 21.798861 and range: 22.00 m.
2025-06-18T18:42:57.941Z,1750272177.941 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.743835
2025-06-18T18:42:58.109Z,1750272178.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:42:58.111Z,1750272178.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.798861 m,
nav range: 21.340374 m,
bearing: 143.969946 deg,
approach rate: -0.697796 m/s,
LOS rate: 0.293351 deg/s,
cmd heading: 133.837352 deg,
new cmd heading: 134.180623 deg.
2025-06-18T18:42:58.113Z,1750272178.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341894 target range: 21.798861 and range: 22.00 m.
2025-06-18T18:42:58.194Z,1750272178.194 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.996234
2025-06-18T18:42:58.445Z,1750272178.445 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.247763
2025-06-18T18:42:58.529Z,1750272178.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:42:58.533Z,1750272178.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.798861 m,
nav range: 21.053034 m,
bearing: 144.097136 deg,
approach rate: -0.683914 m/s,
LOS rate: 0.306864 deg/s,
cmd heading: 134.180624 deg,
new cmd heading: 134.567396 deg.
2025-06-18T18:42:58.534Z,1750272178.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.348644 target range: 21.798861 and range: 22.00 m.
2025-06-18T18:42:58.697Z,1750272178.697 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.499904
2025-06-18T18:42:58.913Z,1750272178.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:42:58.915Z,1750272178.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.798861 m,
nav range: 20.791967 m,
bearing: 144.213668 deg,
approach rate: -0.682297 m/s,
LOS rate: 0.308381 deg/s,
cmd heading: 134.567390 deg,
new cmd heading: 134.921371 deg.
2025-06-18T18:42:58.917Z,1750272178.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.354822 target range: 21.798861 and range: 22.00 m.
2025-06-18T18:42:58.949Z,1750272178.949 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.752127
2025-06-18T18:42:59.201Z,1750272179.201 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.003777
2025-06-18T18:42:59.391Z,1750272179.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.80 m.
2025-06-18T18:42:59.398Z,1750272179.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.798861 m,
nav range: 20.475441 m,
bearing: 144.357300 deg,
approach rate: -0.660100 m/s,
LOS rate: 0.304167 deg/s,
cmd heading: 134.921371 deg,
new cmd heading: 135.358919 deg.
2025-06-18T18:42:59.399Z,1750272179.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.362459 target range: 21.798861 and range: 22.00 m.
2025-06-18T18:42:59.454Z,1750272179.454 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.256870
2025-06-18T18:42:59.705Z,1750272179.705 [DAT](INFO): DAT read: Rx Time:18:43:00.3522
2025-06-18T18:42:59.706Z,1750272179.706 [DAT](INFO): Rx dataTimestamp_ set to:1750272179.705661
2025-06-18T18:42:59.707Z,1750272179.707 [DAT](INFO): DAT read: Bearing 8.1, -0.9 (Local)
2025-06-18T18:42:59.708Z,1750272179.708 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.1, -0.9 (Local)
2025-06-18T18:42:59.710Z,1750272179.710 [DAT](INFO): DAT read: Range 10 to 50 : 19.5 m (trip time 13.0 ms) speed 0.7
2025-06-18T18:42:59.715Z,1750272179.715 [DAT](INFO): DAT read: 18:43:00.3522 LVL= 22464, 24497, 19954, 29267, AGC= 64, IDX= 152, 0.06,-2.655, 2.223,-2.886,-2.984, PHS= 0.417,-1.030, 0.095, RAW= 137.8, 7.9, CAL= 141.9, 0.9, ROT= 8.1, -0.9
2025-06-18T18:42:59.716Z,1750272179.716 [DAT](INFO): got valid direction response:
18:43:00.3522 LVL= 22464, 24497, 19954, 29267, AGC= 64, IDX= 152, 0.06,-2.655, 2.223,-2.886,-2.984, PHS= 0.417,-1.030, 0.095, RAW= 137.8, 7.9, CAL= 141.9, 0.9, ROT= 8.1, -0.9
2025-06-18T18:42:59.716Z,1750272179.716 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-18T18:42:59.717Z,1750272179.717 [DAT](INFO): direction in FSK: [0.989902,0.140884,0.015707]
2025-06-18T18:42:59.717Z,1750272179.717 [DAT](INFO): publishing direction and range info
2025-06-18T18:42:59.737Z,1750272179.737 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.539955
2025-06-18T18:42:59.810Z,1750272179.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.500000 m,
deltaT: 2.521302 s,
deltaX: -2.500000 m,
approachRate: -0.991551 m/s,
rangeRepo size: 4
2025-06-18T18:42:59.821Z,1750272179.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.321693 m,
bearing: 141.776966 deg,
lat: 36.905837 deg,
lon: -122.115771 deg,
deltaT: 2.521302 s,
deltaX: -2.477167 m,
approachRate: -0.982495 m/s,
posRepo size: 4
2025-06-18T18:42:59.821Z,1750272179.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-06-18T18:42:59.828Z,1750272179.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.321693 m,
nav range: 20.202072 m,
bearing: 144.497258 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.304167 deg/s,
cmd heading: 135.358913 deg,
new cmd heading: 135.740743 deg.
2025-06-18T18:42:59.829Z,1750272179.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.369123 target range: 19.321693 and range: 19.50 m.
2025-06-18T18:42:59.957Z,1750272179.957 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.760296
2025-06-18T18:43:00.137Z,1750272180.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:00.139Z,1750272180.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-06-18T18:43:00.142Z,1750272180.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.321693 m,
nav range: 19.952906 m,
bearing: 144.625599 deg,
approach rate: -0.757094 m/s,
LOS rate: 0.394836 deg/s,
cmd heading: 135.740748 deg,
new cmd heading: 136.130574 deg.
2025-06-18T18:43:00.143Z,1750272180.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.375927 target range: 19.321693 and range: 19.50 m.
2025-06-18T18:43:00.211Z,1750272180.211 [DAT](INFO): DAT read: Rx Time:18:43:00.8520
2025-06-18T18:43:00.211Z,1750272180.211 [DAT](INFO): Rx dataTimestamp_ set to:1750272180.211021
2025-06-18T18:43:00.214Z,1750272180.214 [DAT](INFO): DAT read: Bearing 7.8, 0.4 (Local)
2025-06-18T18:43:00.215Z,1750272180.215 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.8, 0.4 (Local)
2025-06-18T18:43:00.219Z,1750272180.219 [DAT](INFO): DAT read: Range 10 to 50 : 19.2 m (trip time 12.8 ms) speed 0.7
2025-06-18T18:43:00.241Z,1750272180.241 [DAT](INFO): DAT read: 18:43:00.8520 LVL= 24464, 29297, 18866, 32755, AGC= 59, IDX= 502,-0.16, 0.363,-1.046, 0.138, 0.013, PHS= 0.438,-1.011, 0.123, RAW= 138.1, 6.9, CAL= 142.2, -0.4, ROT= 7.8, 0.4
2025-06-18T18:43:00.243Z,1750272180.243 [DAT](INFO): got valid direction response:
18:43:00.8520 LVL= 24464, 29297, 18866, 32755, AGC= 59, IDX= 502,-0.16, 0.363,-1.046, 0.138, 0.013, PHS= 0.438,-1.011, 0.123, RAW= 138.1, 6.9, CAL= 142.2, -0.4, ROT= 7.8, 0.4
2025-06-18T18:43:00.243Z,1750272180.243 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-18T18:43:00.254Z,1750272180.254 [DAT](INFO): direction in FSK: [0.990724,0.135712,-0.006981]
2025-06-18T18:43:00.254Z,1750272180.254 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:00.259Z,1750272180.259 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.062175
2025-06-18T18:43:00.461Z,1750272180.461 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.263848
2025-06-18T18:43:00.632Z,1750272180.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.200001 m,
deltaT: 0.505360 s,
deltaX: -0.299999 m,
approachRate: -0.593635 m/s,
rangeRepo size: 4
2025-06-18T18:43:00.634Z,1750272180.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.024433 m,
bearing: 142.014220 deg,
lat: 36.905837 deg,
lon: -122.115771 deg,
deltaT: 0.505360 s,
deltaX: -0.297260 m,
approachRate: -0.588215 m/s,
posRepo size: 4
2025-06-18T18:43:00.635Z,1750272180.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-06-18T18:43:00.642Z,1750272180.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.024433 m,
nav range: 19.637098 m,
bearing: 144.821965 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.394836 deg/s,
cmd heading: 136.130574 deg,
new cmd heading: 136.709402 deg.
2025-06-18T18:43:00.643Z,1750272180.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386029 target range: 19.024433 and range: 19.20 m.
2025-06-18T18:43:00.715Z,1750272180.715 [DAT](INFO): DAT read: Rx Time:18:43:01.3517
2025-06-18T18:43:00.715Z,1750272180.715 [DAT](INFO): Rx dataTimestamp_ set to:1750272180.715166
2025-06-18T18:43:00.718Z,1750272180.718 [DAT](INFO): DAT read: Bearing 6.4, 0.8 (Local)
2025-06-18T18:43:00.718Z,1750272180.718 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.4, 0.8 (Local)
2025-06-18T18:43:00.720Z,1750272180.720 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.6
2025-06-18T18:43:00.725Z,1750272180.725 [DAT](INFO): DAT read: 18:43:01.3517 LVL= 25696, 29393, 20770, 32755, AGC= 59, IDX= 499,-0.45,-1.236,-2.642,-1.413,-1.570, PHS= 0.422,-1.025, 0.155, RAW= 140.0, 6.8, CAL= 143.6, -0.8, ROT= 6.4, 0.8
2025-06-18T18:43:00.726Z,1750272180.726 [DAT](INFO): got valid direction response:
18:43:01.3517 LVL= 25696, 29393, 20770, 32755, AGC= 59, IDX= 499,-0.45,-1.236,-2.642,-1.413,-1.570, PHS= 0.422,-1.025, 0.155, RAW= 140.0, 6.8, CAL= 143.6, -0.8, ROT= 6.4, 0.8
2025-06-18T18:43:00.726Z,1750272180.726 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-18T18:43:00.727Z,1750272180.727 [DAT](INFO): direction in FSK: [0.993671,0.111458,-0.013962]
2025-06-18T18:43:00.728Z,1750272180.728 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:00.731Z,1750272180.731 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.534272
2025-06-18T18:43:00.965Z,1750272180.965 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.767851
2025-06-18T18:43:00.988Z,1750272180.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 0.504145 s,
deltaX: -0.400002 m,
approachRate: -0.793426 m/s,
rangeRepo size: 4
2025-06-18T18:43:00.990Z,1750272180.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.628090 m,
bearing: 140.907219 deg,
lat: 36.905847 deg,
lon: -122.115769 deg,
deltaT: 0.504145 s,
deltaX: -0.396343 m,
approachRate: -0.786169 m/s,
posRepo size: 4
2025-06-18T18:43:00.990Z,1750272180.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.63 m.
2025-06-18T18:43:01.009Z,1750272181.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.628090 m,
nav range: 18.685045 m,
bearing: 142.559311 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.394836 deg/s,
cmd heading: 136.709405 deg,
new cmd heading: 137.125859 deg.
2025-06-18T18:43:01.010Z,1750272181.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.393298 target range: 18.628090 and range: 18.80 m.
2025-06-18T18:43:01.218Z,1750272181.218 [DAT](INFO): DAT read: Rx Time:18:43:01.8516
2025-06-18T18:43:01.218Z,1750272181.218 [DAT](INFO): Rx dataTimestamp_ set to:1750272181.217827
2025-06-18T18:43:01.219Z,1750272181.219 [DAT](INFO): DAT read: Bearing 5.5, 2.3 (Local)
2025-06-18T18:43:01.220Z,1750272181.220 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.5, 2.3 (Local)
2025-06-18T18:43:01.222Z,1750272181.222 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5
2025-06-18T18:43:01.227Z,1750272181.227 [DAT](INFO): DAT read: 18:43:01.8516 LVL= 25072, 29505, 20770, 32755, AGC= 58, IDX= 497, 0.27,-0.176,-1.595,-0.329,-0.529, PHS= 0.440,-1.019, 0.197, RAW= 141.0, 5.7, CAL= 144.5, -2.3, ROT= 5.5, 2.3
2025-06-18T18:43:01.228Z,1750272181.228 [DAT](INFO): got valid direction response:
18:43:01.8516 LVL= 25072, 29505, 20770, 32755, AGC= 58, IDX= 497, 0.27,-0.176,-1.595,-0.329,-0.529, PHS= 0.440,-1.019, 0.197, RAW= 141.0, 5.7, CAL= 144.5, -2.3, ROT= 5.5, 2.3
2025-06-18T18:43:01.228Z,1750272181.228 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-18T18:43:01.229Z,1750272181.229 [DAT](INFO): direction in FSK: [0.994594,0.095769,-0.040132]
2025-06-18T18:43:01.230Z,1750272181.230 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:01.235Z,1750272181.235 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=4.038211
2025-06-18T18:43:01.438Z,1750272181.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 0.502661 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:43:01.445Z,1750272181.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.628090 m,
bearing: 140.396111 deg,
lat: 36.905849 deg,
lon: -122.115767 deg,
deltaT: 0.502661 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:43:01.445Z,1750272181.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.63 m.
2025-06-18T18:43:01.452Z,1750272181.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.628090 m,
nav range: 18.305161 m,
bearing: 141.865421 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.394836 deg/s,
cmd heading: 137.125856 deg,
new cmd heading: 137.668439 deg.
2025-06-18T18:43:01.453Z,1750272181.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402767 target range: 18.628090 and range: 18.80 m.
2025-06-18T18:43:01.469Z,1750272181.469 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=4.271876
2025-06-18T18:43:01.722Z,1750272181.722 [DAT](INFO): DAT read: Rx Time:18:43:02.3513
2025-06-18T18:43:01.722Z,1750272181.722 [DAT](INFO): Rx dataTimestamp_ set to:1750272181.721718
2025-06-18T18:43:01.723Z,1750272181.723 [DAT](INFO): DAT read: Bearing 5.6, 0.8 (Local)
2025-06-18T18:43:01.724Z,1750272181.724 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.6, 0.8 (Local)
2025-06-18T18:43:01.726Z,1750272181.726 [DAT](INFO): DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5
2025-06-18T18:43:01.731Z,1750272181.731 [DAT](INFO): DAT read: 18:43:02.3513 LVL= 26432, 32753, 21906, 32755, AGC= 57, IDX= 494, 0.05,-1.433,-2.801,-1.574,-1.742, PHS= 0.398,-1.012, 0.165, RAW= 141.1, 6.9, CAL= 144.4, -0.8, ROT= 5.6, 0.8
2025-06-18T18:43:01.732Z,1750272181.732 [DAT](INFO): got valid direction response:
18:43:02.3513 LVL= 26432, 32753, 21906, 32755, AGC= 57, IDX= 494, 0.05,-1.433,-2.801,-1.574,-1.742, PHS= 0.398,-1.012, 0.165, RAW= 141.1, 6.9, CAL= 144.4, -0.8, ROT= 5.6, 0.8
2025-06-18T18:43:01.732Z,1750272181.732 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-18T18:43:01.733Z,1750272181.733 [DAT](INFO): direction in FSK: [0.995130,0.097573,-0.013962]
2025-06-18T18:43:01.733Z,1750272181.733 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:01.742Z,1750272181.742 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=4.545019
2025-06-18T18:43:01.878Z,1750272181.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.503891 s,
deltaX: -0.500000 m,
approachRate: -0.992278 m/s,
rangeRepo size: 4
2025-06-18T18:43:01.886Z,1750272181.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.132664 m,
bearing: 140.605477 deg,
lat: 36.905849 deg,
lon: -122.115765 deg,
deltaT: 0.503891 s,
deltaX: -0.495426 m,
approachRate: -0.983201 m/s,
posRepo size: 4
2025-06-18T18:43:01.887Z,1750272181.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.13 m.
2025-06-18T18:43:01.898Z,1750272181.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.132664 m,
nav range: 18.111223 m,
bearing: 141.414751 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.394836 deg/s,
cmd heading: 137.668432 deg,
new cmd heading: 138.189725 deg.
2025-06-18T18:43:01.899Z,1750272181.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.411866 target range: 18.132664 and range: 18.30 m.
2025-06-18T18:43:01.973Z,1750272181.973 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=4.776312
2025-06-18T18:43:02.167Z,1750272182.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:02.174Z,1750272182.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.13 m.
2025-06-18T18:43:02.181Z,1750272182.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.132664 m,
nav range: 17.884315 m,
bearing: 141.535656 deg,
approach rate: -0.764267 m/s,
LOS rate: 0.412396 deg/s,
cmd heading: 138.189726 deg,
new cmd heading: 138.557038 deg.
2025-06-18T18:43:02.182Z,1750272182.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418277 target range: 18.132664 and range: 18.30 m.
2025-06-18T18:43:02.227Z,1750272182.227 [DAT](INFO): DAT read: Rx Time:18:43:02.8512
2025-06-18T18:43:02.228Z,1750272182.228 [DAT](INFO): Rx dataTimestamp_ set to:1750272182.227229
2025-06-18T18:43:02.230Z,1750272182.230 [DAT](INFO): DAT read: Bearing 4.9, 1.4 (Local)
2025-06-18T18:43:02.230Z,1750272182.230 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.9, 1.4 (Local)
2025-06-18T18:43:02.234Z,1750272182.234 [DAT](INFO): DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.5
2025-06-18T18:43:02.246Z,1750272182.246 [DAT](INFO): DAT read: 18:43:02.8512 LVL= 27824, 30129, 21906, 32755, AGC= 57, IDX= 509,-0.10,-1.924, 2.974,-2.048,-2.240, PHS= 0.403,-1.023, 0.188, RAW= 142.0, 6.5, CAL= 145.1, -1.4, ROT= 4.9, 1.4
2025-06-18T18:43:02.247Z,1750272182.247 [DAT](INFO): got valid direction response:
18:43:02.8512 LVL= 27824, 30129, 21906, 32755, AGC= 57, IDX= 509,-0.10,-1.924, 2.974,-2.048,-2.240, PHS= 0.403,-1.023, 0.188, RAW= 142.0, 6.5, CAL= 145.1, -1.4, ROT= 4.9, 1.4
2025-06-18T18:43:02.247Z,1750272182.247 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-18T18:43:02.273Z,1750272182.273 [DAT](INFO): direction in FSK: [0.996048,0.085391,-0.024432]
2025-06-18T18:43:02.273Z,1750272182.273 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:02.282Z,1750272182.282 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=5.085341
2025-06-18T18:43:02.478Z,1750272182.478 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=5.280823
2025-06-18T18:43:02.644Z,1750272182.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.505511 s,
deltaX: -0.099998 m,
approachRate: -0.197817 m/s,
rangeRepo size: 4
2025-06-18T18:43:02.646Z,1750272182.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.033607 m,
bearing: 140.615202 deg,
lat: 36.905849 deg,
lon: -122.115762 deg,
deltaT: 0.505511 s,
deltaX: -0.099056 m,
approachRate: -0.195953 m/s,
posRepo size: 4
2025-06-18T18:43:02.647Z,1750272182.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.03 m.
2025-06-18T18:43:02.649Z,1750272182.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.033607 m,
nav range: 17.693312 m,
bearing: 141.199418 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.412396 deg/s,
cmd heading: 138.557040 deg,
new cmd heading: 139.137230 deg.
2025-06-18T18:43:02.650Z,1750272182.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428403 target range: 18.033607 and range: 18.20 m.
2025-06-18T18:43:02.730Z,1750272182.730 [DAT](INFO): DAT read: Rx Time:18:43:03.3509
2025-06-18T18:43:02.731Z,1750272182.731 [DAT](INFO): Rx dataTimestamp_ set to:1750272182.730669
2025-06-18T18:43:02.733Z,1750272182.733 [DAT](INFO): DAT read: Bearing 4.6, 0.1 (Local)
2025-06-18T18:43:02.733Z,1750272182.733 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.6, 0.1 (Local)
2025-06-18T18:43:02.736Z,1750272182.736 [DAT](INFO): DAT read: Range 10 to 50 : 17.7 m (trip time 11.8 ms) speed 0.5
2025-06-18T18:43:02.741Z,1750272182.741 [DAT](INFO): DAT read: 18:43:03.3509 LVL= 28368, 31713, 25522, 32755, AGC= 57, IDX= 506,-0.31, 3.121, 1.756, 3.019, 2.846, PHS= 0.363,-1.043, 0.170, RAW= 142.7, 7.8, CAL= 145.4, -0.1, ROT= 4.6, 0.1
2025-06-18T18:43:02.742Z,1750272182.742 [DAT](INFO): got valid direction response:
18:43:03.3509 LVL= 28368, 31713, 25522, 32755, AGC= 57, IDX= 506,-0.31, 3.121, 1.756, 3.019, 2.846, PHS= 0.363,-1.043, 0.170, RAW= 142.7, 7.8, CAL= 145.4, -0.1, ROT= 4.6, 0.1
2025-06-18T18:43:02.743Z,1750272182.743 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-18T18:43:02.744Z,1750272182.744 [DAT](INFO): direction in FSK: [0.996777,0.080199,-0.001745]
2025-06-18T18:43:02.744Z,1750272182.744 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:02.748Z,1750272182.748 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=5.550654
2025-06-18T18:43:02.981Z,1750272182.981 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=5.783755
2025-06-18T18:43:03.010Z,1750272183.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.700001 m,
deltaT: 0.503440 s,
deltaX: -0.500000 m,
approachRate: -0.993167 m/s,
rangeRepo size: 4
2025-06-18T18:43:03.017Z,1750272183.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.538179 m,
bearing: 140.902551 deg,
lat: 36.905849 deg,
lon: -122.115761 deg,
deltaT: 0.503440 s,
deltaX: -0.495428 m,
approachRate: -0.984086 m/s,
posRepo size: 4
2025-06-18T18:43:03.018Z,1750272183.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.54 m.
2025-06-18T18:43:03.024Z,1750272183.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.538179 m,
nav range: 17.527761 m,
bearing: 140.924418 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.412396 deg/s,
cmd heading: 139.137224 deg,
new cmd heading: 139.591141 deg.
2025-06-18T18:43:03.025Z,1750272183.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436325 target range: 17.538179 and range: 17.70 m.
2025-06-18T18:43:03.233Z,1750272183.233 [DAT](INFO): DAT read: Rx Time:18:43:03.8507
2025-06-18T18:43:03.234Z,1750272183.234 [DAT](INFO): Rx dataTimestamp_ set to:1750272183.233686
2025-06-18T18:43:03.235Z,1750272183.235 [DAT](INFO): DAT read: Bearing 2.7, 2.1 (Local)
2025-06-18T18:43:03.236Z,1750272183.236 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.7, 2.1 (Local)
2025-06-18T18:43:03.238Z,1750272183.238 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.5
2025-06-18T18:43:03.243Z,1750272183.243 [DAT](INFO): DAT read: 18:43:03.8507 LVL= 26576, 32753, 22114, 32755, AGC= 57, IDX= 503, 0.46,-1.422,-2.803,-1.472,-1.715, PHS= 0.381,-1.040, 0.240, RAW= 144.8, 6.2, CAL= 147.3, -2.1, ROT= 2.7, 2.1
2025-06-18T18:43:03.244Z,1750272183.244 [DAT](INFO): got valid direction response:
18:43:03.8507 LVL= 26576, 32753, 22114, 32755, AGC= 57, IDX= 503, 0.46,-1.422,-2.803,-1.472,-1.715, PHS= 0.381,-1.040, 0.240, RAW= 144.8, 6.2, CAL= 147.3, -2.1, ROT= 2.7, 2.1
2025-06-18T18:43:03.244Z,1750272183.244 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-18T18:43:03.245Z,1750272183.245 [DAT](INFO): direction in FSK: [0.998219,0.047075,-0.036644]
2025-06-18T18:43:03.245Z,1750272183.245 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:03.249Z,1750272183.249 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=6.052110
2025-06-18T18:43:03.485Z,1750272183.485 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=6.287873
2025-06-18T18:43:03.507Z,1750272183.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.400000 m,
deltaT: 0.503017 s,
deltaX: -0.300001 m,
approachRate: -0.596404 m/s,
rangeRepo size: 4
2025-06-18T18:43:03.514Z,1750272183.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.240921 m,
bearing: 139.623657 deg,
lat: 36.905849 deg,
lon: -122.115760 deg,
deltaT: 0.503017 s,
deltaX: -0.297258 m,
approachRate: -0.590951 m/s,
posRepo size: 4
2025-06-18T18:43:03.514Z,1750272183.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.24 m.
2025-06-18T18:43:03.521Z,1750272183.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.240921 m,
nav range: 17.195873 m,
bearing: 141.084195 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.412396 deg/s,
cmd heading: 139.591144 deg,
new cmd heading: 140.205817 deg.
2025-06-18T18:43:03.522Z,1750272183.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447053 target range: 17.240921 and range: 17.40 m.
2025-06-18T18:43:03.738Z,1750272183.738 [DAT](INFO): DAT read: Rx Time:18:43:04.3504
2025-06-18T18:43:03.738Z,1750272183.738 [DAT](INFO): Rx dataTimestamp_ set to:1750272183.737700
2025-06-18T18:43:03.739Z,1750272183.739 [DAT](INFO): DAT read: Bearing 1.4, 3.2 (Local)
2025-06-18T18:43:03.740Z,1750272183.740 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.4, 3.2 (Local)
2025-06-18T18:43:03.742Z,1750272183.742 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.5
2025-06-18T18:43:03.747Z,1750272183.747 [DAT](INFO): DAT read: 18:43:04.3504 LVL= 26032, 29809, 22386, 32755, AGC= 57, IDX= 500, 0.28,-2.150, 2.751,-2.160,-2.447, PHS= 0.385,-1.038, 0.284, RAW= 146.3, 5.4, CAL= 148.6, -3.2, ROT= 1.4, 3.2
2025-06-18T18:43:03.748Z,1750272183.748 [DAT](INFO): got valid direction response:
18:43:04.3504 LVL= 26032, 29809, 22386, 32755, AGC= 57, IDX= 500, 0.28,-2.150, 2.751,-2.160,-2.447, PHS= 0.385,-1.038, 0.284, RAW= 146.3, 5.4, CAL= 148.6, -3.2, ROT= 1.4, 3.2
2025-06-18T18:43:03.748Z,1750272183.748 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-18T18:43:03.749Z,1750272183.749 [DAT](INFO): direction in FSK: [0.998143,0.024394,-0.055822]
2025-06-18T18:43:03.749Z,1750272183.749 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:03.754Z,1750272183.754 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=6.556566
2025-06-18T18:43:03.928Z,1750272183.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.000000 m,
deltaT: 0.504014 s,
deltaX: -0.400000 m,
approachRate: -0.793628 m/s,
rangeRepo size: 4
2025-06-18T18:43:03.930Z,1750272183.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.844555 m,
bearing: 138.454788 deg,
lat: 36.905850 deg,
lon: -122.115758 deg,
deltaT: 0.504014 s,
deltaX: -0.396366 m,
approachRate: -0.786419 m/s,
posRepo size: 4
2025-06-18T18:43:03.931Z,1750272183.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.84 m.
2025-06-18T18:43:03.938Z,1750272183.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.844555 m,
nav range: 16.939898 m,
bearing: 140.448180 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.412396 deg/s,
cmd heading: 140.205820 deg,
new cmd heading: 140.720863 deg.
2025-06-18T18:43:03.939Z,1750272183.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456042 target range: 16.844555 and range: 17.00 m.
2025-06-18T18:43:03.990Z,1750272183.990 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=6.792733
2025-06-18T18:43:04.241Z,1750272184.241 [DAT](INFO): DAT read: Rx Time:18:43:04.8502
2025-06-18T18:43:04.242Z,1750272184.242 [DAT](INFO): Rx dataTimestamp_ set to:1750272184.241461
2025-06-18T18:43:04.243Z,1750272184.243 [DAT](INFO): DAT read: Bearing 0.5, 3.4 (Local)
2025-06-18T18:43:04.243Z,1750272184.243 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.5, 3.4 (Local)
2025-06-18T18:43:04.246Z,1750272184.246 [DAT](INFO): DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed 0.5
2025-06-18T18:43:04.250Z,1750272184.250 [DAT](INFO): DAT read: 18:43:04.8502 LVL= 26352, 30193, 21954, 32755, AGC= 57, IDX= 499, 0.12,-0.774,-2.149,-0.756,-1.062, PHS= 0.376,-1.040, 0.303, RAW= 147.4, 5.3, CAL= 149.5, -3.4, ROT= 0.5, 3.4
2025-06-18T18:43:04.251Z,1750272184.251 [DAT](INFO): got valid direction response:
18:43:04.8502 LVL= 26352, 30193, 21954, 32755, AGC= 57, IDX= 499, 0.12,-0.774,-2.149,-0.756,-1.062, PHS= 0.376,-1.040, 0.303, RAW= 147.4, 5.3, CAL= 149.5, -3.4, ROT= 0.5, 3.4
2025-06-18T18:43:04.252Z,1750272184.252 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-18T18:43:04.253Z,1750272184.253 [DAT](INFO): direction in FSK: [0.998202,0.008711,-0.059306]
2025-06-18T18:43:04.253Z,1750272184.253 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:04.257Z,1750272184.257 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=7.060117
2025-06-18T18:43:04.299Z,1750272184.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.503761 s,
deltaX: -0.299999 m,
approachRate: -0.595519 m/s,
rangeRepo size: 4
2025-06-18T18:43:04.302Z,1750272184.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.547298 m,
bearing: 138.395407 deg,
lat: 36.905851 deg,
lon: -122.115756 deg,
deltaT: 0.503761 s,
deltaX: -0.297256 m,
approachRate: -0.590074 m/s,
posRepo size: 4
2025-06-18T18:43:04.303Z,1750272184.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.55 m.
2025-06-18T18:43:04.309Z,1750272184.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.547298 m,
nav range: 16.700884 m,
bearing: 139.867741 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.412396 deg/s,
cmd heading: 140.720858 deg,
new cmd heading: 141.185857 deg.
2025-06-18T18:43:04.310Z,1750272184.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464158 target range: 16.547298 and range: 16.70 m.
2025-06-18T18:43:04.493Z,1750272184.493 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=7.295893
2025-06-18T18:43:04.693Z,1750272184.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:04.695Z,1750272184.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.55 m.
2025-06-18T18:43:04.698Z,1750272184.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.547298 m,
nav range: 16.413717 m,
bearing: 139.986499 deg,
approach rate: -0.724769 m/s,
LOS rate: 0.304972 deg/s,
cmd heading: 141.185857 deg,
new cmd heading: 141.548358 deg.
2025-06-18T18:43:04.699Z,1750272184.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470485 target range: 16.547298 and range: 16.70 m.
2025-06-18T18:43:04.747Z,1750272184.747 [DAT](INFO): DAT read: Rx Time:18:43:05.3500
2025-06-18T18:43:04.748Z,1750272184.748 [DAT](INFO): Rx dataTimestamp_ set to:1750272184.747783
2025-06-18T18:43:04.750Z,1750272184.750 [DAT](INFO): DAT read: Bearing 359.6, 2.9 (Local)
2025-06-18T18:43:04.751Z,1750272184.751 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.6, 2.9 (Local)
2025-06-18T18:43:04.755Z,1750272184.755 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed 0.7
2025-06-18T18:43:04.763Z,1750272184.763 [DAT](INFO): DAT read: 18:43:05.3500 LVL= 25984, 32753, 19922, 32755, AGC= 58, IDX= 496,-0.03, 3.107, 1.740,-3.121, 2.848, PHS= 0.347,-1.061, 0.311, RAW= 148.7, 5.9, CAL= 150.4, -2.9, ROT= 359.6, 2.9
2025-06-18T18:43:04.765Z,1750272184.765 [DAT](INFO): got valid direction response:
18:43:05.3500 LVL= 25984, 32753, 19922, 32755, AGC= 58, IDX= 496,-0.03, 3.107, 1.740,-3.121, 2.848, PHS= 0.347,-1.061, 0.311, RAW= 148.7, 5.9, CAL= 150.4, -2.9, ROT= 359.6, 2.9
2025-06-18T18:43:04.765Z,1750272184.765 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-18T18:43:04.767Z,1750272184.767 [DAT](INFO): direction in FSK: [0.998695,-0.006972,-0.050593]
2025-06-18T18:43:04.767Z,1750272184.767 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:04.783Z,1750272184.783 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=7.585806
2025-06-18T18:43:04.997Z,1750272184.997 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=7.799747
2025-06-18T18:43:05.123Z,1750272185.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.200001 m,
deltaT: 0.506322 s,
deltaX: -0.500000 m,
approachRate: -0.987514 m/s,
rangeRepo size: 4
2025-06-18T18:43:05.125Z,1750272185.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.051880 m,
bearing: 138.255275 deg,
lat: 36.905854 deg,
lon: -122.115754 deg,
deltaT: 0.506322 s,
deltaX: -0.495419 m,
approachRate: -0.978465 m/s,
posRepo size: 4
2025-06-18T18:43:05.125Z,1750272185.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.05 m.
2025-06-18T18:43:05.128Z,1750272185.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.051880 m,
nav range: 16.000893 m,
bearing: 138.736119 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.304972 deg/s,
cmd heading: 141.548362 deg,
new cmd heading: 141.938812 deg.
2025-06-18T18:43:05.129Z,1750272185.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477300 target range: 16.051880 and range: 16.20 m.
2025-06-18T18:43:05.250Z,1750272185.250 [DAT](INFO): DAT read: Rx Time:18:43:05.8499
2025-06-18T18:43:05.250Z,1750272185.250 [DAT](INFO): Rx dataTimestamp_ set to:1750272185.249884
2025-06-18T18:43:05.251Z,1750272185.251 [DAT](INFO): DAT read: Bearing 358.5, 3.4 (Local)
2025-06-18T18:43:05.252Z,1750272185.252 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.5, 3.4 (Local)
2025-06-18T18:43:05.254Z,1750272185.254 [DAT](INFO): DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed 0.6
2025-06-18T18:43:05.259Z,1750272185.259 [DAT](INFO): DAT read: 18:43:05.8499 LVL= 25712, 28657, 22594, 32755, AGC= 58, IDX= 511,-0.23,-2.354, 2.573,-2.265,-2.606, PHS= 0.340,-1.057, 0.338, RAW= 149.9, 5.5, CAL= 151.5, -3.4, ROT= 358.5, 3.4
2025-06-18T18:43:05.260Z,1750272185.260 [DAT](INFO): got valid direction response:
18:43:05.8499 LVL= 25712, 28657, 22594, 32755, AGC= 58, IDX= 511,-0.23,-2.354, 2.573,-2.265,-2.606, PHS= 0.340,-1.057, 0.338, RAW= 149.9, 5.5, CAL= 151.5, -3.4, ROT= 358.5, 3.4
2025-06-18T18:43:05.261Z,1750272185.261 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-18T18:43:05.261Z,1750272185.261 [DAT](INFO): direction in FSK: [0.997898,-0.026131,-0.059306]
2025-06-18T18:43:05.262Z,1750272185.262 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:05.265Z,1750272185.265 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=8.068418
2025-06-18T18:43:05.501Z,1750272185.501 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=8.304002
2025-06-18T18:43:05.623Z,1750272185.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.100000 m,
deltaT: 0.502101 s,
deltaX: -0.100000 m,
approachRate: -0.199164 m/s,
rangeRepo size: 4
2025-06-18T18:43:05.629Z,1750272185.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.952785 m,
bearing: 137.224338 deg,
lat: 36.905855 deg,
lon: -122.115754 deg,
deltaT: 0.502101 s,
deltaX: -0.099094 m,
approachRate: -0.197359 m/s,
posRepo size: 4
2025-06-18T18:43:05.630Z,1750272185.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.95 m.
2025-06-18T18:43:05.637Z,1750272185.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.952785 m,
nav range: 15.674137 m,
bearing: 138.670918 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.304972 deg/s,
cmd heading: 141.938817 deg,
new cmd heading: 142.396321 deg.
2025-06-18T18:43:05.638Z,1750272185.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.485285 target range: 15.952785 and range: 16.10 m.
2025-06-18T18:43:05.753Z,1750272185.753 [DAT](INFO): DAT read: Rx Time:18:43:06.3496
2025-06-18T18:43:05.754Z,1750272185.754 [DAT](INFO): Rx dataTimestamp_ set to:1750272185.753656
2025-06-18T18:43:05.755Z,1750272185.755 [DAT](INFO): DAT read: Bearing 356.5, 4.3 (Local)
2025-06-18T18:43:05.756Z,1750272185.756 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.5, 4.3 (Local)
2025-06-18T18:43:05.758Z,1750272185.758 [DAT](INFO): DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.6
2025-06-18T18:43:05.763Z,1750272185.763 [DAT](INFO): DAT read: 18:43:06.3496 LVL= 27824, 30673, 20802, 32755, AGC= 58, IDX= 507, 0.33,-0.787,-2.161,-0.643,-1.043, PHS= 0.344,-1.071, 0.398, RAW= 151.8, 4.6, CAL= 153.5, -4.3, ROT= 356.5, 4.3
2025-06-18T18:43:05.764Z,1750272185.764 [DAT](INFO): got valid direction response:
18:43:06.3496 LVL= 27824, 30673, 20802, 32755, AGC= 58, IDX= 507, 0.33,-0.787,-2.161,-0.643,-1.043, PHS= 0.344,-1.071, 0.398, RAW= 151.8, 4.6, CAL= 153.5, -4.3, ROT= 356.5, 4.3
2025-06-18T18:43:05.764Z,1750272185.764 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-18T18:43:05.765Z,1750272185.765 [DAT](INFO): direction in FSK: [0.995325,-0.060877,-0.074979]
2025-06-18T18:43:05.766Z,1750272185.766 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:05.773Z,1750272185.773 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=8.576276
2025-06-18T18:43:06.005Z,1750272186.005 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=8.807897
2025-06-18T18:43:06.009Z,1750272186.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.600000 m,
deltaT: 0.503772 s,
deltaX: -0.500000 m,
approachRate: -0.992512 m/s,
rangeRepo size: 4
2025-06-18T18:43:06.011Z,1750272186.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.457357 m,
bearing: 136.148575 deg,
lat: 36.905855 deg,
lon: -122.115753 deg,
deltaT: 0.503772 s,
deltaX: -0.495428 m,
approachRate: -0.983437 m/s,
posRepo size: 4
2025-06-18T18:43:06.020Z,1750272186.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.46 m.
2025-06-18T18:43:06.023Z,1750272186.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.457357 m,
nav range: 15.459508 m,
bearing: 138.372186 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.304972 deg/s,
cmd heading: 142.396317 deg,
new cmd heading: 142.750206 deg.
2025-06-18T18:43:06.029Z,1750272186.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.491461 target range: 15.457357 and range: 15.60 m.
2025-06-18T18:43:06.258Z,1750272186.258 [DAT](INFO): DAT read: Rx Time:18:43:06.8494
2025-06-18T18:43:06.258Z,1750272186.258 [DAT](INFO): Rx dataTimestamp_ set to:1750272186.257752
2025-06-18T18:43:06.259Z,1750272186.259 [DAT](INFO): DAT read: Bearing 355.2, 4.5 (Local)
2025-06-18T18:43:06.260Z,1750272186.260 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.2, 4.5 (Local)
2025-06-18T18:43:06.262Z,1750272186.262 [DAT](INFO): DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.7
2025-06-18T18:43:06.267Z,1750272186.267 [DAT](INFO): DAT read: 18:43:06.8494 LVL= 23280, 26529, 20178, 32547, AGC= 59, IDX= 506,-0.02, 0.748,-0.627, 0.938, 0.507, PHS= 0.329,-1.087, 0.428, RAW= 153.4, 4.5, CAL= 154.8, -4.5, ROT= 355.2, 4.5
2025-06-18T18:43:06.268Z,1750272186.268 [DAT](INFO): got valid direction response:
18:43:06.8494 LVL= 23280, 26529, 20178, 32547, AGC= 59, IDX= 506,-0.02, 0.748,-0.627, 0.938, 0.507, PHS= 0.329,-1.087, 0.428, RAW= 153.4, 4.5, CAL= 154.8, -4.5, ROT= 355.2, 4.5
2025-06-18T18:43:06.268Z,1750272186.268 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-18T18:43:06.269Z,1750272186.269 [DAT](INFO): direction in FSK: [0.993421,-0.083420,-0.078459]
2025-06-18T18:43:06.269Z,1750272186.269 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:06.277Z,1750272186.277 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=9.080162
2025-06-18T18:43:06.387Z,1750272186.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 0.504096 s,
deltaX: -0.300000 m,
approachRate: -0.595125 m/s,
rangeRepo size: 4
2025-06-18T18:43:06.394Z,1750272186.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.160100 m,
bearing: 134.884511 deg,
lat: 36.905856 deg,
lon: -122.115749 deg,
deltaT: 0.504096 s,
deltaX: -0.297257 m,
approachRate: -0.589684 m/s,
posRepo size: 4
2025-06-18T18:43:06.394Z,1750272186.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.16 m.
2025-06-18T18:43:06.403Z,1750272186.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.160100 m,
nav range: 15.391046 m,
bearing: 137.297490 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.304972 deg/s,
cmd heading: 142.750202 deg,
new cmd heading: 143.096009 deg.
2025-06-18T18:43:06.412Z,1750272186.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.497497 target range: 15.160100 and range: 15.30 m.
2025-06-18T18:43:06.509Z,1750272186.509 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=9.311816
2025-06-18T18:43:06.761Z,1750272186.761 [DAT](INFO): DAT read: Rx Time:18:43:07.3491
2025-06-18T18:43:06.762Z,1750272186.762 [DAT](INFO): Rx dataTimestamp_ set to:1750272186.761674
2025-06-18T18:43:06.763Z,1750272186.763 [DAT](INFO): DAT read: Bearing 354.0, 4.5 (Local)
2025-06-18T18:43:06.764Z,1750272186.764 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.0, 4.5 (Local)
2025-06-18T18:43:06.766Z,1750272186.766 [DAT](INFO): DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.6
2025-06-18T18:43:06.771Z,1750272186.771 [DAT](INFO): DAT read: 18:43:07.3491 LVL= 25200, 28289, 18914, 32755, AGC= 60, IDX= 503,-0.48, 1.079,-0.283, 1.309, 0.855, PHS= 0.312,-1.091, 0.450, RAW= 154.7, 4.5, CAL= 156.0, -4.5, ROT= 354.0, 4.5
2025-06-18T18:43:06.788Z,1750272186.788 [DAT](INFO): got valid direction response:
18:43:07.3491 LVL= 25200, 28289, 18914, 32755, AGC= 60, IDX= 503,-0.48, 1.079,-0.283, 1.309, 0.855, PHS= 0.312,-1.091, 0.450, RAW= 154.7, 4.5, CAL= 156.0, -4.5, ROT= 354.0, 4.5
2025-06-18T18:43:06.788Z,1750272186.788 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-18T18:43:06.789Z,1750272186.789 [DAT](INFO): direction in FSK: [0.991456,-0.104206,-0.078459]
2025-06-18T18:43:06.790Z,1750272186.790 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:06.797Z,1750272186.797 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=9.600268
2025-06-18T18:43:06.890Z,1750272186.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.900000 m,
deltaT: 0.503922 s,
deltaX: -0.400001 m,
approachRate: -0.793775 m/s,
rangeRepo size: 4
2025-06-18T18:43:06.896Z,1750272186.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.763757 m,
bearing: 134.512610 deg,
lat: 36.905859 deg,
lon: -122.115748 deg,
deltaT: 0.503922 s,
deltaX: -0.396343 m,
approachRate: -0.786517 m/s,
posRepo size: 4
2025-06-18T18:43:06.897Z,1750272186.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.76 m.
2025-06-18T18:43:06.899Z,1750272186.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.763757 m,
nav range: 14.828645 m,
bearing: 136.144012 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.304972 deg/s,
cmd heading: 143.096015 deg,
new cmd heading: 143.554999 deg.
2025-06-18T18:43:06.905Z,1750272186.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505507 target range: 14.763757 and range: 14.90 m.
2025-06-18T18:43:07.013Z,1750272187.013 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=9.816452
2025-06-18T18:43:07.197Z,1750272187.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:07.202Z,1750272187.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.76 m.
2025-06-18T18:43:07.205Z,1750272187.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.763757 m,
nav range: 14.589034 m,
bearing: 136.122391 deg,
approach rate: -0.764542 m/s,
LOS rate: -0.070122 deg/s,
cmd heading: 143.555004 deg,
new cmd heading: 143.489074 deg.
2025-06-18T18:43:07.206Z,1750272187.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504357 target range: 14.763757 and range: 14.90 m.
2025-06-18T18:43:07.267Z,1750272187.267 [DAT](INFO): DAT read: Rx Time:18:43:07.8488
2025-06-18T18:43:07.267Z,1750272187.267 [DAT](INFO): Rx dataTimestamp_ set to:1750272187.267182
2025-06-18T18:43:07.269Z,1750272187.269 [DAT](INFO): DAT read: Bearing 352.5, 4.9 (Local)
2025-06-18T18:43:07.270Z,1750272187.270 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.5, 4.9 (Local)
2025-06-18T18:43:07.279Z,1750272187.279 [DAT](INFO): DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed 0.6
2025-06-18T18:43:07.293Z,1750272187.293 [DAT](INFO): DAT read: 18:43:07.8488 LVL= 20464, 27345, 17506, 31059, AGC= 60, IDX= 500, 0.06,-2.734, 2.193,-2.457,-2.947, PHS= 0.300,-1.096, 0.487, RAW= 156.2, 4.2, CAL= 157.5, -4.9, ROT= 352.5, 4.9
2025-06-18T18:43:07.294Z,1750272187.294 [DAT](INFO): got valid direction response:
18:43:07.8488 LVL= 20464, 27345, 17506, 31059, AGC= 60, IDX= 500, 0.06,-2.734, 2.193,-2.457,-2.947, PHS= 0.300,-1.096, 0.487, RAW= 156.2, 4.2, CAL= 157.5, -4.9, ROT= 352.5, 4.9
2025-06-18T18:43:07.294Z,1750272187.294 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-18T18:43:07.295Z,1750272187.295 [DAT](INFO): direction in FSK: [0.987821,-0.130049,-0.085417]
2025-06-18T18:43:07.301Z,1750272187.301 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:07.309Z,1750272187.309 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=10.111880
2025-06-18T18:43:07.517Z,1750272187.517 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=10.320047
2025-06-18T18:43:07.661Z,1750272187.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.400000 m,
deltaT: 0.505508 s,
deltaX: -0.500000 m,
approachRate: -0.989104 m/s,
rangeRepo size: 4
2025-06-18T18:43:07.663Z,1750272187.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.268339 m,
bearing: 133.909575 deg,
lat: 36.905861 deg,
lon: -122.115745 deg,
deltaT: 0.505508 s,
deltaX: -0.495418 m,
approachRate: -0.980039 m/s,
posRepo size: 4
2025-06-18T18:43:07.680Z,1750272187.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.27 m.
2025-06-18T18:43:07.683Z,1750272187.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.268339 m,
nav range: 14.218446 m,
bearing: 134.704620 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.070122 deg/s,
cmd heading: 143.489079 deg,
new cmd heading: 143.392684 deg.
2025-06-18T18:43:07.688Z,1750272187.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502674 target range: 14.268339 and range: 14.40 m.
2025-06-18T18:43:07.771Z,1750272187.771 [DAT](INFO): DAT read: Rx Time:18:43:08.3485
2025-06-18T18:43:07.772Z,1750272187.772 [DAT](INFO): Rx dataTimestamp_ set to:1750272187.771364
2025-06-18T18:43:07.773Z,1750272187.773 [DAT](INFO): DAT read: Bearing 352.0, 4.4 (Local)
2025-06-18T18:43:07.773Z,1750272187.773 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.0, 4.4 (Local)
2025-06-18T18:43:07.775Z,1750272187.775 [DAT](INFO): DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed 0.6
2025-06-18T18:43:07.781Z,1750272187.781 [DAT](INFO): DAT read: 18:43:08.3485 LVL= 18992, 27249, 16082, 30643, AGC= 58, IDX= 497,-0.23, 0.367,-0.948, 0.664, 0.186, PHS= 0.269,-1.087, 0.475, RAW= 157.0, 4.7, CAL= 158.0, -4.4, ROT= 352.0, 4.4
2025-06-18T18:43:07.783Z,1750272187.783 [DAT](INFO): got valid direction response:
18:43:08.3485 LVL= 18992, 27249, 16082, 30643, AGC= 58, IDX= 497,-0.23, 0.367,-0.948, 0.664, 0.186, PHS= 0.269,-1.087, 0.475, RAW= 157.0, 4.7, CAL= 158.0, -4.4, ROT= 352.0, 4.4
2025-06-18T18:43:07.783Z,1750272187.783 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-18T18:43:07.785Z,1750272187.785 [DAT](INFO): direction in FSK: [0.987350,-0.138763,-0.076719]
2025-06-18T18:43:07.785Z,1750272187.785 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:07.791Z,1750272187.791 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=10.593718
2025-06-18T18:43:08.017Z,1750272188.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.000000 m,
deltaT: 0.504182 s,
deltaX: -0.400000 m,
approachRate: -0.793364 m/s,
rangeRepo size: 4
2025-06-18T18:43:08.019Z,1750272188.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.871997 m,
bearing: 133.764106 deg,
lat: 36.905862 deg,
lon: -122.115745 deg,
deltaT: 0.504182 s,
deltaX: -0.396342 m,
approachRate: -0.786110 m/s,
posRepo size: 4
2025-06-18T18:43:08.021Z,1750272188.021 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=10.823875
2025-06-18T18:43:08.022Z,1750272188.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.87 m.
2025-06-18T18:43:08.047Z,1750272188.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.871997 m,
nav range: 13.934747 m,
bearing: 134.293038 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.070122 deg/s,
cmd heading: 143.392677 deg,
new cmd heading: 143.318615 deg.
2025-06-18T18:43:08.060Z,1750272188.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.501382 target range: 13.871997 and range: 14.00 m.
2025-06-18T18:43:08.273Z,1750272188.273 [DAT](INFO): DAT read: Rx Time:18:43:08.8484
2025-06-18T18:43:08.274Z,1750272188.274 [DAT](INFO): Rx dataTimestamp_ set to:1750272188.273601
2025-06-18T18:43:08.275Z,1750272188.275 [DAT](INFO): DAT read: Bearing 350.1, 4.9 (Local)
2025-06-18T18:43:08.275Z,1750272188.275 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.1, 4.9 (Local)
2025-06-18T18:43:08.278Z,1750272188.278 [DAT](INFO): DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.7
2025-06-18T18:43:08.290Z,1750272188.290 [DAT](INFO): DAT read: 18:43:08.8484 LVL= 19312, 27105, 15762, 30563, AGC= 58, IDX= 511, 0.25,-2.677, 2.285,-2.313,-2.846, PHS= 0.257,-1.106, 0.529, RAW= 158.9, 4.3, CAL= 159.9, -4.9, ROT= 350.1, 4.9
2025-06-18T18:43:08.291Z,1750272188.291 [DAT](INFO): got valid direction response:
18:43:08.8484 LVL= 19312, 27105, 15762, 30563, AGC= 58, IDX= 511, 0.25,-2.677, 2.285,-2.313,-2.846, PHS= 0.257,-1.106, 0.529, RAW= 158.9, 4.3, CAL= 159.9, -4.9, ROT= 350.1, 4.9
2025-06-18T18:43:08.291Z,1750272188.291 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-18T18:43:08.304Z,1750272188.304 [DAT](INFO): direction in FSK: [0.981509,-0.171301,-0.085417]
2025-06-18T18:43:08.305Z,1750272188.305 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:08.309Z,1750272188.309 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=11.112135
2025-06-18T18:43:08.406Z,1750272188.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 0.502237 s,
deltaX: -0.200000 m,
approachRate: -0.398218 m/s,
rangeRepo size: 4
2025-06-18T18:43:08.417Z,1750272188.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.673826 m,
bearing: 132.366138 deg,
lat: 36.905862 deg,
lon: -122.115745 deg,
deltaT: 0.502237 s,
deltaX: -0.198171 m,
approachRate: -0.394576 m/s,
posRepo size: 4
2025-06-18T18:43:08.418Z,1750272188.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.67 m.
2025-06-18T18:43:08.425Z,1750272188.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.673826 m,
nav range: 13.648939 m,
bearing: 133.998729 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.070122 deg/s,
cmd heading: 143.318611 deg,
new cmd heading: 143.235772 deg.
2025-06-18T18:43:08.426Z,1750272188.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.499936 target range: 13.673826 and range: 13.80 m.
2025-06-18T18:43:08.525Z,1750272188.525 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=11.327947
2025-06-18T18:43:08.777Z,1750272188.777 [DAT](INFO): DAT read: Rx Time:18:43:09.3480
2025-06-18T18:43:08.778Z,1750272188.778 [DAT](INFO): Rx dataTimestamp_ set to:1750272188.777594
2025-06-18T18:43:08.779Z,1750272188.779 [DAT](INFO): DAT read: Bearing 349.1, 4.5 (Local)
2025-06-18T18:43:08.779Z,1750272188.779 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.1, 4.5 (Local)
2025-06-18T18:43:08.782Z,1750272188.782 [DAT](INFO): DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed 0.6
2025-06-18T18:43:08.806Z,1750272188.806 [DAT](INFO): DAT read: 18:43:09.3480 LVL= 19392, 27073, 15890, 30483, AGC= 59, IDX= 508,-0.08, 1.416, 0.107, 1.821, 1.277, PHS= 0.226,-1.124, 0.541, RAW= 160.2, 4.7, CAL= 160.9, -4.5, ROT= 349.1, 4.5
2025-06-18T18:43:08.808Z,1750272188.807 [DAT](INFO): got valid direction response:
18:43:09.3480 LVL= 19392, 27073, 15890, 30483, AGC= 59, IDX= 508,-0.08, 1.416, 0.107, 1.821, 1.277, PHS= 0.226,-1.124, 0.541, RAW= 160.2, 4.7, CAL= 160.9, -4.5, ROT= 349.1, 4.5
2025-06-18T18:43:08.828Z,1750272188.828 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-18T18:43:08.829Z,1750272188.829 [DAT](INFO): direction in FSK: [0.978932,-0.188512,-0.078459]
2025-06-18T18:43:08.829Z,1750272188.829 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:08.843Z,1750272188.843 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=11.645756
2025-06-18T18:43:08.939Z,1750272188.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.200000 m,
deltaT: 0.503993 s,
deltaX: -0.600000 m,
approachRate: -1.190493 m/s,
rangeRepo size: 4
2025-06-18T18:43:08.942Z,1750272188.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.079302 m,
bearing: 131.323135 deg,
lat: 36.905863 deg,
lon: -122.115744 deg,
deltaT: 0.503993 s,
deltaX: -0.594524 m,
approachRate: -1.179628 m/s,
posRepo size: 4
2025-06-18T18:43:08.943Z,1750272188.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.08 m.
2025-06-18T18:43:08.958Z,1750272188.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.079302 m,
nav range: 13.267069 m,
bearing: 133.170452 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.070122 deg/s,
cmd heading: 143.235774 deg,
new cmd heading: 143.124332 deg.
2025-06-18T18:43:08.959Z,1750272188.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.497991 target range: 13.079302 and range: 13.20 m.
2025-06-18T18:43:09.030Z,1750272189.030 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=11.832611
2025-06-18T18:43:09.196Z,1750272189.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.08 m.
2025-06-18T18:43:09.199Z,1750272189.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.079302 m,
nav range: 13.077654 m,
bearing: 133.056444 deg,
approach rate: -0.728429 m/s,
LOS rate: -0.444789 deg/s,
cmd heading: 143.124333 deg,
new cmd heading: 142.777359 deg.
2025-06-18T18:43:09.200Z,1750272189.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.491935 target range: 13.079302 and range: 13.20 m.
2025-06-18T18:43:09.282Z,1750272189.282 [DAT](INFO): DAT read: Rx Time:18:43:09.8479
2025-06-18T18:43:09.282Z,1750272189.282 [DAT](INFO): Rx dataTimestamp_ set to:1750272189.281818
2025-06-18T18:43:09.283Z,1750272189.283 [DAT](INFO): DAT read: Bearing 347.3, 4.9 (Local)
2025-06-18T18:43:09.284Z,1750272189.284 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.3, 4.9 (Local)
2025-06-18T18:43:09.286Z,1750272189.286 [DAT](INFO): DAT read: Range 10 to 50 : 13.1 m (trip time 8.7 ms) speed 0.7
2025-06-18T18:43:09.304Z,1750272189.304 [DAT](INFO): DAT read: 18:43:09.8479 LVL= 20688, 31665, 15602, 32147, AGC= 58, IDX= 506, 0.49,-2.779, 2.193,-2.307,-2.903, PHS= 0.212,-1.140, 0.592, RAW= 162.1, 4.3, CAL= 162.7, -4.9, ROT= 347.3, 4.9
2025-06-18T18:43:09.306Z,1750272189.306 [DAT](INFO): got valid direction response:
18:43:09.8479 LVL= 20688, 31665, 15602, 32147, AGC= 58, IDX= 506, 0.49,-2.779, 2.193,-2.307,-2.903, PHS= 0.212,-1.140, 0.592, RAW= 162.1, 4.3, CAL= 162.7, -4.9, ROT= 347.3, 4.9
2025-06-18T18:43:09.307Z,1750272189.307 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-18T18:43:09.317Z,1750272189.317 [DAT](INFO): direction in FSK: [0.971969,-0.219043,-0.085417]
2025-06-18T18:43:09.317Z,1750272189.317 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:09.325Z,1750272189.325 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=12.127556
2025-06-18T18:43:09.534Z,1750272189.534 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=12.336173
2025-06-18T18:43:09.687Z,1750272189.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.100000 m,
deltaT: 0.504224 s,
deltaX: -0.099999 m,
approachRate: -0.198323 m/s,
rangeRepo size: 4
2025-06-18T18:43:09.693Z,1750272189.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.980227 m,
bearing: 130.750664 deg,
lat: 36.905865 deg,
lon: -122.115742 deg,
deltaT: 0.504224 s,
deltaX: -0.099074 m,
approachRate: -0.196489 m/s,
posRepo size: 4
2025-06-18T18:43:09.694Z,1750272189.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.98 m.
2025-06-18T18:43:09.701Z,1750272189.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.980227 m,
nav range: 12.716337 m,
bearing: 131.855778 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.444789 deg/s,
cmd heading: 142.777359 deg,
new cmd heading: 142.122646 deg.
2025-06-18T18:43:09.702Z,1750272189.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.480508 target range: 12.980227 and range: 13.10 m.
2025-06-18T18:43:09.786Z,1750272189.786 [DAT](INFO): DAT read: Rx Time:18:43:10.3475
2025-06-18T18:43:09.786Z,1750272189.786 [DAT](INFO): Rx dataTimestamp_ set to:1750272189.786011
2025-06-18T18:43:09.788Z,1750272189.788 [DAT](INFO): DAT read: Bearing 346.0, 4.8 (Local)
2025-06-18T18:43:09.788Z,1750272189.788 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.0, 4.8 (Local)
2025-06-18T18:43:09.791Z,1750272189.791 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.7
2025-06-18T18:43:09.798Z,1750272189.798 [DAT](INFO): DAT read: 18:43:10.3475 LVL= 24864, 26097, 19442, 32755, AGC= 58, IDX= 503, 0.09, 1.670, 0.362, 2.194, 1.566, PHS= 0.191,-1.157, 0.625, RAW= 163.5, 4.3, CAL= 164.0, -4.8, ROT= 346.0, 4.8
2025-06-18T18:43:09.799Z,1750272189.799 [DAT](INFO): got valid direction response:
18:43:10.3475 LVL= 24864, 26097, 19442, 32755, AGC= 58, IDX= 503, 0.09, 1.670, 0.362, 2.194, 1.566, PHS= 0.191,-1.157, 0.625, RAW= 163.5, 4.3, CAL= 164.0, -4.8, ROT= 346.0, 4.8
2025-06-18T18:43:09.800Z,1750272189.800 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-18T18:43:09.801Z,1750272189.801 [DAT](INFO): direction in FSK: [0.966893,-0.241073,-0.083678]
2025-06-18T18:43:09.802Z,1750272189.802 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:09.811Z,1750272189.811 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.613584
2025-06-18T18:43:10.042Z,1750272190.042 [DAT](INFO): DAT read: Rx Time:18:43:10.8474
2025-06-18T18:43:10.044Z,1750272190.044 [DAT](INFO): Rx dataTimestamp_ set to:1750272190.042568
2025-06-18T18:43:10.047Z,1750272190.047 [DAT](INFO): DAT read: Bearing 344.7, 4.6 (Local)
2025-06-18T18:43:10.048Z,1750272190.048 [DAT](INFO): Local bearing/azimuth received:
Bearing 344.7, 4.6 (Local)
2025-06-18T18:43:10.051Z,1750272190.051 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.853376
2025-06-18T18:43:10.076Z,1750272190.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.504193 s,
deltaX: -0.600000 m,
approachRate: -1.190021 m/s,
rangeRepo size: 4
2025-06-18T18:43:10.095Z,1750272190.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.385713 m,
bearing: 129.745900 deg,
lat: 36.905865 deg,
lon: -122.115742 deg,
deltaT: 0.504193 s,
deltaX: -0.594515 m,
approachRate: -1.179141 m/s,
posRepo size: 4
2025-06-18T18:43:10.100Z,1750272190.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.39 m.
2025-06-18T18:43:10.102Z,1750272190.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.385713 m,
nav range: 12.474426 m,
bearing: 131.414391 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.444789 deg/s,
cmd heading: 142.122645 deg,
new cmd heading: 141.657704 deg.
2025-06-18T18:43:10.103Z,1750272190.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472393 target range: 12.385713 and range: 12.50 m.
2025-06-18T18:43:10.290Z,1750272190.290 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.7
2025-06-18T18:43:10.299Z,1750272190.299 [DAT](INFO): DAT read: 18:43:10.8474 LVL= 26080, 29297, 19058, 31795, AGC= 57, IDX= 502,-0.14, 0.260,-1.014, 0.830, 0.191, PHS= 0.156,-1.158, 0.636, RAW= 165.0, 4.6, CAL= 165.3, -4.6, ROT= 344.7, 4.6
2025-06-18T18:43:10.343Z,1750272190.343 [DAT](INFO): got valid direction response:
18:43:10.8474 LVL= 26080, 29297, 19058, 31795, AGC= 57, IDX= 502,-0.14, 0.260,-1.014, 0.830, 0.191, PHS= 0.156,-1.158, 0.636, RAW= 165.0, 4.6, CAL= 165.3, -4.6, ROT= 344.7, 4.6
2025-06-18T18:43:10.348Z,1750272190.348 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-18T18:43:10.349Z,1750272190.349 [DAT](INFO): direction in FSK: [0.961450,-0.263023,-0.080199]
2025-06-18T18:43:10.349Z,1750272190.349 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:10.374Z,1750272190.374 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=13.177064
2025-06-18T18:43:10.546Z,1750272190.546 [DAT](INFO): DAT read: Rx Time:18:43:11.3472
2025-06-18T18:43:10.548Z,1750272190.548 [DAT](INFO): Rx dataTimestamp_ set to:1750272190.546435
2025-06-18T18:43:10.551Z,1750272190.551 [DAT](INFO): DAT read: Bearing 343.7, 4.6 (Local)
2025-06-18T18:43:10.552Z,1750272190.552 [DAT](INFO): Local bearing/azimuth received:
Bearing 343.7, 4.6 (Local)
2025-06-18T18:43:10.555Z,1750272190.555 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=13.357345
2025-06-18T18:43:10.594Z,1750272190.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.502220 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:43:10.600Z,1750272190.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.385713 m,
bearing: 128.431555 deg,
lat: 36.905868 deg,
lon: -122.115740 deg,
deltaT: 0.502220 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-18T18:43:10.601Z,1750272190.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.39 m.
2025-06-18T18:43:10.624Z,1750272190.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.385713 m,
nav range: 12.098867 m,
bearing: 129.795515 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.444789 deg/s,
cmd heading: 141.657700 deg,
new cmd heading: 140.923696 deg.
2025-06-18T18:43:10.625Z,1750272190.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.459583 target range: 12.385713 and range: 12.50 m.
2025-06-18T18:43:10.794Z,1750272190.794 [DAT](INFO): DAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed 0.6
2025-06-18T18:43:10.799Z,1750272190.799 [DAT](INFO): DAT read: 18:43:11.3472 LVL= 24464, 28449, 18338, 32115, AGC= 57, IDX= 498, 0.42, 0.091,-1.180, 0.701, 0.036, PHS= 0.143,-1.169, 0.662, RAW= 166.0, 4.5, CAL= 166.3, -4.6, ROT= 343.7, 4.6
2025-06-18T18:43:10.800Z,1750272190.800 [DAT](INFO): got valid direction response:
18:43:11.3472 LVL= 24464, 28449, 18338, 32115, AGC= 57, IDX= 498, 0.42, 0.091,-1.180, 0.701, 0.036, PHS= 0.143,-1.169, 0.662, RAW= 166.0, 4.5, CAL= 166.3, -4.6, ROT= 343.7, 4.6
2025-06-18T18:43:10.801Z,1750272190.801 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-18T18:43:10.802Z,1750272190.802 [DAT](INFO): direction in FSK: [0.956714,-0.279762,-0.080199]
2025-06-18T18:43:10.802Z,1750272190.802 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:10.805Z,1750272190.805 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=13.608309
2025-06-18T18:43:10.975Z,1750272190.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.504010 s,
deltaX: -0.300000 m,
approachRate: -0.595227 m/s,
rangeRepo size: 4
2025-06-18T18:43:10.990Z,1750272190.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.088457 m,
bearing: 128.058091 deg,
lat: 36.905868 deg,
lon: -122.115739 deg,
deltaT: 0.504010 s,
deltaX: -0.297256 m,
approachRate: -0.589781 m/s,
posRepo size: 4
2025-06-18T18:43:10.990Z,1750272190.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.09 m.
2025-06-18T18:43:11.001Z,1750272191.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.088457 m,
nav range: 11.863753 m,
bearing: 128.796180 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.444789 deg/s,
cmd heading: 140.923700 deg,
new cmd heading: 140.403436 deg.
2025-06-18T18:43:11.002Z,1750272191.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450502 target range: 12.088457 and range: 12.20 m.
2025-06-18T18:43:11.048Z,1750272191.048 [DAT](INFO): DAT read: Rx Time:18:43:11.8469
2025-06-18T18:43:11.050Z,1750272191.050 [DAT](INFO): Rx dataTimestamp_ set to:1750272191.048932
2025-06-18T18:43:11.053Z,1750272191.053 [DAT](INFO): DAT read: Bearing 342.6, 4.5 (Local)
2025-06-18T18:43:11.055Z,1750272191.055 [DAT](INFO): Local bearing/azimuth received:
Bearing 342.6, 4.5 (Local)
2025-06-18T18:43:11.057Z,1750272191.057 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=13.859621
2025-06-18T18:43:11.299Z,1750272191.299 [DAT](INFO): DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.6
2025-06-18T18:43:11.306Z,1750272191.306 [DAT](INFO): DAT read: 18:43:11.8469 LVL= 24560, 28449, 16786, 32755, AGC= 57, IDX= 496, 0.06, 0.110,-1.154, 0.765, 0.077, PHS= 0.121,-1.184, 0.685, RAW= 167.1, 4.6, CAL= 167.4, -4.5, ROT= 342.6, 4.5
2025-06-18T18:43:11.320Z,1750272191.320 [DAT](INFO): got valid direction response:
18:43:11.8469 LVL= 24560, 28449, 16786, 32755, AGC= 57, IDX= 496, 0.06, 0.110,-1.154, 0.765, 0.077, PHS= 0.121,-1.184, 0.685, RAW= 167.1, 4.6, CAL= 167.4, -4.5, ROT= 342.6, 4.5
2025-06-18T18:43:11.320Z,1750272191.320 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-18T18:43:11.321Z,1750272191.321 [DAT](INFO): direction in FSK: [0.951299,-0.298119,-0.078459]
2025-06-18T18:43:11.322Z,1750272191.322 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:11.325Z,1750272191.325 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=14.128134
2025-06-18T18:43:11.390Z,1750272191.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.504039 s,
deltaX: -0.500000 m,
approachRate: -0.991987 m/s,
rangeRepo size: 4
2025-06-18T18:43:11.396Z,1750272191.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.593029 m,
bearing: 127.037218 deg,
lat: 36.905868 deg,
lon: -122.115737 deg,
deltaT: 0.504039 s,
deltaX: -0.495428 m,
approachRate: -0.982916 m/s,
posRepo size: 4
2025-06-18T18:43:11.396Z,1750272191.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.59 m.
2025-06-18T18:43:11.399Z,1750272191.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.593029 m,
nav range: 11.680807 m,
bearing: 127.781737 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.444789 deg/s,
cmd heading: 140.403431 deg,
new cmd heading: 139.850898 deg.
2025-06-18T18:43:11.404Z,1750272191.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440859 target range: 11.593029 and range: 11.70 m.
2025-06-18T18:43:11.553Z,1750272191.553 [DAT](INFO): DAT read: Rx Time:18:43:12.3466
2025-06-18T18:43:11.555Z,1750272191.555 [DAT](INFO): Rx dataTimestamp_ set to:1750272191.553692
2025-06-18T18:43:11.558Z,1750272191.558 [DAT](INFO): DAT read: Bearing 341.8, 4.3 (Local)
2025-06-18T18:43:11.560Z,1750272191.560 [DAT](INFO): Local bearing/azimuth received:
Bearing 341.8, 4.3 (Local)
2025-06-18T18:43:11.564Z,1750272191.564 [DAT](INFO): DAT read: Range 10 to 50 : 11.3 m (trip time 7.5 ms) speed 0.6
2025-06-18T18:43:11.567Z,1750272191.567 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-06-18T18:43:11.575Z,1750272191.575 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=14.377561
2025-06-18T18:43:11.805Z,1750272191.805 [DAT](INFO): DAT read: 18:43:12.3466 LVL= 23952, 29681, 14994, 31731, AGC= 56, IDX= 509,-0.22,-2.950, 2.124,-2.278,-2.954, PHS= 0.092,-1.159, 0.673, RAW= 168.1, 4.9, CAL= 168.2, -4.3, ROT= 341.8, 4.3
2025-06-18T18:43:11.806Z,1750272191.806 [DAT](INFO): got valid direction response:
18:43:12.3466 LVL= 23952, 29681, 14994, 31731, AGC= 56, IDX= 509,-0.22,-2.950, 2.124,-2.278,-2.954, PHS= 0.092,-1.159, 0.673, RAW= 168.1, 4.9, CAL= 168.2, -4.3, ROT= 341.8, 4.3
2025-06-18T18:43:11.806Z,1750272191.806 [DAT](INFO): #Rx 32: Read direction message, but no range.
2025-06-18T18:43:11.807Z,1750272191.807 [DAT](INFO): direction in FSK: [0.947298,-0.311456,-0.074979]
2025-06-18T18:43:11.811Z,1750272191.811 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=14.613550
2025-06-18T18:43:11.826Z,1750272191.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.300000 m,
deltaT: 0.257412 s,
deltaX: -0.400000 m,
approachRate: -1.553928 m/s,
rangeRepo size: 4
2025-06-18T18:43:11.832Z,1750272191.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.196686 m,
bearing: 126.290756 deg,
lat: 36.905869 deg,
lon: -122.115737 deg,
deltaT: 0.257412 s,
deltaX: -0.396343 m,
approachRate: -1.539723 m/s,
posRepo size: 4
2025-06-18T18:43:11.833Z,1750272191.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.20 m.
2025-06-18T18:43:11.841Z,1750272191.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.196686 m,
nav range: 11.362951 m,
bearing: 127.216519 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.444789 deg/s,
cmd heading: 139.850896 deg,
new cmd heading: 139.268278 deg.
2025-06-18T18:43:11.842Z,1750272191.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430690 target range: 11.196686 and range: 11.30 m.
2025-06-18T18:43:12.058Z,1750272192.058 [DAT](INFO): DAT read: Rx Time:18:43:12.8465
2025-06-18T18:43:12.061Z,1750272192.061 [DAT](INFO): Rx dataTimestamp_ set to:1750272192.059196
2025-06-18T18:43:12.067Z,1750272192.067 [DAT](INFO): DAT read: Bearing 341.8, 4.1 (Local)
2025-06-18T18:43:12.069Z,1750272192.069 [DAT](INFO): Local bearing/azimuth received:
Bearing 341.8, 4.1 (Local)
2025-06-18T18:43:12.075Z,1750272192.075 [DAT](INFO): DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed 0.6
2025-06-18T18:43:12.087Z,1750272192.087 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-06-18T18:43:12.091Z,1750272192.091 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=14.893056
2025-06-18T18:43:12.172Z,1750272192.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:12.175Z,1750272192.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.100000 m,
deltaT: 0.505504 s,
deltaX: -0.200000 m,
approachRate: -0.395644 m/s,
rangeRepo size: 4
2025-06-18T18:43:12.175Z,1750272192.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.20 m.
2025-06-18T18:43:12.183Z,1750272192.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.196686 m,
nav range: 11.102755 m,
bearing: 126.834171 deg,
approach rate: -0.746244 m/s,
LOS rate: -1.122264 deg/s,
cmd heading: 139.268281 deg,
new cmd heading: 138.094529 deg.
2025-06-18T18:43:12.193Z,1750272192.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410204 target range: 11.196686 and range: 11.10 m.
2025-06-18T18:43:12.309Z,1750272192.309 [DAT](INFO): DAT read: 18:43:12.8465 LVL= 27184, 30769, 19698, 32755, AGC= 57, IDX= 507, 0.25, 1.493, 0.241, 2.188, 1.494, PHS= 0.088,-1.206, 0.691, RAW= 168.1, 5.1, CAL= 168.2, -4.1, ROT= 341.8, 4.1
2025-06-18T18:43:12.310Z,1750272192.310 [DAT](INFO): got valid direction response:
18:43:12.8465 LVL= 27184, 30769, 19698, 32755, AGC= 57, IDX= 507, 0.25, 1.493, 0.241, 2.188, 1.494, PHS= 0.088,-1.206, 0.691, RAW= 168.1, 5.1, CAL= 168.2, -4.1, ROT= 341.8, 4.1
2025-06-18T18:43:12.310Z,1750272192.310 [DAT](INFO): #Rx 34: Read direction message, but no range.
2025-06-18T18:43:12.311Z,1750272192.311 [DAT](INFO): direction in FSK: [0.947541,-0.311536,-0.071497]
2025-06-18T18:43:12.315Z,1750272192.315 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=15.117768
2025-06-18T18:43:12.563Z,1750272192.563 [DAT](INFO): DAT read: Rx Time:18:43:13.3461
2025-06-18T18:43:12.566Z,1750272192.566 [DAT](INFO): Rx dataTimestamp_ set to:1750272192.564201
2025-06-18T18:43:12.570Z,1750272192.570 [DAT](INFO): DAT read: Bearing 341.0, 3.7 (Local)
2025-06-18T18:43:12.588Z,1750272192.588 [DAT](INFO): Local bearing/azimuth received:
Bearing 341.0, 3.7 (Local)
2025-06-18T18:43:12.605Z,1750272192.605 [DAT](INFO): DAT read: Range 10 to 50 : 10.5 m (trip time 7.0 ms) speed 0.7
2025-06-18T18:43:12.645Z,1750272192.645 [DAT](INFO): DAT read: 18:43:13.3461 LVL= 26896, 30001, 18546, 32755, AGC= 57, IDX= 504,-0.06,-1.357,-2.549,-0.650,-1.324, PHS= 0.055,-1.178, 0.671, RAW= 169.1, 5.6, CAL= 169.0, -3.7, ROT= 341.0, 3.7
2025-06-18T18:43:12.647Z,1750272192.647 [DAT](INFO): got valid direction response:
18:43:13.3461 LVL= 26896, 30001, 18546, 32755, AGC= 57, IDX= 504,-0.06,-1.357,-2.549,-0.650,-1.324, PHS= 0.055,-1.178, 0.671, RAW= 169.1, 5.6, CAL= 169.0, -3.7, ROT= 341.0, 3.7
2025-06-18T18:43:12.656Z,1750272192.656 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-06-18T18:43:12.657Z,1750272192.657 [DAT](INFO): direction in FSK: [0.943548,-0.324889,-0.064532]
2025-06-18T18:43:12.658Z,1750272192.658 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:12.669Z,1750272192.669 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.472341
2025-06-18T18:43:12.761Z,1750272192.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.500000 m,
deltaT: 0.505005 s,
deltaX: -0.600000 m,
approachRate: -1.188108 m/s,
rangeRepo size: 4
2025-06-18T18:43:12.763Z,1750272192.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.403989 m,
bearing: 125.388870 deg,
lat: 36.905870 deg,
lon: -122.115737 deg,
deltaT: 1.010509 s,
deltaX: -0.792697 m,
approachRate: -0.784453 m/s,
posRepo size: 4
2025-06-18T18:43:12.770Z,1750272192.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-06-18T18:43:12.781Z,1750272192.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.403989 m,
nav range: 10.635033 m,
bearing: 125.618510 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.122264 deg/s,
cmd heading: 138.094527 deg,
new cmd heading: 136.137145 deg.
2025-06-18T18:43:12.782Z,1750272192.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376041 target range: 10.403989 and range: 10.50 m.
2025-06-18T18:43:12.809Z,1750272192.809 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.611858
2025-06-18T18:43:12.996Z,1750272192.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-06-18T18:43:12.999Z,1750272192.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.403989 m,
nav range: 10.450797 m,
bearing: 125.315278 deg,
approach rate: -0.779926 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 136.137145 deg,
new cmd heading: 135.211499 deg.
2025-06-18T18:43:13.004Z,1750272193.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.359886 target range: 10.403989 and range: 10.50 m.
2025-06-18T18:43:13.065Z,1750272193.065 [DAT](INFO): DAT read: Rx Time:18:43:13.8460
2025-06-18T18:43:13.067Z,1750272193.067 [DAT](INFO): Rx dataTimestamp_ set to:1750272193.065606
2025-06-18T18:43:13.082Z,1750272193.082 [DAT](INFO): DAT read: Bearing 340.3, 3.7 (Local)
2025-06-18T18:43:13.083Z,1750272193.083 [DAT](INFO): Local bearing/azimuth received:
Bearing 340.3, 3.7 (Local)
2025-06-18T18:43:13.094Z,1750272193.094 [DAT](INFO): DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed 0.6
2025-06-18T18:43:13.110Z,1750272193.110 [DAT](INFO): DAT read: 18:43:13.8460 LVL= 28176, 31729, 18674, 32755, AGC= 57, IDX= 503,-0.41, 0.313,-0.875, 1.047, 0.356, PHS= 0.045,-1.184, 0.688, RAW= 169.8, 5.5, CAL= 169.7, -3.7, ROT= 340.3, 3.7
2025-06-18T18:43:13.111Z,1750272193.111 [DAT](INFO): got valid direction response:
18:43:13.8460 LVL= 28176, 31729, 18674, 32755, AGC= 57, IDX= 503,-0.41, 0.313,-0.875, 1.047, 0.356, PHS= 0.045,-1.184, 0.688, RAW= 169.8, 5.5, CAL= 169.7, -3.7, ROT= 340.3, 3.7
2025-06-18T18:43:13.116Z,1750272193.116 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-06-18T18:43:13.117Z,1750272193.117 [DAT](INFO): direction in FSK: [0.939508,-0.336393,-0.064532]
2025-06-18T18:43:13.117Z,1750272193.117 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:13.130Z,1750272193.130 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=15.933079
2025-06-18T18:43:13.313Z,1750272193.313 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=16.115711
2025-06-18T18:43:13.397Z,1750272193.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.400000 m,
deltaT: 0.501405 s,
deltaX: -0.100000 m,
approachRate: -0.199440 m/s,
rangeRepo size: 4
2025-06-18T18:43:13.399Z,1750272193.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.304902 m,
bearing: 124.458085 deg,
lat: 36.905870 deg,
lon: -122.115737 deg,
deltaT: 0.501405 s,
deltaX: -0.099087 m,
approachRate: -0.197618 m/s,
posRepo size: 4
2025-06-18T18:43:13.399Z,1750272193.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.30 m.
2025-06-18T18:43:13.402Z,1750272193.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.304902 m,
nav range: 10.184829 m,
bearing: 124.860382 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 135.211504 deg,
new cmd heading: 133.645403 deg.
2025-06-18T18:43:13.403Z,1750272193.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332552 target range: 10.304902 and range: 10.40 m.
2025-06-18T18:43:13.583Z,1750272193.583 [DAT](INFO): DAT read: Rx Time:18:43:14.3457
2025-06-18T18:43:13.586Z,1750272193.586 [DAT](INFO): Rx dataTimestamp_ set to:1750272193.583339
2025-06-18T18:43:13.592Z,1750272193.592 [DAT](INFO): DAT read: Bearing 340.2, 3.6 (Local)
2025-06-18T18:43:13.593Z,1750272193.593 [DAT](INFO): Local bearing/azimuth received:
Bearing 340.2, 3.6 (Local)
2025-06-18T18:43:13.596Z,1750272193.596 [DAT](INFO): DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.6
2025-06-18T18:43:13.601Z,1750272193.601 [DAT](INFO): DAT read: 18:43:14.3457 LVL= 26544, 32753, 19090, 32755, AGC= 57, IDX= 499, 0.15, 0.971,-0.230, 1.716, 1.019, PHS= 0.039,-1.203, 0.694, RAW= 169.9, 5.7, CAL= 169.8, -3.6, ROT= 340.2, 3.6
2025-06-18T18:43:13.602Z,1750272193.602 [DAT](INFO): got valid direction response:
18:43:14.3457 LVL= 26544, 32753, 19090, 32755, AGC= 57, IDX= 499, 0.15, 0.971,-0.230, 1.716, 1.019, PHS= 0.039,-1.203, 0.694, RAW= 169.9, 5.7, CAL= 169.8, -3.6, ROT= 340.2, 3.6
2025-06-18T18:43:13.602Z,1750272193.602 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-06-18T18:43:13.603Z,1750272193.603 [DAT](INFO): direction in FSK: [0.939024,-0.338069,-0.062791]
2025-06-18T18:43:13.603Z,1750272193.603 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:13.607Z,1750272193.607 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.409765
2025-06-18T18:43:13.829Z,1750272193.829 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.631948
2025-06-18T18:43:13.858Z,1750272193.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.800000 m,
deltaT: 0.517733 s,
deltaX: -0.599999 m,
approachRate: -1.158897 m/s,
rangeRepo size: 4
2025-06-18T18:43:13.866Z,1750272193.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.710395 m,
bearing: 124.150043 deg,
lat: 36.905871 deg,
lon: -122.115737 deg,
deltaT: 0.517733 s,
deltaX: -0.594507 m,
approachRate: -1.148289 m/s,
posRepo size: 4
2025-06-18T18:43:13.867Z,1750272193.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.71 m.
2025-06-18T18:43:13.872Z,1750272193.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m.
2025-06-18T18:43:13.872Z,1750272193.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-18T18:43:13.881Z,1750272193.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 9.778645 m,
bearing: 123.904013 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 133.645396 deg,
new cmd heading: 131.842510 deg.
2025-06-18T18:43:13.885Z,1750272193.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301086 target range: 9.710395 and range: 9.80 m.
2025-06-18T18:43:14.086Z,1750272194.086 [DAT](INFO): DAT read: Rx Time:18:43:14.8456
2025-06-18T18:43:14.089Z,1750272194.089 [DAT](INFO): Rx dataTimestamp_ set to:1750272194.086957
2025-06-18T18:43:14.093Z,1750272194.093 [DAT](INFO): DAT read: Bearing 339.4, 3.6 (Local)
2025-06-18T18:43:14.094Z,1750272194.094 [DAT](INFO): Local bearing/azimuth received:
Bearing 339.4, 3.6 (Local)
2025-06-18T18:43:14.098Z,1750272194.098 [DAT](INFO): DAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed 0.5
2025-06-18T18:43:14.103Z,1750272194.103 [DAT](INFO): DAT read: 18:43:14.8456 LVL= 23072, 32753, 17906, 32755, AGC= 56, IDX= 498,-0.11, 0.385,-0.782, 1.151, 0.452, PHS= 0.020,-1.188, 0.695, RAW= 170.7, 5.8, CAL= 170.6, -3.6, ROT= 339.4, 3.6
2025-06-18T18:43:14.104Z,1750272194.104 [DAT](INFO): got valid direction response:
18:43:14.8456 LVL= 23072, 32753, 17906, 32755, AGC= 56, IDX= 498,-0.11, 0.385,-0.782, 1.151, 0.452, PHS= 0.020,-1.188, 0.695, RAW= 170.7, 5.8, CAL= 170.6, -3.6, ROT= 339.4, 3.6
2025-06-18T18:43:14.104Z,1750272194.104 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-06-18T18:43:14.105Z,1750272194.105 [DAT](INFO): direction in FSK: [0.934212,-0.351147,-0.062791]
2025-06-18T18:43:14.106Z,1750272194.106 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:14.109Z,1750272194.109 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=16.912144
2025-06-18T18:43:14.215Z,1750272194.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.600000 m,
deltaT: 0.503618 s,
deltaX: -0.200000 m,
approachRate: -0.397126 m/s,
rangeRepo size: 4
2025-06-18T18:43:14.222Z,1750272194.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.512224 m,
bearing: 123.109634 deg,
lat: 36.905871 deg,
lon: -122.115737 deg,
deltaT: 0.503618 s,
deltaX: -0.198171 m,
approachRate: -0.393494 m/s,
posRepo size: 4
2025-06-18T18:43:14.223Z,1750272194.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.51 m. 9.71 m.
2025-06-18T18:43:14.226Z,1750272194.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 9.545905 m,
bearing: 123.441738 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 131.842513 deg,
new cmd heading: 130.421970 deg.
2025-06-18T18:43:14.227Z,1750272194.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.276293 target range: 9.710395 and range: 9.60 m.
2025-06-18T18:43:14.333Z,1750272194.333 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=17.136154
2025-06-18T18:43:14.591Z,1750272194.591 [DAT](INFO): DAT read: Rx Time:18:43:15.3453
2025-06-18T18:43:14.597Z,1750272194.597 [DAT](INFO): Rx dataTimestamp_ set to:1750272194.596406
2025-06-18T18:43:14.601Z,1750272194.601 [DAT](INFO): DAT read: Bearing 339.1, 3.5 (Local)
2025-06-18T18:43:14.602Z,1750272194.602 [DAT](INFO): Local bearing/azimuth received:
Bearing 339.1, 3.5 (Local)
2025-06-18T18:43:14.633Z,1750272194.633 [DAT](INFO): DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.6
2025-06-18T18:43:14.646Z,1750272194.646 [DAT](INFO): DAT read: 18:43:15.3453 LVL= 22224, 32753, 17074, 32755, AGC= 56, IDX= 495,-0.41,-0.836,-1.988,-0.062,-0.759, PHS= 0.010,-1.182, 0.693, RAW= 171.1, 5.9, CAL= 170.9, -3.5, ROT= 339.1, 3.5
2025-06-18T18:43:14.647Z,1750272194.647 [DAT](INFO): got valid direction response:
18:43:15.3453 LVL= 22224, 32753, 17074, 32755, AGC= 56, IDX= 495,-0.41,-0.836,-1.988,-0.062,-0.759, PHS= 0.010,-1.182, 0.693, RAW= 171.1, 5.9, CAL= 170.9, -3.5, ROT= 339.1, 3.5
2025-06-18T18:43:14.652Z,1750272194.652 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-06-18T18:43:14.653Z,1750272194.653 [DAT](INFO): direction in FSK: [0.932462,-0.356072,-0.061049]
2025-06-18T18:43:14.653Z,1750272194.653 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:14.666Z,1750272194.666 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.468529
2025-06-18T18:43:14.748Z,1750272194.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 0.509449 s,
deltaX: -0.400001 m,
approachRate: -0.785163 m/s,
rangeRepo size: 4
2025-06-18T18:43:14.750Z,1750272194.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.115883 m,
bearing: 122.463155 deg,
lat: 36.905871 deg,
lon: -122.115738 deg,
deltaT: 1.013067 s,
deltaX: -0.594512 m,
approachRate: -0.586844 m/s,
posRepo size: 4
2025-06-18T18:43:14.751Z,1750272194.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.12 m. 9.71 m.
2025-06-18T18:43:14.758Z,1750272194.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 9.187278 m,
bearing: 122.720052 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 130.421970 deg,
new cmd heading: 128.351276 deg.
2025-06-18T18:43:14.759Z,1750272194.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240152 target range: 9.710395 and range: 9.20 m.
2025-06-18T18:43:14.838Z,1750272194.838 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.640289
2025-06-18T18:43:15.094Z,1750272195.094 [DAT](INFO): DAT read: Rx Time:18:43:15.8451
2025-06-18T18:43:15.094Z,1750272195.094 [DAT](INFO): Rx dataTimestamp_ set to:1750272195.094153
2025-06-18T18:43:15.096Z,1750272195.096 [DAT](INFO): DAT read: Bearing 339.6, 3.5 (Local)
2025-06-18T18:43:15.096Z,1750272195.096 [DAT](INFO): Local bearing/azimuth received:
Bearing 339.6, 3.5 (Local)
2025-06-18T18:43:15.099Z,1750272195.099 [DAT](INFO): DAT read: Range 10 to 50 : 8.9 m (trip time 5.9 ms) speed 0.5
2025-06-18T18:43:15.103Z,1750272195.103 [DAT](INFO): DAT read: 18:43:15.8451 LVL= 22624, 32753, 18338, 32755, AGC= 54, IDX= 508, 0.20, 0.378,-0.812, 1.151, 0.446, PHS= 0.020,-1.211, 0.702, RAW= 170.6, 5.9, CAL= 170.4, -3.5, ROT= 339.6, 3.5
2025-06-18T18:43:15.111Z,1750272195.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:15.113Z,1750272195.113 [DAT](INFO): got valid direction response:
18:43:15.8451 LVL= 22624, 32753, 18338, 32755, AGC= 54, IDX= 508, 0.20, 0.378,-0.812, 1.151, 0.446, PHS= 0.020,-1.211, 0.702, RAW= 170.6, 5.9, CAL= 170.4, -3.5, ROT= 339.6, 3.5
2025-06-18T18:43:15.113Z,1750272195.113 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-06-18T18:43:15.114Z,1750272195.114 [DAT](INFO): direction in FSK: [0.935534,-0.347922,-0.061049]
2025-06-18T18:43:15.114Z,1750272195.114 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:15.119Z,1750272195.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.900000 m,
deltaT: 0.497747 s,
deltaX: -0.300000 m,
approachRate: -0.602716 m/s,
rangeRepo size: 4
2025-06-18T18:43:15.122Z,1750272195.122 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=17.924999
2025-06-18T18:43:15.124Z,1750272195.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.71 m. 9.71 m.
2025-06-18T18:43:15.127Z,1750272195.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 8.965455 m,
bearing: 122.254834 deg,
approach rate: -0.591600 m/s,
LOS rate: -1.271417 deg/s,
cmd heading: 128.351276 deg,
new cmd heading: 126.921404 deg.
2025-06-18T18:43:15.132Z,1750272195.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.215196 target range: 9.710395 and range: 8.90 m.
2025-06-18T18:43:15.341Z,1750272195.341 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=18.143845
2025-06-18T18:43:15.461Z,1750272195.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.71 m. 9.71 m.
2025-06-18T18:43:15.468Z,1750272195.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 8.712656 m,
bearing: 121.694077 deg,
approach rate: -0.736806 m/s,
LOS rate: -1.681773 deg/s,
cmd heading: 126.921403 deg,
new cmd heading: 125.190875 deg.
2025-06-18T18:43:15.469Z,1750272195.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.184993 target range: 9.710395 and range: 8.90 m.
2025-06-18T18:43:15.597Z,1750272195.597 [DAT](INFO): DAT read: Rx Time:18:43:16.3447
2025-06-18T18:43:15.599Z,1750272195.599 [DAT](INFO): Rx dataTimestamp_ set to:1750272195.597658
2025-06-18T18:43:15.606Z,1750272195.606 [DAT](INFO): DAT read: Bearing 339.5, 3.4 (Local)
2025-06-18T18:43:15.606Z,1750272195.606 [DAT](INFO): Local bearing/azimuth received:
Bearing 339.5, 3.4 (Local)
2025-06-18T18:43:15.609Z,1750272195.609 [DAT](INFO): DAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed 0.6
2025-06-18T18:43:15.630Z,1750272195.630 [DAT](INFO): DAT read: 18:43:16.3447 LVL= 23024, 32753, 17506, 32755, AGC= 54, IDX= 505,-0.01,-2.215, 2.893,-1.446,-2.143, PHS= 0.016,-1.200, 0.694, RAW= 170.7, 5.9, CAL= 170.5, -3.4, ROT= 339.5, 3.4
2025-06-18T18:43:15.646Z,1750272195.646 [DAT](INFO): got valid direction response:
18:43:16.3447 LVL= 23024, 32753, 17506, 32755, AGC= 54, IDX= 505,-0.01,-2.215, 2.893,-1.446,-2.143, PHS= 0.016,-1.200, 0.694, RAW= 170.7, 5.9, CAL= 170.5, -3.4, ROT= 339.5, 3.4
2025-06-18T18:43:15.647Z,1750272195.647 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-06-18T18:43:15.652Z,1750272195.652 [DAT](INFO): direction in FSK: [0.935023,-0.349591,-0.059306]
2025-06-18T18:43:15.652Z,1750272195.652 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:15.655Z,1750272195.655 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.458418
2025-06-18T18:43:15.845Z,1750272195.845 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.647615
2025-06-18T18:43:15.921Z,1750272195.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 0.503505 s,
deltaX: -0.599999 m,
approachRate: -1.191645 m/s,
rangeRepo size: 4
2025-06-18T18:43:15.923Z,1750272195.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.224111 m,
bearing: 122.398766 deg,
lat: 36.905871 deg,
lon: -122.115738 deg,
deltaT: 2.014319 s,
deltaX: -1.486284 m,
approachRate: -0.737859 m/s,
posRepo size: 4
2025-06-18T18:43:15.929Z,1750272195.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.22 m. 9.71 m.
2025-06-18T18:43:15.931Z,1750272195.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 8.416853 m,
bearing: 121.007779 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 125.190879 deg,
new cmd heading: 123.390373 deg.
2025-06-18T18:43:15.936Z,1750272195.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.153568 target range: 9.710395 and range: 8.30 m.
2025-06-18T18:43:16.098Z,1750272196.098 [DAT](INFO): DAT read: Rx Time:18:43:16.8446
2025-06-18T18:43:16.098Z,1750272196.098 [DAT](INFO): Rx dataTimestamp_ set to:1750272196.097778
2025-06-18T18:43:16.099Z,1750272196.099 [DAT](INFO): DAT read: Bearing 339.3, 3.0 (Local)
2025-06-18T18:43:16.100Z,1750272196.100 [DAT](INFO): Local bearing/azimuth received:
Bearing 339.3, 3.0 (Local)
2025-06-18T18:43:16.102Z,1750272196.102 [DAT](INFO): DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed 0.6
2025-06-18T18:43:16.107Z,1750272196.107 [DAT](INFO): DAT read: 18:43:16.8446 LVL= 23424, 32753, 16546, 32755, AGC= 54, IDX= 504,-0.18,-2.853, 2.255,-2.070,-2.762, PHS=-0.003,-1.219, 0.689, RAW= 171.0, 6.4, CAL= 170.7, -3.0, ROT= 339.3, 3.0
2025-06-18T18:43:16.108Z,1750272196.108 [DAT](INFO): got valid direction response:
18:43:16.8446 LVL= 23424, 32753, 16546, 32755, AGC= 54, IDX= 504,-0.18,-2.853, 2.255,-2.070,-2.762, PHS=-0.003,-1.219, 0.689, RAW= 171.0, 6.4, CAL= 170.7, -3.0, ROT= 339.3, 3.0
2025-06-18T18:43:16.108Z,1750272196.108 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-18T18:43:16.109Z,1750272196.109 [DAT](INFO): direction in FSK: [0.934162,-0.352991,-0.052336]
2025-06-18T18:43:16.110Z,1750272196.110 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:16.113Z,1750272196.113 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.916241
2025-06-18T18:43:16.282Z,1750272196.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.100000 m,
deltaT: 0.500120 s,
deltaX: -0.200000 m,
approachRate: -0.399904 m/s,
rangeRepo size: 4
2025-06-18T18:43:16.288Z,1750272196.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.025940 m,
bearing: 120.394134 deg,
lat: 36.905872 deg,
lon: -122.115738 deg,
deltaT: 2.514439 s,
deltaX: -1.684455 m,
approachRate: -0.669913 m/s,
posRepo size: 4
2025-06-18T18:43:16.289Z,1750272196.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.03 m. 9.71 m.
2025-06-18T18:43:16.296Z,1750272196.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 8.183496 m,
bearing: 120.482959 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 123.390373 deg,
new cmd heading: 121.978900 deg.
2025-06-18T18:43:16.297Z,1750272196.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.128933 target range: 9.710395 and range: 8.10 m.
2025-06-18T18:43:16.351Z,1750272196.351 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.152937
2025-06-18T18:43:16.606Z,1750272196.606 [DAT](INFO): DAT read: Rx Time:18:43:17.3444
2025-06-18T18:43:16.607Z,1750272196.607 [DAT](INFO): Rx dataTimestamp_ set to:1750272196.606478
2025-06-18T18:43:16.611Z,1750272196.611 [DAT](INFO): DAT read: Bearing 340.1, 2.7 (Local)
2025-06-18T18:43:16.612Z,1750272196.612 [DAT](INFO): Local bearing/azimuth received:
Bearing 340.1, 2.7 (Local)
2025-06-18T18:43:16.653Z,1750272196.653 [DAT](INFO): DAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed 0.6
2025-06-18T18:43:16.662Z,1750272196.662 [DAT](INFO): DAT read: 18:43:17.3444 LVL= 26272, 32753, 17778, 32755, AGC= 54, IDX= 501,-0.38, 2.068, 0.858, 2.838, 2.156, PHS= 0.000,-1.251, 0.679, RAW= 170.3, 6.8, CAL= 169.9, -2.7, ROT= 340.1, 2.7
2025-06-18T18:43:16.663Z,1750272196.663 [DAT](INFO): got valid direction response:
18:43:17.3444 LVL= 26272, 32753, 17778, 32755, AGC= 54, IDX= 501,-0.38, 2.068, 0.858, 2.838, 2.156, PHS= 0.000,-1.251, 0.679, RAW= 170.3, 6.8, CAL= 169.9, -2.7, ROT= 340.1, 2.7
2025-06-18T18:43:16.676Z,1750272196.676 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-06-18T18:43:16.677Z,1750272196.677 [DAT](INFO): direction in FSK: [0.939244,-0.340002,-0.047106]
2025-06-18T18:43:16.677Z,1750272196.677 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:16.693Z,1750272196.693 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.496449
2025-06-18T18:43:16.812Z,1750272196.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.508700 s,
deltaX: -0.300000 m,
approachRate: -0.589739 m/s,
rangeRepo size: 4
2025-06-18T18:43:16.815Z,1750272196.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.728683 m,
bearing: 120.420185 deg,
lat: 36.905871 deg,
lon: -122.115739 deg,
deltaT: 3.023139 s,
deltaX: -1.981711 m,
approachRate: -0.655514 m/s,
posRepo size: 4
2025-06-18T18:43:16.815Z,1750272196.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.73 m. 9.71 m.
2025-06-18T18:43:16.822Z,1750272196.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 7.839143 m,
bearing: 119.692872 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 121.978900 deg,
new cmd heading: 119.931963 deg.
2025-06-18T18:43:16.823Z,1750272196.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093208 target range: 9.710395 and range: 7.80 m.
2025-06-18T18:43:16.854Z,1750272196.854 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.656509
2025-06-18T18:43:17.105Z,1750272197.105 [DAT](INFO): DAT read: Rx Time:18:43:17.8443
2025-06-18T18:43:17.106Z,1750272197.106 [DAT](INFO): Rx dataTimestamp_ set to:1750272197.105629
2025-06-18T18:43:17.107Z,1750272197.107 [DAT](INFO): DAT read: Bearing 341.4, 2.5 (Local)
2025-06-18T18:43:17.108Z,1750272197.108 [DAT](INFO): Local bearing/azimuth received:
Bearing 341.4, 2.5 (Local)
2025-06-18T18:43:17.110Z,1750272197.110 [DAT](INFO): DAT read: Range 10 to 50 : 7.7 m (trip time 5.1 ms) speed 0.5
2025-06-18T18:43:17.115Z,1750272197.115 [DAT](INFO): DAT read: 18:43:17.8443 LVL= 24928, 32753, 17650, 32755, AGC= 53, IDX= 499, 0.38,-2.757, 2.282,-2.025,-2.683, PHS= 0.014,-1.271, 0.655, RAW= 169.1, 7.1, CAL= 168.6, -2.5, ROT= 341.4, 2.5
2025-06-18T18:43:17.116Z,1750272197.116 [DAT](INFO): got valid direction response:
18:43:17.8443 LVL= 24928, 32753, 17650, 32755, AGC= 53, IDX= 499, 0.38,-2.757, 2.282,-2.025,-2.683, PHS= 0.014,-1.271, 0.655, RAW= 169.1, 7.1, CAL= 168.6, -2.5, ROT= 341.4, 2.5
2025-06-18T18:43:17.116Z,1750272197.116 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-18T18:43:17.117Z,1750272197.117 [DAT](INFO): direction in FSK: [0.946866,-0.318656,-0.043619]
2025-06-18T18:43:17.117Z,1750272197.117 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:17.150Z,1750272197.150 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=19.953003
2025-06-18T18:43:17.229Z,1750272197.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.700000 m,
deltaT: 0.499151 s,
deltaX: -0.100000 m,
approachRate: -0.200341 m/s,
rangeRepo size: 4
2025-06-18T18:43:17.231Z,1750272197.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.629598 m,
bearing: 120.067137 deg,
lat: 36.905870 deg,
lon: -122.115739 deg,
deltaT: 3.522290 s,
deltaX: -2.080797 m,
approachRate: -0.590751 m/s,
posRepo size: 4
2025-06-18T18:43:17.236Z,1750272197.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.63 m. 9.71 m.
2025-06-18T18:43:17.238Z,1750272197.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 7.564336 m,
bearing: 119.071827 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 119.931961 deg,
new cmd heading: 118.285707 deg.
2025-06-18T18:43:17.239Z,1750272197.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064475 target range: 9.710395 and range: 7.70 m.
2025-06-18T18:43:17.357Z,1750272197.357 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.159952
2025-06-18T18:43:17.613Z,1750272197.613 [DAT](INFO): DAT read: Rx Time:18:43:18.3440
2025-06-18T18:43:17.615Z,1750272197.615 [DAT](INFO): Rx dataTimestamp_ set to:1750272197.613925
2025-06-18T18:43:17.618Z,1750272197.618 [DAT](INFO): DAT read: Bearing 342.5, 1.7 (Local)
2025-06-18T18:43:17.619Z,1750272197.619 [DAT](INFO): Local bearing/azimuth received:
Bearing 342.5, 1.7 (Local)
2025-06-18T18:43:17.630Z,1750272197.630 [DAT](INFO): DAT read: Range 10 to 50 : 7.2 m (trip time 4.8 ms) speed 0.5
2025-06-18T18:43:17.648Z,1750272197.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:17.650Z,1750272197.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.71 m. 9.71 m.
2025-06-18T18:43:17.665Z,1750272197.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 7.308104 m,
bearing: 118.448588 deg,
approach rate: -0.601181 m/s,
LOS rate: -1.513502 deg/s,
cmd heading: 118.285708 deg,
new cmd heading: 116.351212 deg.
2025-06-18T18:43:17.666Z,1750272197.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.030712 target range: 9.710395 and range: 7.70 m.
2025-06-18T18:43:17.668Z,1750272197.668 [DAT](INFO): DAT read: 18:43:18.3440 LVL= 24800, 32753, 18866, 32755, AGC= 51, IDX= 496, 0.20, 2.208, 0.940, 2.909, 2.289, PHS= 0.007,-1.302, 0.617, RAW= 168.1, 8.0, CAL= 167.5, -1.7, ROT= 342.5, 1.7
2025-06-18T18:43:17.669Z,1750272197.669 [DAT](INFO): got valid direction response:
18:43:18.3440 LVL= 24800, 32753, 18866, 32755, AGC= 51, IDX= 496, 0.20, 2.208, 0.940, 2.909, 2.289, PHS= 0.007,-1.302, 0.617, RAW= 168.1, 8.0, CAL= 167.5, -1.7, ROT= 342.5, 1.7
2025-06-18T18:43:17.669Z,1750272197.669 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-18T18:43:17.670Z,1750272197.670 [DAT](INFO): direction in FSK: [0.953297,-0.300573,-0.029666]
2025-06-18T18:43:17.671Z,1750272197.671 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:17.683Z,1750272197.683 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.485998
2025-06-18T18:43:17.862Z,1750272197.862 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.664623
2025-06-18T18:43:17.995Z,1750272197.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.508296 s,
deltaX: -0.500000 m,
approachRate: -0.983679 m/s,
rangeRepo size: 4
2025-06-18T18:43:17.998Z,1750272197.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.134174 m,
bearing: 119.448664 deg,
lat: 36.905870 deg,
lon: -122.115739 deg,
deltaT: 4.030586 s,
deltaX: -2.576221 m,
approachRate: -0.639168 m/s,
posRepo size: 4
2025-06-18T18:43:17.999Z,1750272197.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.13 m. 9.71 m.
2025-06-18T18:43:18.001Z,1750272198.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 7.057139 m,
bearing: 117.835919 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 116.351207 deg,
new cmd heading: 115.000646 deg.
2025-06-18T18:43:18.002Z,1750272198.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.007140 target range: 9.710395 and range: 7.20 m.
2025-06-18T18:43:18.114Z,1750272198.114 [DAT](INFO): DAT read: Rx Time:18:43:18.8438
2025-06-18T18:43:18.114Z,1750272198.114 [DAT](INFO): Rx dataTimestamp_ set to:1750272198.113813
2025-06-18T18:43:18.115Z,1750272198.115 [DAT](INFO): DAT read: Bearing 343.4, 0.8 (Local)
2025-06-18T18:43:18.116Z,1750272198.116 [DAT](INFO): Local bearing/azimuth received:
Bearing 343.4, 0.8 (Local)
2025-06-18T18:43:18.118Z,1750272198.118 [DAT](INFO): DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed 0.6
2025-06-18T18:43:18.123Z,1750272198.123 [DAT](INFO): DAT read: 18:43:18.8438 LVL= 26464, 31937, 20258, 32755, AGC= 52, IDX= 510, 0.08, 1.929, 0.657, 2.607, 2.031, PHS=-0.014,-1.327, 0.573, RAW= 167.6, 9.2, CAL= 166.6, -0.8, ROT= 343.4, 0.8
2025-06-18T18:43:18.124Z,1750272198.124 [DAT](INFO): got valid direction response:
18:43:18.8438 LVL= 26464, 31937, 20258, 32755, AGC= 52, IDX= 510, 0.08, 1.929, 0.657, 2.607, 2.031, PHS=-0.014,-1.327, 0.573, RAW= 167.6, 9.2, CAL= 166.6, -0.8, ROT= 343.4, 0.8
2025-06-18T18:43:18.124Z,1750272198.124 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-18T18:43:18.125Z,1750272198.125 [DAT](INFO): direction in FSK: [0.958229,-0.285661,-0.013962]
2025-06-18T18:43:18.126Z,1750272198.126 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:18.129Z,1750272198.129 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.932383
2025-06-18T18:43:18.365Z,1750272198.365 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.167669
2025-06-18T18:43:18.386Z,1750272198.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.900000 m,
deltaT: 0.499888 s,
deltaX: -0.300000 m,
approachRate: -0.600134 m/s,
rangeRepo size: 4
2025-06-18T18:43:18.388Z,1750272198.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.836917 m,
bearing: 120.336976 deg,
lat: 36.905870 deg,
lon: -122.115739 deg,
deltaT: 4.530474 s,
deltaX: -2.873478 m,
approachRate: -0.634255 m/s,
posRepo size: 4
2025-06-18T18:43:18.389Z,1750272198.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.84 m. 9.71 m.
2025-06-18T18:43:18.392Z,1750272198.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 6.805599 m,
bearing: 117.174209 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 115.000646 deg,
new cmd heading: 113.469598 deg.
2025-06-18T18:43:18.393Z,1750272198.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.980418 target range: 9.710395 and range: 6.90 m.
2025-06-18T18:43:18.623Z,1750272198.623 [DAT](INFO): DAT read: Rx Time:18:43:19.3435
2025-06-18T18:43:18.625Z,1750272198.625 [DAT](INFO): Rx dataTimestamp_ set to:1750272198.623197
2025-06-18T18:43:18.629Z,1750272198.629 [DAT](INFO): DAT read: Bearing 344.8, -1.0 (Local)
2025-06-18T18:43:18.630Z,1750272198.630 [DAT](INFO): Local bearing/azimuth received:
Bearing 344.8, -1.0 (Local)
2025-06-18T18:43:18.636Z,1750272198.636 [DAT](INFO): DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed 0.6
2025-06-18T18:43:18.667Z,1750272198.667 [DAT](INFO): DAT read: 18:43:19.3435 LVL= 26096, 32753, 18930, 32755, AGC= 51, IDX= 507, 0.02, 0.086,-1.181, 0.706, 0.207, PHS=-0.033,-1.342, 0.495, RAW= 166.2, 10.7, CAL= 165.2, 1.0, ROT= 344.8, -1.0
2025-06-18T18:43:18.668Z,1750272198.668 [DAT](INFO): got valid direction response:
18:43:19.3435 LVL= 26096, 32753, 18930, 32755, AGC= 51, IDX= 507, 0.02, 0.086,-1.181, 0.706, 0.207, PHS=-0.033,-1.342, 0.495, RAW= 166.2, 10.7, CAL= 165.2, 1.0, ROT= 344.8, -1.0
2025-06-18T18:43:18.668Z,1750272198.668 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-18T18:43:18.669Z,1750272198.669 [DAT](INFO): direction in FSK: [0.964870,-0.262149,0.017452]
2025-06-18T18:43:18.670Z,1750272198.670 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:18.673Z,1750272198.673 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.476381
2025-06-18T18:43:18.847Z,1750272198.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.500000 m,
deltaT: 0.509384 s,
deltaX: -0.400000 m,
approachRate: -0.785262 m/s,
rangeRepo size: 4
2025-06-18T18:43:18.854Z,1750272198.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.440567 m,
bearing: 120.022335 deg,
lat: 36.905869 deg,
lon: -122.115739 deg,
deltaT: 5.039858 s,
deltaX: -3.269827 m,
approachRate: -0.648794 m/s,
posRepo size: 4
2025-06-18T18:43:18.860Z,1750272198.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.44 m. 9.71 m.
2025-06-18T18:43:18.870Z,1750272198.870 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.672853
2025-06-18T18:43:18.871Z,1750272198.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 6.514169 m,
bearing: 116.442660 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 113.469598 deg,
new cmd heading: 111.663016 deg.
2025-06-18T18:43:18.877Z,1750272198.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.948887 target range: 9.710395 and range: 6.50 m.
2025-06-18T18:43:19.122Z,1750272199.122 [DAT](INFO): DAT read: Rx Time:18:43:19.8434
2025-06-18T18:43:19.123Z,1750272199.123 [DAT](INFO): Rx dataTimestamp_ set to:1750272199.122671
2025-06-18T18:43:19.125Z,1750272199.125 [DAT](INFO): DAT read: Bearing 345.8, -5.3 (Local)
2025-06-18T18:43:19.125Z,1750272199.125 [DAT](INFO): Local bearing/azimuth received:
Bearing 345.8, -5.3 (Local)
2025-06-18T18:43:19.127Z,1750272199.127 [DAT](INFO): DAT read: Range 10 to 50 : 6.3 m (trip time 4.2 ms) speed 0.5
2025-06-18T18:43:19.156Z,1750272199.156 [DAT](INFO): DAT read: 18:43:19.8434 LVL= 27120, 32177, 17842, 32755, AGC= 51, IDX= 506,-0.02, 0.197,-1.053, 0.744, 0.360, PHS=-0.075,-1.367, 0.380, RAW= 164.6, 13.4, CAL= 164.2, 5.3, ROT= 345.8, -5.3
2025-06-18T18:43:19.157Z,1750272199.157 [DAT](INFO): got valid direction response:
18:43:19.8434 LVL= 27120, 32177, 17842, 32755, AGC= 51, IDX= 506,-0.02, 0.197,-1.053, 0.744, 0.360, PHS=-0.075,-1.367, 0.380, RAW= 164.6, 13.4, CAL= 164.2, 5.3, ROT= 345.8, -5.3
2025-06-18T18:43:19.157Z,1750272199.157 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-18T18:43:19.158Z,1750272199.158 [DAT](INFO): direction in FSK: [0.965301,-0.244259,0.092371]
2025-06-18T18:43:19.159Z,1750272199.159 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:19.174Z,1750272199.174 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.977316
2025-06-18T18:43:19.267Z,1750272199.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.300000 m,
deltaT: 0.499474 s,
deltaX: -0.200000 m,
approachRate: -0.400421 m/s,
rangeRepo size: 4
2025-06-18T18:43:19.273Z,1750272199.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.242396 m,
bearing: 120.110847 deg,
lat: 36.905868 deg,
lon: -122.115739 deg,
deltaT: 5.539332 s,
deltaX: -3.467999 m,
approachRate: -0.626068 m/s,
posRepo size: 4
2025-06-18T18:43:19.274Z,1750272199.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.24 m. 9.71 m.
2025-06-18T18:43:19.281Z,1750272199.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 6.234230 m,
bearing: 115.714229 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 111.663013 deg,
new cmd heading: 110.019250 deg.
2025-06-18T18:43:19.282Z,1750272199.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.920198 target range: 9.710395 and range: 6.30 m.
2025-06-18T18:43:19.374Z,1750272199.374 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.176569
2025-06-18T18:43:19.629Z,1750272199.629 [DAT](INFO): DAT read: Rx Time:18:43:20.3431
2025-06-18T18:43:19.631Z,1750272199.631 [DAT](INFO): Rx dataTimestamp_ set to:1750272199.629684
2025-06-18T18:43:19.635Z,1750272199.635 [DAT](INFO): DAT read: Bearing 345.8, -8.2 (Local)
2025-06-18T18:43:19.636Z,1750272199.636 [DAT](INFO): Local bearing/azimuth received:
Bearing 345.8, -8.2 (Local)
2025-06-18T18:43:19.665Z,1750272199.665 [DAT](INFO): DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed 0.6
2025-06-18T18:43:19.683Z,1750272199.683 [DAT](INFO): DAT read: 18:43:20.3431 LVL= 32752, 32753, 18498, 32755, AGC= 52, IDX= 503,-0.07,-1.306,-2.545,-0.782,-1.102, PHS=-0.117,-1.396, 0.317, RAW= 164.1, 15.3, CAL= 164.2, 8.2, ROT= 345.8, -8.2
2025-06-18T18:43:19.705Z,1750272199.705 [DAT](INFO): got valid direction response:
18:43:20.3431 LVL= 32752, 32753, 18498, 32755, AGC= 52, IDX= 503,-0.07,-1.306,-2.545,-0.782,-1.102, PHS=-0.117,-1.396, 0.317, RAW= 164.1, 15.3, CAL= 164.2, 8.2, ROT= 345.8, -8.2
2025-06-18T18:43:19.705Z,1750272199.705 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-18T18:43:19.706Z,1750272199.706 [DAT](INFO): direction in FSK: [0.959534,-0.242800,0.142629]
2025-06-18T18:43:19.706Z,1750272199.706 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:19.718Z,1750272199.718 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.520815
2025-06-18T18:43:19.777Z,1750272199.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.000000 m,
deltaT: 0.507013 s,
deltaX: -0.300000 m,
approachRate: -0.591701 m/s,
rangeRepo size: 4
2025-06-18T18:43:19.779Z,1750272199.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.945135 m,
bearing: 119.210443 deg,
lat: 36.905868 deg,
lon: -122.115740 deg,
deltaT: 6.046345 s,
deltaX: -3.765260 m,
approachRate: -0.622733 m/s,
posRepo size: 4
2025-06-18T18:43:19.785Z,1750272199.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.95 m. 9.71 m.
2025-06-18T18:43:19.792Z,1750272199.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 5.906458 m,
bearing: 114.808104 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 110.019253 deg,
new cmd heading: 108.019029 deg.
2025-06-18T18:43:19.793Z,1750272199.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.885288 target range: 9.710395 and range: 6.00 m.
2025-06-18T18:43:19.878Z,1750272199.878 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.680429
2025-06-18T18:43:20.119Z,1750272200.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:20.121Z,1750272200.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.71 m. 9.71 m.
2025-06-18T18:43:20.124Z,1750272200.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 5.675433 m,
bearing: 114.142704 deg,
approach rate: -0.670913 m/s,
LOS rate: -2.010976 deg/s,
cmd heading: 108.019032 deg,
new cmd heading: 105.942533 deg.
2025-06-18T18:43:20.125Z,1750272200.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.849046 target range: 9.710395 and range: 6.00 m.
2025-06-18T18:43:20.129Z,1750272200.129 [DAT](INFO): DAT read: Rx Time:18:43:20.8430
2025-06-18T18:43:20.130Z,1750272200.130 [DAT](INFO): Rx dataTimestamp_ set to:1750272200.129686
2025-06-18T18:43:20.131Z,1750272200.131 [DAT](INFO): DAT read: Bearing 346.2, -10.3 (Local)
2025-06-18T18:43:20.140Z,1750272200.140 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.2, -10.3 (Local)
2025-06-18T18:43:20.142Z,1750272200.142 [DAT](INFO): DAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed 0.5
2025-06-18T18:43:20.147Z,1750272200.147 [DAT](INFO): DAT read: 18:43:20.8430 LVL= 31728, 30481, 15730, 32755, AGC= 52, IDX= 502,-0.07,-0.948,-2.206,-0.443,-0.717, PHS=-0.142,-1.442, 0.271, RAW= 163.4, 16.7, CAL= 163.8, 10.3, ROT= 346.2, -10.3
2025-06-18T18:43:20.148Z,1750272200.148 [DAT](INFO): got valid direction response:
18:43:20.8430 LVL= 31728, 30481, 15730, 32755, AGC= 52, IDX= 502,-0.07,-0.948,-2.206,-0.443,-0.717, PHS=-0.142,-1.442, 0.271, RAW= 163.4, 16.7, CAL= 163.8, 10.3, ROT= 346.2, -10.3
2025-06-18T18:43:20.148Z,1750272200.148 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-18T18:43:20.149Z,1750272200.149 [DAT](INFO): direction in FSK: [0.955485,-0.234689,0.178802]
2025-06-18T18:43:20.149Z,1750272200.149 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:20.165Z,1750272200.165 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.968174
2025-06-18T18:43:20.381Z,1750272200.381 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.184340
2025-06-18T18:43:20.492Z,1750272200.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.900000 m,
deltaT: 0.500002 s,
deltaX: -0.100000 m,
approachRate: -0.199999 m/s,
rangeRepo size: 4
2025-06-18T18:43:20.494Z,1750272200.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.846050 m,
bearing: 117.741375 deg,
lat: 36.905868 deg,
lon: -122.115740 deg,
deltaT: 6.546347 s,
deltaX: -3.864345 m,
approachRate: -0.590306 m/s,
posRepo size: 4
2025-06-18T18:43:20.495Z,1750272200.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.85 m. 9.71 m.
2025-06-18T18:43:20.498Z,1750272200.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 5.439260 m,
bearing: 113.443198 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 105.942531 deg,
new cmd heading: 104.491581 deg.
2025-06-18T18:43:20.499Z,1750272200.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.823722 target range: 9.710395 and range: 5.90 m.
2025-06-18T18:43:20.638Z,1750272200.638 [DAT](INFO): DAT read: Rx Time:18:43:21.3427
2025-06-18T18:43:20.639Z,1750272200.639 [DAT](INFO): Rx dataTimestamp_ set to:1750272200.638540
2025-06-18T18:43:20.643Z,1750272200.643 [DAT](INFO): DAT read: Bearing 344.2, -8.6 (Local)
2025-06-18T18:43:20.645Z,1750272200.645 [DAT](INFO): Local bearing/azimuth received:
Bearing 344.2, -8.6 (Local)
2025-06-18T18:43:20.651Z,1750272200.651 [DAT](INFO): DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed 0.5
2025-06-18T18:43:20.700Z,1750272200.700 [DAT](INFO): DAT read: 18:43:21.3427 LVL= 31008, 32753, 24530, 32755, AGC= 52, IDX= 499,-0.05, 2.901, 1.596,-2.770,-3.133, PHS=-0.162,-1.508, 0.360, RAW= 165.7, 15.5, CAL= 165.8, 8.6, ROT= 344.2, -8.6
2025-06-18T18:43:20.701Z,1750272200.701 [DAT](INFO): got valid direction response:
18:43:21.3427 LVL= 31008, 32753, 24530, 32755, AGC= 52, IDX= 499,-0.05, 2.901, 1.596,-2.770,-3.133, PHS=-0.162,-1.508, 0.360, RAW= 165.7, 15.5, CAL= 165.8, 8.6, ROT= 344.2, -8.6
2025-06-18T18:43:20.702Z,1750272200.702 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-06-18T18:43:20.703Z,1750272200.703 [DAT](INFO): direction in FSK: [0.951399,-0.269219,0.149535]
2025-06-18T18:43:20.703Z,1750272200.703 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:20.711Z,1750272200.711 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.513592
2025-06-18T18:43:20.886Z,1750272200.886 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.688499
2025-06-18T18:43:20.993Z,1750272200.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.400000 m,
deltaT: 0.508854 s,
deltaX: -0.500000 m,
approachRate: -0.982600 m/s,
rangeRepo size: 4
2025-06-18T18:43:20.995Z,1750272200.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.350623 m,
bearing: 114.893322 deg,
lat: 36.905868 deg,
lon: -122.115740 deg,
deltaT: 7.055201 s,
deltaX: -4.359772 m,
approachRate: -0.617952 m/s,
posRepo size: 4
2025-06-18T18:43:21.000Z,1750272201.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.35 m. 9.71 m.
2025-06-18T18:43:21.003Z,1750272201.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 5.124482 m,
bearing: 112.469352 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 104.491581 deg,
new cmd heading: 102.531082 deg.
2025-06-18T18:43:21.003Z,1750272201.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.789505 target range: 9.710395 and range: 5.40 m.
2025-06-18T18:43:21.138Z,1750272201.138 [DAT](INFO): DAT read: Rx Time:18:43:21.8427
2025-06-18T18:43:21.138Z,1750272201.138 [DAT](INFO): Rx dataTimestamp_ set to:1750272201.138033
2025-06-18T18:43:21.140Z,1750272201.140 [DAT](INFO): DAT read: Bearing 335.7, -2.0 (Local)
2025-06-18T18:43:21.140Z,1750272201.140 [DAT](INFO): Local bearing/azimuth received:
Bearing 335.7, -2.0 (Local)
2025-06-18T18:43:21.142Z,1750272201.142 [DAT](INFO): DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed 0.5
2025-06-18T18:43:21.147Z,1750272201.147 [DAT](INFO): DAT read: 18:43:21.8427 LVL= 27280, 27665, 20210, 32755, AGC= 52, IDX= 498, 0.01,-2.736, 2.380,-1.749,-2.410, PHS=-0.238,-1.447, 0.658, RAW= 175.1, 11.2, CAL= 174.3, 2.0, ROT= 335.7, -2.0
2025-06-18T18:43:21.148Z,1750272201.148 [DAT](INFO): got valid direction response:
18:43:21.8427 LVL= 27280, 27665, 20210, 32755, AGC= 52, IDX= 498, 0.01,-2.736, 2.380,-1.749,-2.410, PHS=-0.238,-1.447, 0.658, RAW= 175.1, 11.2, CAL= 174.3, 2.0, ROT= 335.7, -2.0
2025-06-18T18:43:21.149Z,1750272201.149 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-18T18:43:21.150Z,1750272201.150 [DAT](INFO): direction in FSK: [0.910848,-0.411264,0.034899]
2025-06-18T18:43:21.150Z,1750272201.150 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:21.154Z,1750272201.154 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.956524
2025-06-18T18:43:21.216Z,1750272201.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:43:21.349Z,1750272201.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.400000 m,
deltaT: 0.499493 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:43:21.351Z,1750272201.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.350623 m,
bearing: 106.550517 deg,
lat: 36.905868 deg,
lon: -122.115737 deg,
deltaT: 7.554694 s,
deltaX: -4.359772 m,
approachRate: -0.577094 m/s,
posRepo size: 4
2025-06-18T18:43:21.357Z,1750272201.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.35 m. 9.71 m.
2025-06-18T18:43:21.359Z,1750272201.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 4.893946 m,
bearing: 111.673059 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 102.531084 deg,
new cmd heading: 101.132838 deg.
2025-06-18T18:43:21.364Z,1750272201.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.765101 target range: 9.710395 and range: 5.40 m.
2025-06-18T18:43:21.391Z,1750272201.391 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.193850
2025-06-18T18:43:21.645Z,1750272201.645 [DAT](INFO): DAT read: Rx Time:18:43:22.3421
2025-06-18T18:43:21.646Z,1750272201.646 [DAT](INFO): Rx dataTimestamp_ set to:1750272201.645172
2025-06-18T18:43:21.651Z,1750272201.651 [DAT](INFO): DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed 0.6
2025-06-18T18:43:21.653Z,1750272201.653 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-06-18T18:43:21.690Z,1750272201.690 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.492163
2025-06-18T18:43:21.802Z,1750272201.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 0.507139 s,
deltaX: -0.900000 m,
approachRate: -1.774662 m/s,
rangeRepo size: 4
2025-06-18T18:43:21.802Z,1750272201.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.71 m. 9.71 m.
2025-06-18T18:43:21.809Z,1750272201.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 4.600688 m,
bearing: 110.472674 deg,
approach rate: -0.648549 m/s,
LOS rate: -2.823694 deg/s,
cmd heading: 101.132835 deg,
new cmd heading: 97.308106 deg.
2025-06-18T18:43:21.810Z,1750272201.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.698347 target range: 9.710395 and range: 4.50 m.
2025-06-18T18:43:21.893Z,1750272201.893 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.695992
2025-06-18T18:43:22.128Z,1750272202.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.71 m. 9.71 m.
2025-06-18T18:43:22.130Z,1750272202.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 4.389954 m,
bearing: 109.646101 deg,
approach rate: -0.670369 m/s,
LOS rate: -2.755554 deg/s,
cmd heading: 97.308107 deg,
new cmd heading: 94.711220 deg.
2025-06-18T18:43:22.131Z,1750272202.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653023 target range: 9.710395 and range: 4.50 m.
2025-06-18T18:43:22.145Z,1750272202.145 [DAT](INFO): DAT read: Rx Time:18:43:22.8420
2025-06-18T18:43:22.146Z,1750272202.146 [DAT](INFO): Rx dataTimestamp_ set to:1750272202.145391
2025-06-18T18:43:22.147Z,1750272202.147 [DAT](INFO): DAT read: Range 10 to 50 : 4.4 m (trip time 2.9 ms) speed 0.5
2025-06-18T18:43:22.147Z,1750272202.147 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-06-18T18:43:22.149Z,1750272202.149 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.951630
2025-06-18T18:43:22.220Z,1750272202.220 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:43:22.397Z,1750272202.397 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.199726
2025-06-18T18:43:22.544Z,1750272202.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:22.547Z,1750272202.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.400000 m,
deltaT: 0.500219 s,
deltaX: -0.100000 m,
approachRate: -0.199912 m/s,
rangeRepo size: 4
2025-06-18T18:43:22.549Z,1750272202.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.71 m. 9.71 m.
2025-06-18T18:43:22.551Z,1750272202.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 4.128061 m,
bearing: 108.494956 deg,
approach rate: -0.607811 m/s,
LOS rate: -2.840921 deg/s,
cmd heading: 94.711221 deg,
new cmd heading: 91.043958 deg.
2025-06-18T18:43:22.552Z,1750272202.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.589017 target range: 9.710395 and range: 4.40 m.
2025-06-18T18:43:22.649Z,1750272202.649 [DAT](INFO): DAT read: Rx Time:18:43:23.3417
2025-06-18T18:43:22.650Z,1750272202.650 [DAT](INFO): Rx dataTimestamp_ set to:1750272202.649321
2025-06-18T18:43:22.651Z,1750272202.651 [DAT](INFO): DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed 0.5
2025-06-18T18:43:22.651Z,1750272202.651 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-06-18T18:43:22.652Z,1750272202.652 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.455420
2025-06-18T18:43:22.901Z,1750272202.901 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.703875
2025-06-18T18:43:22.972Z,1750272202.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.900000 m,
deltaT: 0.503930 s,
deltaX: -0.500000 m,
approachRate: -0.992201 m/s,
rangeRepo size: 4
2025-06-18T18:43:22.973Z,1750272202.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.71 m. 9.71 m.
2025-06-18T18:43:22.976Z,1750272202.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 3.846227 m,
bearing: 107.091869 deg,
approach rate: -0.662788 m/s,
LOS rate: -3.541063 deg/s,
cmd heading: 91.043956 deg,
new cmd heading: 86.536035 deg.
2025-06-18T18:43:22.977Z,1750272202.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.510339 target range: 9.710395 and range: 3.90 m.
2025-06-18T18:43:23.153Z,1750272203.153 [DAT](INFO): DAT read: Rx Time:18:43:23.8417
2025-06-18T18:43:23.153Z,1750272203.153 [DAT](INFO): Rx dataTimestamp_ set to:1750272203.153106
2025-06-18T18:43:23.155Z,1750272203.155 [DAT](INFO): DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed 0.5
2025-06-18T18:43:23.155Z,1750272203.155 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-06-18T18:43:23.156Z,1750272203.156 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.959257
2025-06-18T18:43:23.332Z,1750272203.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.900000 m,
deltaT: 0.503785 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:43:23.333Z,1750272203.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.71 m. 9.71 m.
2025-06-18T18:43:23.341Z,1750272203.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 3.626745 m,
bearing: 106.028580 deg,
approach rate: -0.609648 m/s,
LOS rate: -3.132023 deg/s,
cmd heading: 86.536038 deg,
new cmd heading: 83.157244 deg.
2025-06-18T18:43:23.342Z,1750272203.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.451368 target range: 9.710395 and range: 3.90 m.
2025-06-18T18:43:23.406Z,1750272203.406 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.208607
2025-06-18T18:43:23.661Z,1750272203.661 [DAT](INFO): DAT read: Rx Time:18:43:24.3416
2025-06-18T18:43:23.663Z,1750272203.663 [DAT](INFO): Rx dataTimestamp_ set to:1750272203.661876
2025-06-18T18:43:23.683Z,1750272203.683 [DAT](INFO): DAT read: Bearing 123.5, -45.2 (Local)
2025-06-18T18:43:23.684Z,1750272203.684 [DAT](INFO): Local bearing/azimuth received:
Bearing 123.5, -45.2 (Local)
2025-06-18T18:43:23.728Z,1750272203.728 [DAT](INFO): DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed 0.5
2025-06-18T18:43:23.741Z,1750272203.741 [DAT](INFO): DAT read: 18:43:24.3416 LVL= 11856, 16993, 16866, 24435, AGC= 45, IDX= 503,-0.28, 3.130,-3.135, 2.252,-2.637, PHS=-0.428,-0.451,-1.398, RAW= 31.2, 40.0, CAL= 26.5, 45.2, ROT= 123.5, -45.2
2025-06-18T18:43:23.742Z,1750272203.742 [DAT](INFO): got valid direction response:
18:43:24.3416 LVL= 11856, 16993, 16866, 24435, AGC= 45, IDX= 503,-0.28, 3.130,-3.135, 2.252,-2.637, PHS=-0.428,-0.451,-1.398, RAW= 31.2, 40.0, CAL= 26.5, 45.2, ROT= 123.5, -45.2
2025-06-18T18:43:23.742Z,1750272203.742 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-06-18T18:43:23.743Z,1750272203.743 [DAT](INFO): direction in FSK: [-0.388914,0.587585,0.709571]
2025-06-18T18:43:23.752Z,1750272203.752 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:23.755Z,1750272203.755 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.558172
2025-06-18T18:43:23.910Z,1750272203.910 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.712082
2025-06-18T18:43:23.918Z,1750272203.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.600000 m,
deltaT: 0.508770 s,
deltaX: -0.300000 m,
approachRate: -0.589658 m/s,
rangeRepo size: 4
2025-06-18T18:43:23.927Z,1750272203.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.567086 m,
bearing: 250.158100 deg,
lat: 36.905869 deg,
lon: -122.115737 deg,
deltaT: 10.078537 s,
deltaX: -6.143309 m,
approachRate: -0.609544 m/s,
posRepo size: 4
2025-06-18T18:43:23.933Z,1750272203.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.57 m. 9.71 m.
2025-06-18T18:43:23.935Z,1750272203.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 3.274559 m,
bearing: 104.084310 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 83.157246 deg,
new cmd heading: 80.863100 deg.
2025-06-18T18:43:23.940Z,1750272203.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411327 target range: 9.710395 and range: 3.60 m.
2025-06-18T18:43:24.162Z,1750272204.162 [DAT](INFO): DAT read: Rx Time:18:43:24.8415
2025-06-18T18:43:24.163Z,1750272204.163 [DAT](INFO): Rx dataTimestamp_ set to:1750272204.162144
2025-06-18T18:43:24.165Z,1750272204.165 [DAT](INFO): DAT read: Bearing 176.8, -41.2 (Local)
2025-06-18T18:43:24.165Z,1750272204.165 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.8, -41.2 (Local)
2025-06-18T18:43:24.168Z,1750272204.168 [DAT](INFO): DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.5
2025-06-18T18:43:24.173Z,1750272204.173 [DAT](INFO): DAT read: 18:43:24.8415 LVL= 12144, 26721, 20466, 18851, AGC= 46, IDX= 502, 0.31,-1.373,-0.056,-1.358, 0.213, PHS=-1.498,-0.222,-1.574, RAW= 332.9, 41.5, CAL= 333.2, 41.2, ROT= 176.8, -41.2
2025-06-18T18:43:24.174Z,1750272204.174 [DAT](INFO): got valid direction response:
18:43:24.8415 LVL= 12144, 26721, 20466, 18851, AGC= 46, IDX= 502, 0.31,-1.373,-0.056,-1.358, 0.213, PHS=-1.498,-0.222,-1.574, RAW= 332.9, 41.5, CAL= 333.2, 41.2, ROT= 176.8, -41.2
2025-06-18T18:43:24.175Z,1750272204.175 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-06-18T18:43:24.176Z,1750272204.176 [DAT](INFO): direction in FSK: [-0.751242,0.042001,0.658689]
2025-06-18T18:43:24.176Z,1750272204.176 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:24.180Z,1750272204.180 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.982679
2025-06-18T18:43:24.313Z,1750272204.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.500000 m,
deltaT: 0.500268 s,
deltaX: -0.100000 m,
approachRate: -0.199893 m/s,
rangeRepo size: 4
2025-06-18T18:43:24.315Z,1750272204.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.468000 m,
bearing: 302.032884 deg,
lat: 36.905870 deg,
lon: -122.115737 deg,
deltaT: 10.578805 s,
deltaX: -6.242394 m,
approachRate: -0.590085 m/s,
posRepo size: 4
2025-06-18T18:43:24.320Z,1750272204.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.47 m. 9.71 m.
2025-06-18T18:43:24.323Z,1750272204.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 3.020589 m,
bearing: 102.480302 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.306294 deg/s,
cmd heading: 80.863101 deg,
new cmd heading: 79.313757 deg.
2025-06-18T18:43:24.328Z,1750272204.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384286 target range: 9.710395 and range: 3.50 m.
2025-06-18T18:43:24.413Z,1750272204.413 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.216002
2025-06-18T18:43:24.632Z,1750272204.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:24.634Z,1750272204.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.71 m. 9.71 m.
2025-06-18T18:43:24.637Z,1750272204.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 2.806380 m,
bearing: 100.974011 deg,
approach rate: -0.666036 m/s,
LOS rate: -5.040386 deg/s,
cmd heading: 79.313755 deg,
new cmd heading: 74.462147 deg.
2025-06-18T18:43:24.639Z,1750272204.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299610 target range: 9.710395 and range: 3.50 m.
2025-06-18T18:43:24.665Z,1750272204.665 [DAT](INFO): DAT read: Rx Time:18:43:25.3413
2025-06-18T18:43:24.665Z,1750272204.665 [DAT](INFO): Rx dataTimestamp_ set to:1750272204.665103
2025-06-18T18:43:24.676Z,1750272204.676 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.4
2025-06-18T18:43:24.677Z,1750272204.677 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-06-18T18:43:24.678Z,1750272204.678 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.481060
2025-06-18T18:43:24.917Z,1750272204.917 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.719778
2025-06-18T18:43:25.125Z,1750272205.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.502959 s,
deltaX: -0.300000 m,
approachRate: -0.596470 m/s,
rangeRepo size: 4
2025-06-18T18:43:25.126Z,1750272205.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.71 m. 9.71 m.
2025-06-18T18:43:25.133Z,1750272205.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.710395 m,
nav range: 2.513216 m,
bearing: 98.517919 deg,
approach rate: -0.603413 m/s,
LOS rate: -5.643289 deg/s,
cmd heading: 74.462149 deg,
new cmd heading: 66.292706 deg.
2025-06-18T18:43:25.134Z,1750272205.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157026 target range: 9.710395 and range: 3.20 m.
2025-06-18T18:43:25.170Z,1750272205.170 [DAT](INFO): DAT read: Rx Time:18:43:25.8412
2025-06-18T18:43:25.171Z,1750272205.171 [DAT](INFO): Rx dataTimestamp_ set to:1750272205.170099
2025-06-18T18:43:25.173Z,1750272205.173 [DAT](INFO): DAT read: Bearing 181.6, -32.5 (Local)
2025-06-18T18:43:25.173Z,1750272205.173 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.6, -32.5 (Local)
2025-06-18T18:43:25.176Z,1750272205.176 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.4
2025-06-18T18:43:25.184Z,1750272205.184 [DAT](INFO): DAT read: 18:43:25.8412 LVL= 15344, 17073, 14322, 19587, AGC= 42, IDX= 499,-0.02, 1.104, 2.593, 1.311, 2.488, PHS=-1.296, 0.152,-1.179, RAW= 325.8, 30.5, CAL= 328.4, 32.5, ROT= 181.6, -32.5
2025-06-18T18:43:25.185Z,1750272205.185 [DAT](INFO): got valid direction response:
18:43:25.8412 LVL= 15344, 17073, 14322, 19587, AGC= 42, IDX= 499,-0.02, 1.104, 2.593, 1.311, 2.488, PHS=-1.296, 0.152,-1.179, RAW= 325.8, 30.5, CAL= 328.4, 32.5, ROT= 181.6, -32.5
2025-06-18T18:43:25.186Z,1750272205.186 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-06-18T18:43:25.187Z,1750272205.187 [DAT](INFO): direction in FSK: [-0.843063,-0.023549,0.537300]
2025-06-18T18:43:25.193Z,1750272205.193 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:25.210Z,1750272205.210 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.012859
2025-06-18T18:43:25.421Z,1750272205.421 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.223833
2025-06-18T18:43:25.461Z,1750272205.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 0.504996 s,
deltaX: -0.200000 m,
approachRate: -0.396043 m/s,
rangeRepo size: 4
2025-06-18T18:43:25.463Z,1750272205.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.972574 m,
bearing: 303.360068 deg,
lat: 36.905873 deg,
lon: -122.115787 deg,
deltaT: 11.586760 s,
deltaX: -6.737822 m,
approachRate: -0.581510 m/s,
posRepo size: 4
2025-06-18T18:43:25.463Z,1750272205.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m.
2025-06-18T18:43:25.468Z,1750272205.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-18T18:43:25.673Z,1750272205.673 [DAT](INFO): DAT read: Rx Time:18:43:26.3410
2025-06-18T18:43:25.674Z,1750272205.674 [DAT](INFO): Rx dataTimestamp_ set to:1750272205.673558
2025-06-18T18:43:25.675Z,1750272205.675 [DAT](INFO): DAT read: Bearing 181.3, -43.4 (Local)
2025-06-18T18:43:25.675Z,1750272205.675 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.3, -43.4 (Local)
2025-06-18T18:43:25.678Z,1750272205.678 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4
2025-06-18T18:43:25.685Z,1750272205.685 [DAT](INFO): DAT read: 18:43:26.3410 LVL= 10128, 12945, 7714, 18659, AGC= 40, IDX= 497,-0.22, 2.000,-3.020, 2.165,-2.684, PHS=-1.510,-0.288,-1.437, RAW= 326.9, 43.9, CAL= 328.7, 43.4, ROT= 181.3, -43.4
2025-06-18T18:43:25.689Z,1750272205.689 [DAT](INFO): got valid direction response:
18:43:26.3410 LVL= 10128, 12945, 7714, 18659, AGC= 40, IDX= 497,-0.22, 2.000,-3.020, 2.165,-2.684, PHS=-1.510,-0.288,-1.437, RAW= 326.9, 43.9, CAL= 328.7, 43.4, ROT= 181.3, -43.4
2025-06-18T18:43:25.690Z,1750272205.690 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-18T18:43:25.693Z,1750272205.693 [DAT](INFO): direction in FSK: [-0.726388,-0.016484,0.687088]
2025-06-18T18:43:25.694Z,1750272205.694 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:25.769Z,1750272205.769 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.571775
2025-06-18T18:43:25.925Z,1750272205.925 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.727978
2025-06-18T18:43:25.930Z,1750272205.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.700000 m,
deltaT: 0.503459 s,
deltaX: -0.300000 m,
approachRate: -0.595878 m/s,
rangeRepo size: 4
2025-06-18T18:43:25.943Z,1750272205.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.675322 m,
bearing: 302.553850 deg,
lat: 36.905881 deg,
lon: -122.115787 deg,
deltaT: 0.503459 s,
deltaX: -0.297251 m,
approachRate: -0.590418 m/s,
posRepo size: 4
2025-06-18T18:43:26.178Z,1750272206.178 [DAT](INFO): DAT read: Rx Time:18:43:26.8409
2025-06-18T18:43:26.179Z,1750272206.179 [DAT](INFO): Rx dataTimestamp_ set to:1750272206.178852
2025-06-18T18:43:26.182Z,1750272206.182 [DAT](INFO): DAT read: Bearing 183.2, -38.5 (Local)
2025-06-18T18:43:26.182Z,1750272206.182 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.2, -38.5 (Local)
2025-06-18T18:43:26.186Z,1750272206.186 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.3
2025-06-18T18:43:26.191Z,1750272206.191 [DAT](INFO): DAT read: 18:43:26.8409 LVL= 12624, 16705, 9842, 16227, AGC= 43, IDX= 512, 0.34,-1.833,-0.425,-1.585,-0.263, PHS=-1.483,-0.115,-1.325, RAW= 324.0, 38.6, CAL= 326.8, 38.5, ROT= 183.2, -38.5
2025-06-18T18:43:26.192Z,1750272206.192 [DAT](INFO): got valid direction response:
18:43:26.8409 LVL= 12624, 16705, 9842, 16227, AGC= 43, IDX= 512, 0.34,-1.833,-0.425,-1.585,-0.263, PHS=-1.483,-0.115,-1.325, RAW= 324.0, 38.6, CAL= 326.8, 38.5, ROT= 183.2, -38.5
2025-06-18T18:43:26.193Z,1750272206.193 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-18T18:43:26.194Z,1750272206.194 [DAT](INFO): direction in FSK: [-0.781388,-0.043686,0.622515]
2025-06-18T18:43:26.194Z,1750272206.194 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:26.197Z,1750272206.197 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.000328
2025-06-18T18:43:26.319Z,1750272206.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.600000 m,
deltaT: 0.505294 s,
deltaX: -0.100000 m,
approachRate: -0.197905 m/s,
rangeRepo size: 4
2025-06-18T18:43:26.325Z,1750272206.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.576236 m,
bearing: 301.581330 deg,
lat: 36.905881 deg,
lon: -122.115787 deg,
deltaT: 0.505294 s,
deltaX: -0.099086 m,
approachRate: -0.196096 m/s,
posRepo size: 4
2025-06-18T18:43:26.429Z,1750272206.429 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.231932
2025-06-18T18:43:26.681Z,1750272206.681 [DAT](INFO): DAT read: Rx Time:18:43:27.3407
2025-06-18T18:43:26.682Z,1750272206.682 [DAT](INFO): Rx dataTimestamp_ set to:1750272206.681336
2025-06-18T18:43:26.683Z,1750272206.683 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:26.683Z,1750272206.683 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-06-18T18:43:26.684Z,1750272206.684 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.487438
2025-06-18T18:43:26.710Z,1750272206.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:26.731Z,1750272206.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.300000 m,
deltaT: 0.502484 s,
deltaX: -0.300000 m,
approachRate: -0.597034 m/s,
rangeRepo size: 4
2025-06-18T18:43:26.933Z,1750272206.933 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.735683
2025-06-18T18:43:27.186Z,1750272207.186 [DAT](INFO): DAT read: Rx Time:18:43:27.8415
2025-06-18T18:43:27.186Z,1750272207.186 [DAT](INFO): Rx dataTimestamp_ set to:1750272207.185942
2025-06-18T18:43:27.187Z,1750272207.187 [DAT](INFO): DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.3
2025-06-18T18:43:27.188Z,1750272207.188 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-06-18T18:43:27.189Z,1750272207.189 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.992029
2025-06-18T18:43:27.437Z,1750272207.437 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.239826
2025-06-18T18:43:27.497Z,1750272207.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.500000 m,
deltaT: 0.504606 s,
deltaX: 1.200000 m,
approachRate: 2.378093 m/s,
rangeRepo size: 4
2025-06-18T18:43:27.690Z,1750272207.690 [DAT](INFO): DAT read: Rx Time:18:43:28.3407
2025-06-18T18:43:27.691Z,1750272207.691 [DAT](INFO): Rx dataTimestamp_ set to:1750272207.690640
2025-06-18T18:43:27.693Z,1750272207.693 [DAT](INFO): DAT read: Bearing 240.3, -62.9 (Local)
2025-06-18T18:43:27.693Z,1750272207.693 [DAT](INFO): Local bearing/azimuth received:
Bearing 240.3, -62.9 (Local)
2025-06-18T18:43:27.696Z,1750272207.696 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:27.709Z,1750272207.709 [DAT](INFO): DAT read: 18:43:28.3407 LVL= 10352, 19441, 16274, 18643, AGC= 43, IDX= 494,-0.40, 2.855,-2.724,-2.561,-1.703, PHS=-1.637,-0.974,-0.861, RAW= 262.3, 59.4, CAL= 269.7, 62.9, ROT= 240.3, -62.9
2025-06-18T18:43:27.710Z,1750272207.710 [DAT](INFO): got valid direction response:
18:43:28.3407 LVL= 10352, 19441, 16274, 18643, AGC= 43, IDX= 494,-0.40, 2.855,-2.724,-2.561,-1.703, PHS=-1.637,-0.974,-0.861, RAW= 262.3, 59.4, CAL= 269.7, 62.9, ROT= 240.3, -62.9
2025-06-18T18:43:27.710Z,1750272207.710 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-06-18T18:43:27.711Z,1750272207.711 [DAT](INFO): direction in FSK: [-0.225704,-0.395701,0.890213]
2025-06-18T18:43:27.711Z,1750272207.711 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:27.787Z,1750272207.787 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.589678
2025-06-18T18:43:27.941Z,1750272207.941 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.743879
2025-06-18T18:43:28.014Z,1750272208.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.300000 m,
deltaT: 0.504698 s,
deltaX: -1.200000 m,
approachRate: -2.377660 m/s,
rangeRepo size: 4
2025-06-18T18:43:28.021Z,1750272208.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.278975 m,
bearing: 350.453127 deg,
lat: 36.905881 deg,
lon: -122.115779 deg,
deltaT: 1.511788 s,
deltaX: -0.297261 m,
approachRate: -0.196629 m/s,
posRepo size: 4
2025-06-18T18:43:28.197Z,1750272208.197 [DAT](INFO): DAT read: Rx Time:18:43:28.8412
2025-06-18T18:43:28.197Z,1750272208.197 [DAT](INFO): Rx dataTimestamp_ set to:1750272208.196724
2025-06-18T18:43:28.198Z,1750272208.198 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-06-18T18:43:28.199Z,1750272208.199 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-06-18T18:43:28.200Z,1750272208.200 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.002708
2025-06-18T18:43:28.445Z,1750272208.445 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.247898
2025-06-18T18:43:28.510Z,1750272208.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 0.506084 s,
deltaX: 0.700000 m,
approachRate: 1.383170 m/s,
rangeRepo size: 4
2025-06-18T18:43:28.511Z,1750272208.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m.
2025-06-18T18:43:28.698Z,1750272208.698 [DAT](INFO): DAT read: Rx Time:18:43:29.3402
2025-06-18T18:43:28.699Z,1750272208.699 [DAT](INFO): Rx dataTimestamp_ set to:1750272208.698512
2025-06-18T18:43:28.700Z,1750272208.700 [DAT](INFO): DAT read: Bearing 71.2, -24.8 (Local)
2025-06-18T18:43:28.701Z,1750272208.701 [DAT](INFO): Local bearing/azimuth received:
Bearing 71.2, -24.8 (Local)
2025-06-18T18:43:28.703Z,1750272208.703 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-18T18:43:28.720Z,1750272208.720 [DAT](INFO): DAT read: 18:43:29.3402 LVL= 19920, 17905, 15794, 15859, AGC= 46, IDX= 489, 0.23,-2.514, 2.071, 1.572, 3.106, PHS= 0.751,-0.988,-1.537, RAW= 76.7, 16.9, CAL= 78.8, 24.8, ROT= 71.2, -24.8
2025-06-18T18:43:28.721Z,1750272208.721 [DAT](INFO): got valid direction response:
18:43:29.3402 LVL= 19920, 17905, 15794, 15859, AGC= 46, IDX= 489, 0.23,-2.514, 2.071, 1.572, 3.106, PHS= 0.751,-0.988,-1.537, RAW= 76.7, 16.9, CAL= 78.8, 24.8, ROT= 71.2, -24.8
2025-06-18T18:43:28.722Z,1750272208.722 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-06-18T18:43:28.723Z,1750272208.723 [DAT](INFO): direction in FSK: [0.292546,0.859347,0.419452]
2025-06-18T18:43:28.723Z,1750272208.723 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:28.786Z,1750272208.786 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.588490
2025-06-18T18:43:28.949Z,1750272208.949 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.751905
2025-06-18T18:43:28.990Z,1750272208.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.500000 m,
deltaT: 0.501788 s,
deltaX: -1.500000 m,
approachRate: -2.989310 m/s,
rangeRepo size: 4
2025-06-18T18:43:28.997Z,1750272208.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.486284 m,
bearing: 176.315482 deg,
lat: 36.905880 deg,
lon: -122.115777 deg,
deltaT: 1.007872 s,
deltaX: -0.792690 m,
approachRate: -0.786499 m/s,
posRepo size: 4
2025-06-18T18:43:28.997Z,1750272208.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 1.50 m.
2025-06-18T18:43:28.997Z,1750272208.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-06-18T18:43:29.201Z,1750272209.201 [DAT](INFO): DAT read: Rx Time:18:43:29.8407
2025-06-18T18:43:29.202Z,1750272209.202 [DAT](INFO): Rx dataTimestamp_ set to:1750272209.201589
2025-06-18T18:43:29.204Z,1750272209.204 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:29.205Z,1750272209.205 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-06-18T18:43:29.206Z,1750272209.206 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.009228
2025-06-18T18:43:29.312Z,1750272209.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:29.315Z,1750272209.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.300000 m,
deltaT: 0.503077 s,
deltaX: 0.800000 m,
approachRate: 1.590214 m/s,
rangeRepo size: 4
2025-06-18T18:43:29.345Z,1750272209.345 [DockingStepper](INFO): Changing to mode: 1
2025-06-18T18:43:29.345Z,1750272209.345 [DockingStepper](INFO): Standby mode.
2025-06-18T18:43:29.408Z,1750272209.408 [DockingStepper](INFO): Commanding positive:54697
2025-06-18T18:43:29.454Z,1750272209.454 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.257130
2025-06-18T18:43:29.706Z,1750272209.706 [DAT](INFO): DAT read: Rx Time:18:43:30.3406
2025-06-18T18:43:29.706Z,1750272209.706 [DAT](INFO): Rx dataTimestamp_ set to:1750272209.705711
2025-06-18T18:43:29.707Z,1750272209.707 [DAT](INFO): DAT read: Bearing 58.2, -16.1 (Local)
2025-06-18T18:43:29.708Z,1750272209.708 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.2, -16.1 (Local)
2025-06-18T18:43:29.710Z,1750272209.710 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-18T18:43:29.718Z,1750272209.718 [DAT](INFO): DAT read: 18:43:30.3406 LVL= 15856, 27121, 21330, 22723, AGC= 44, IDX= 509, 0.39,-2.091, 2.194, 2.033,-3.010, PHS= 1.007,-1.032,-1.244, RAW= 85.1, 11.8, CAL= 91.8, 16.1, ROT= 58.2, -16.1
2025-06-18T18:43:29.720Z,1750272209.720 [DAT](INFO): got valid direction response:
18:43:30.3406 LVL= 15856, 27121, 21330, 22723, AGC= 44, IDX= 509, 0.39,-2.091, 2.194, 2.033,-3.010, PHS= 1.007,-1.032,-1.244, RAW= 85.1, 11.8, CAL= 91.8, 16.1, ROT= 58.2, -16.1
2025-06-18T18:43:29.720Z,1750272209.720 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-18T18:43:29.721Z,1750272209.721 [DAT](INFO): direction in FSK: [0.506288,0.816559,0.277315]
2025-06-18T18:43:29.721Z,1750272209.721 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:29.725Z,1750272209.725 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.527988
2025-06-18T18:43:29.960Z,1750272209.960 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.763187
2025-06-18T18:43:30.137Z,1750272210.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.100000 m,
deltaT: 0.504122 s,
deltaX: -0.200000 m,
approachRate: -0.396729 m/s,
rangeRepo size: 4
2025-06-18T18:43:30.139Z,1750272210.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.080801 m,
bearing: 163.916687 deg,
lat: 36.905878 deg,
lon: -122.115749 deg,
deltaT: 1.007199 s,
deltaX: 0.594516 m,
approachRate: 0.590267 m/s,
posRepo size: 4
2025-06-18T18:43:30.210Z,1750272210.210 [DAT](INFO): DAT read: Rx Time:18:43:30.8411
2025-06-18T18:43:30.211Z,1750272210.211 [DAT](INFO): Rx dataTimestamp_ set to:1750272210.210066
2025-06-18T18:43:30.213Z,1750272210.213 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0
2025-06-18T18:43:30.214Z,1750272210.214 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-06-18T18:43:30.215Z,1750272210.215 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.017796
2025-06-18T18:43:30.461Z,1750272210.461 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.263859
2025-06-18T18:43:30.546Z,1750272210.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.900000 m,
deltaT: 0.504355 s,
deltaX: 0.800000 m,
approachRate: 1.586185 m/s,
rangeRepo size: 4
2025-06-18T18:43:30.713Z,1750272210.713 [DAT](INFO): DAT read: Rx Time:18:43:31.3411
2025-06-18T18:43:30.713Z,1750272210.713 [DAT](INFO): Rx dataTimestamp_ set to:1750272210.713112
2025-06-18T18:43:30.715Z,1750272210.715 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0
2025-06-18T18:43:30.715Z,1750272210.715 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-06-18T18:43:30.720Z,1750272210.720 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.522934
2025-06-18T18:43:30.965Z,1750272210.965 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.768147
2025-06-18T18:43:30.970Z,1750272210.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.900000 m,
deltaT: 0.503046 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-18T18:43:31.217Z,1750272211.217 [DAT](INFO): DAT read: Rx Time:18:43:31.8412
2025-06-18T18:43:31.218Z,1750272211.218 [DAT](INFO): Rx dataTimestamp_ set to:1750272211.217321
2025-06-18T18:43:31.219Z,1750272211.219 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.1
2025-06-18T18:43:31.219Z,1750272211.219 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-06-18T18:43:31.220Z,1750272211.220 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.023441
2025-06-18T18:43:31.326Z,1750272211.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:31.329Z,1750272211.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 0.504209 s,
deltaX: 0.100000 m,
approachRate: 0.198330 m/s,
rangeRepo size: 4
2025-06-18T18:43:31.469Z,1750272211.469 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.271717
2025-06-18T18:43:31.721Z,1750272211.721 [DAT](INFO): DAT read: Rx Time:18:43:32.3411
2025-06-18T18:43:31.722Z,1750272211.722 [DAT](INFO): Rx dataTimestamp_ set to:1750272211.721285
2025-06-18T18:43:31.723Z,1750272211.723 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0
2025-06-18T18:43:31.723Z,1750272211.723 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-06-18T18:43:31.724Z,1750272211.724 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.527393
2025-06-18T18:43:31.790Z,1750272211.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.900000 m,
deltaT: 0.503964 s,
deltaX: -0.100000 m,
approachRate: -0.198427 m/s,
rangeRepo size: 4
2025-06-18T18:43:31.973Z,1750272211.973 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.775829
2025-06-18T18:43:32.226Z,1750272212.226 [DAT](INFO): DAT read: Rx Time:18:43:32.8412
2025-06-18T18:43:32.227Z,1750272212.227 [DAT](INFO): Rx dataTimestamp_ set to:1750272212.226686
2025-06-18T18:43:32.229Z,1750272212.229 [DAT](INFO): DAT read: Bearing 177.4, -39.4 (Local)
2025-06-18T18:43:32.230Z,1750272212.230 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.4, -39.4 (Local)
2025-06-18T18:43:32.233Z,1750272212.233 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-06-18T18:43:32.239Z,1750272212.239 [DAT](INFO): DAT read: 18:43:32.8412 LVL= 15280, 13665, 10482, 17347, AGC= 46, IDX= 3,-0.29, 0.922, 2.164, 0.963, 2.352, PHS=-1.342,-0.141,-1.392, RAW= 332.1, 39.6, CAL= 332.6, 39.4, ROT= 177.4, -39.4
2025-06-18T18:43:32.242Z,1750272212.242 [DAT](INFO): got valid direction response:
18:43:32.8412 LVL= 15280, 13665, 10482, 17347, AGC= 46, IDX= 3,-0.29, 0.922, 2.164, 0.963, 2.352, PHS=-1.342,-0.141,-1.392, RAW= 332.1, 39.6, CAL= 332.6, 39.4, ROT= 177.4, -39.4
2025-06-18T18:43:32.242Z,1750272212.242 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-18T18:43:32.244Z,1750272212.244 [DAT](INFO): direction in FSK: [-0.771938,0.035054,0.634731]
2025-06-18T18:43:32.245Z,1750272212.245 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:32.274Z,1750272212.274 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.076454
2025-06-18T18:43:32.477Z,1750272212.477 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.279800
2025-06-18T18:43:32.604Z,1750272212.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 0.505401 s,
deltaX: 0.100000 m,
approachRate: 0.197863 m/s,
rangeRepo size: 4
2025-06-18T18:43:32.606Z,1750272212.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.972567 m,
bearing: 285.049402 deg,
lat: 36.905871 deg,
lon: -122.115749 deg,
deltaT: 2.520975 s,
deltaX: 0.891766 m,
approachRate: 0.353738 m/s,
posRepo size: 4
2025-06-18T18:43:32.730Z,1750272212.730 [DAT](INFO): DAT read: Rx Time:18:43:33.3410
2025-06-18T18:43:32.730Z,1750272212.730 [DAT](INFO): Rx dataTimestamp_ set to:1750272212.729703
2025-06-18T18:43:32.731Z,1750272212.731 [DAT](INFO): DAT read: Bearing 194.9, -70.3 (Local)
2025-06-18T18:43:32.732Z,1750272212.732 [DAT](INFO): Local bearing/azimuth received:
Bearing 194.9, -70.3 (Local)
2025-06-18T18:43:32.734Z,1750272212.734 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0
2025-06-18T18:43:32.739Z,1750272212.739 [DAT](INFO): DAT read: 18:43:33.3410 LVL= 16832, 21489, 21026, 27075, AGC= 43, IDX= 493, 0.11, 2.976,-2.769,-3.061,-1.837, PHS=-1.382,-0.885,-1.227, RAW= 312.2, 70.4, CAL= 315.1, 70.3, ROT= 194.9, -70.3
2025-06-18T18:43:32.740Z,1750272212.740 [DAT](INFO): got valid direction response:
18:43:33.3410 LVL= 16832, 21489, 21026, 27075, AGC= 43, IDX= 493, 0.11, 2.976,-2.769,-3.061,-1.837, PHS=-1.382,-0.885,-1.227, RAW= 312.2, 70.4, CAL= 315.1, 70.3, ROT= 194.9, -70.3
2025-06-18T18:43:32.741Z,1750272212.741 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-06-18T18:43:32.742Z,1750272212.742 [DAT](INFO): direction in FSK: [-0.325761,-0.086678,0.941471]
2025-06-18T18:43:32.742Z,1750272212.742 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:32.746Z,1750272212.746 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.548611
2025-06-18T18:43:32.981Z,1750272212.981 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.783756
2025-06-18T18:43:33.007Z,1750272213.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.700000 m,
deltaT: 0.503017 s,
deltaX: -0.300000 m,
approachRate: -0.596401 m/s,
rangeRepo size: 4
2025-06-18T18:43:33.021Z,1750272213.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.675309 m,
bearing: 312.580226 deg,
lat: 36.905871 deg,
lon: -122.115746 deg,
deltaT: 0.503017 s,
deltaX: -0.297258 m,
approachRate: -0.590950 m/s,
posRepo size: 4
2025-06-18T18:43:33.234Z,1750272213.234 [DAT](INFO): DAT read: Rx Time:18:43:33.8408
2025-06-18T18:43:33.234Z,1750272213.234 [DAT](INFO): Rx dataTimestamp_ set to:1750272213.234006
2025-06-18T18:43:33.236Z,1750272213.236 [DAT](INFO): DAT read: Bearing 70.0, 0.1 (Local)
2025-06-18T18:43:33.236Z,1750272213.236 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.0, 0.1 (Local)
2025-06-18T18:43:33.238Z,1750272213.238 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:33.243Z,1750272213.243 [DAT](INFO): DAT read: 18:43:33.8408 LVL= 13424, 20545, 19762, 24163, AGC= 42, IDX= 505, 0.34,-1.144,-2.563,-3.000,-2.109, PHS= 1.052,-0.407,-0.894, RAW= 76.1, 2.9, CAL= 80.0, -0.1, ROT= 70.0, 0.1
2025-06-18T18:43:33.244Z,1750272213.244 [DAT](INFO): got valid direction response:
18:43:33.8408 LVL= 13424, 20545, 19762, 24163, AGC= 42, IDX= 505, 0.34,-1.144,-2.563,-3.000,-2.109, PHS= 1.052,-0.407,-0.894, RAW= 76.1, 2.9, CAL= 80.0, -0.1, ROT= 70.0, 0.1
2025-06-18T18:43:33.245Z,1750272213.245 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-06-18T18:43:33.246Z,1750272213.246 [DAT](INFO): direction in FSK: [0.342020,0.939691,-0.001745]
2025-06-18T18:43:33.246Z,1750272213.246 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:33.249Z,1750272213.249 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.052464
2025-06-18T18:43:33.412Z,1750272213.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 0.504303 s,
deltaX: -0.300000 m,
approachRate: -0.594880 m/s,
rangeRepo size: 4
2025-06-18T18:43:33.414Z,1750272213.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.378052 m,
bearing: 168.469646 deg,
lat: 36.905855 deg,
lon: -122.115741 deg,
deltaT: 0.504303 s,
deltaX: -0.297256 m,
approachRate: -0.589440 m/s,
posRepo size: 4
2025-06-18T18:43:33.486Z,1750272213.486 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.288754
2025-06-18T18:43:33.737Z,1750272213.737 [DAT](INFO): DAT read: Rx Time:18:43:34.3406
2025-06-18T18:43:33.738Z,1750272213.738 [DAT](INFO): Rx dataTimestamp_ set to:1750272213.737568
2025-06-18T18:43:33.739Z,1750272213.739 [DAT](INFO): DAT read: Bearing 68.6, 1.3 (Local)
2025-06-18T18:43:33.739Z,1750272213.739 [DAT](INFO): Local bearing/azimuth received:
Bearing 68.6, 1.3 (Local)
2025-06-18T18:43:33.753Z,1750272213.753 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-18T18:43:33.778Z,1750272213.778 [DAT](INFO): DAT read: 18:43:34.3406 LVL= 15904, 27825, 24786, 29907, AGC= 43, IDX= 504, 0.38,-2.502, 2.380, 1.983, 2.817, PHS= 1.052,-0.390,-0.837, RAW= 76.9, 2.1, CAL= 81.4, -1.3, ROT= 68.6, 1.3
2025-06-18T18:43:33.779Z,1750272213.779 [DAT](INFO): got valid direction response:
18:43:34.3406 LVL= 15904, 27825, 24786, 29907, AGC= 43, IDX= 504, 0.38,-2.502, 2.380, 1.983, 2.817, PHS= 1.052,-0.390,-0.837, RAW= 76.9, 2.1, CAL= 81.4, -1.3, ROT= 68.6, 1.3
2025-06-18T18:43:33.779Z,1750272213.779 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-18T18:43:33.785Z,1750272213.785 [DAT](INFO): direction in FSK: [0.364783,0.930816,-0.022687]
2025-06-18T18:43:33.785Z,1750272213.785 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:33.802Z,1750272213.802 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.605450
2025-06-18T18:43:33.909Z,1750272213.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.100000 m,
deltaT: 0.503562 s,
deltaX: -0.300000 m,
approachRate: -0.595756 m/s,
rangeRepo size: 4
2025-06-18T18:43:33.911Z,1750272213.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.080800 m,
bearing: 165.532756 deg,
lat: 36.905849 deg,
lon: -122.115732 deg,
deltaT: 0.503562 s,
deltaX: -0.297252 m,
approachRate: -0.590299 m/s,
posRepo size: 4
2025-06-18T18:43:33.990Z,1750272213.990 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.792252
2025-06-18T18:43:34.214Z,1750272214.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:34.241Z,1750272214.241 [DAT](INFO): DAT read: Rx Time:18:43:34.8407
2025-06-18T18:43:34.242Z,1750272214.242 [DAT](INFO): Rx dataTimestamp_ set to:1750272214.241529
2025-06-18T18:43:34.243Z,1750272214.243 [DAT](INFO): DAT read: Bearing 69.4, -82.7 (Local)
2025-06-18T18:43:34.243Z,1750272214.243 [DAT](INFO): Local bearing/azimuth received:
Bearing 69.4, -82.7 (Local)
2025-06-18T18:43:34.246Z,1750272214.246 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:34.250Z,1750272214.250 [DAT](INFO): DAT read: 18:43:34.8407 LVL= 17056, 27441, 26594, 24035, AGC= 43, IDX= 509, 0.23,-2.767,-2.896,-2.881,-1.616, PHS=-1.063,-1.233,-1.268, RAW= 80.8, 81.4, CAL= 80.6, 82.7, ROT= 69.4, -82.7
2025-06-18T18:43:34.251Z,1750272214.251 [DAT](INFO): got valid direction response:
18:43:34.8407 LVL= 17056, 27441, 26594, 24035, AGC= 43, IDX= 509, 0.23,-2.767,-2.896,-2.881,-1.616, PHS=-1.063,-1.233,-1.268, RAW= 80.8, 81.4, CAL= 80.6, 82.7, ROT= 69.4, -82.7
2025-06-18T18:43:34.252Z,1750272214.252 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-18T18:43:34.253Z,1750272214.253 [DAT](INFO): direction in FSK: [0.044707,0.118940,0.991894]
2025-06-18T18:43:34.253Z,1750272214.253 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:34.257Z,1750272214.257 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.059677
2025-06-18T18:43:34.493Z,1750272214.493 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.295750
2025-06-18T18:43:34.620Z,1750272214.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.300000 m,
deltaT: 0.503961 s,
deltaX: 0.200000 m,
approachRate: 0.396856 m/s,
rangeRepo size: 4
2025-06-18T18:43:34.622Z,1750272214.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.278972 m,
bearing: 191.728081 deg,
lat: 36.905865 deg,
lon: -122.115739 deg,
deltaT: 0.503961 s,
deltaX: 0.198172 m,
approachRate: 0.393228 m/s,
posRepo size: 4
2025-06-18T18:43:34.746Z,1750272214.746 [DAT](INFO): DAT read: Rx Time:18:43:35.3406
2025-06-18T18:43:34.746Z,1750272214.746 [DAT](INFO): Rx dataTimestamp_ set to:1750272214.746175
2025-06-18T18:43:34.748Z,1750272214.748 [DAT](INFO): DAT read: Bearing 56.0, -81.0 (Local)
2025-06-18T18:43:34.748Z,1750272214.748 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.0, -81.0 (Local)
2025-06-18T18:43:34.750Z,1750272214.750 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-18T18:43:34.759Z,1750272214.759 [DAT](INFO): DAT read: 18:43:35.3406 LVL= 11920, 24417, 26066, 25123, AGC= 44, IDX= 508, 0.20, 2.849, 2.644, 2.713,-2.317, PHS=-1.029,-1.275,-1.256, RAW= 93.9, 79.3, CAL= 94.0, 81.0, ROT= 56.0, -81.0
2025-06-18T18:43:34.760Z,1750272214.760 [DAT](INFO): got valid direction response:
18:43:35.3406 LVL= 11920, 24417, 26066, 25123, AGC= 44, IDX= 508, 0.20, 2.849, 2.644, 2.713,-2.317, PHS=-1.029,-1.275,-1.256, RAW= 93.9, 79.3, CAL= 94.0, 81.0, ROT= 56.0, -81.0
2025-06-18T18:43:34.761Z,1750272214.761 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-06-18T18:43:34.762Z,1750272214.762 [DAT](INFO): direction in FSK: [0.087477,0.129690,0.987688]
2025-06-18T18:43:34.762Z,1750272214.762 [DAT](INFO): publishing direction and range info
2025-06-18T18:43:34.774Z,1750272214.774 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.576782
2025-06-18T18:43:34.997Z,1750272214.997 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.799728
2025-06-18T18:43:35.071Z,1750272215.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.100000 m,
deltaT: 0.504646 s,
deltaX: -0.200000 m,
approachRate: -0.396318 m/s,
rangeRepo size: 4
2025-06-18T18:43:35.077Z,1750272215.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.080799 m,
bearing: 166.395164 deg,
lat: 36.905865 deg,
lon: -122.115739 deg,
deltaT: 0.504646 s,
deltaX: -0.198173 m,
approachRate: -0.392697 m/s,
posRepo size: 4
2025-06-18T18:43:35.249Z,1750272215.249 [DAT](INFO): DAT read: Rx Time:18:43:35.8407
2025-06-18T18:43:35.249Z,1750272215.249 [DAT](INFO): Rx dataTimestamp_ set to:1750272215.249144
2025-06-18T18:43:35.251Z,1750272215.251 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:35.251Z,1750272215.251 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-06-18T18:43:35.253Z,1750272215.253 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.055843
2025-06-18T18:43:35.419Z,1750272215.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.300000 m,
deltaT: 0.502969 s,
deltaX: 0.200000 m,
approachRate: 0.397639 m/s,
rangeRepo size: 4
2025-06-18T18:43:35.420Z,1750272215.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 2.30 m. Lat: 36.905865 Lon: -122.115739 Cable present.
2025-06-18T18:43:35.421Z,1750272215.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-06-18T18:43:35.421Z,1750272215.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-18T18:43:35.421Z,1750272215.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-06-18T18:43:35.502Z,1750272215.502 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.305428
2025-06-18T18:43:35.753Z,1750272215.753 [DAT](INFO): DAT read: Rx Time:18:43:36.3406
2025-06-18T18:43:35.753Z,1750272215.753 [DAT](INFO): Rx dataTimestamp_ set to:1750272215.753200
2025-06-18T18:43:35.755Z,1750272215.755 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-18T18:43:35.755Z,1750272215.755 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-06-18T18:43:35.760Z,1750272215.760 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.563072
2025-06-18T18:43:35.892Z,1750272215.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-06-18T18:43:35.893Z,1750272215.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-06-18T18:43:35.893Z,1750272215.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-06-18T18:43:36.005Z,1750272216.005 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.807850
2025-06-18T18:43:36.077Z,1750272216.077 [DockingStepper](INFO): Pause
2025-06-18T18:43:36.257Z,1750272216.257 [DAT](INFO): DAT read: Rx Time:18:43:36.8407
2025-06-18T18:43:36.257Z,1750272216.257 [DAT](INFO): Rx dataTimestamp_ set to:1750272216.257202
2025-06-18T18:43:36.259Z,1750272216.259 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:36.259Z,1750272216.259 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-06-18T18:43:36.260Z,1750272216.260 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.063320
2025-06-18T18:43:36.403Z,1750272216.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:36.405Z,1750272216.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-06-18T18:43:36.406Z,1750272216.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-18T18:43:36.406Z,1750272216.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-18T18:43:36.406Z,1750272216.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-18T18:43:36.406Z,1750272216.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-18T18:43:36.406Z,1750272216.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-18T18:43:36.407Z,1750272216.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-18T18:43:36.407Z,1750272216.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-18T18:43:36.407Z,1750272216.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-18T18:43:36.407Z,1750272216.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-18T18:43:36.407Z,1750272216.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-18T18:43:36.509Z,1750272216.509 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.311958
2025-06-18T18:43:36.765Z,1750272216.765 [DAT](INFO): DAT read: Rx Time:18:43:37.3407
2025-06-18T18:43:36.765Z,1750272216.765 [DAT](INFO): Rx dataTimestamp_ set to:1750272216.764793
2025-06-18T18:43:36.766Z,1750272216.766 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:36.767Z,1750272216.767 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-06-18T18:43:36.776Z,1750272216.776 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.578896
2025-06-18T18:43:36.819Z,1750272216.819 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-06-18T18:43:36.819Z,1750272216.819 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-18T18:43:36.819Z,1750272216.819 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-18T18:43:36.819Z,1750272216.819 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-18T18:43:36.824Z,1750272216.824 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-06-18T18:43:36.824Z,1750272216.824 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-18T18:43:36.824Z,1750272216.824 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2025-06-18T18:43:36.825Z,1750272216.825 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-06-18T18:43:36.825Z,1750272216.825 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-06-18T18:43:36.826Z,1750272216.826 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-06-18T18:43:36.826Z,1750272216.826 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-18T18:43:36.826Z,1750272216.826 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-06-18T18:43:36.826Z,1750272216.826 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-18T18:43:36.826Z,1750272216.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-18T18:43:36.826Z,1750272216.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-18T18:43:36.827Z,1750272216.827 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-06-18T18:43:36.827Z,1750272216.827 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-06-18T18:43:37.017Z,1750272217.017 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.819736
2025-06-18T18:43:37.226Z,1750272217.226 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-06-18T18:43:37.226Z,1750272217.226 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-06-18T18:43:37.271Z,1750272217.271 [DAT](INFO): DAT read: Rx Time:18:43:37.8408
2025-06-18T18:43:37.274Z,1750272217.274 [DAT](INFO): Rx dataTimestamp_ set to:1750272217.272372
2025-06-18T18:43:37.275Z,1750272217.275 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:37.276Z,1750272217.276 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-06-18T18:43:37.277Z,1750272217.277 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.080151
2025-06-18T18:43:37.521Z,1750272217.521 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.323689
2025-06-18T18:43:37.597Z,1750272217.597 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-06-18T18:43:37.597Z,1750272217.597 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-18T18:43:37.598Z,1750272217.598 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-06-18T18:43:37.773Z,1750272217.773 [DAT](INFO): DAT read: Rx Time:18:43:38.3407
2025-06-18T18:43:37.774Z,1750272217.774 [DAT](INFO): Rx dataTimestamp_ set to:1750272217.773428
2025-06-18T18:43:37.775Z,1750272217.775 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:37.776Z,1750272217.776 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-06-18T18:43:37.777Z,1750272217.777 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.579536
2025-06-18T18:43:38.025Z,1750272218.025 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.827942
2025-06-18T18:43:38.277Z,1750272218.277 [DAT](INFO): DAT read: Rx Time:18:43:38.8407
2025-06-18T18:43:38.277Z,1750272218.277 [DAT](INFO): Rx dataTimestamp_ set to:1750272218.277146
2025-06-18T18:43:38.279Z,1750272218.279 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:38.279Z,1750272218.279 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-06-18T18:43:38.280Z,1750272218.280 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.083256
2025-06-18T18:43:38.534Z,1750272218.534 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.334190
2025-06-18T18:43:38.781Z,1750272218.781 [DAT](INFO): DAT read: Rx Time:18:43:39.3406
2025-06-18T18:43:38.782Z,1750272218.782 [DAT](INFO): Rx dataTimestamp_ set to:1750272218.781295
2025-06-18T18:43:38.783Z,1750272218.783 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-18T18:43:38.783Z,1750272218.783 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-06-18T18:43:38.785Z,1750272218.785 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.587540
2025-06-18T18:43:38.974Z,1750272218.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:39.035Z,1750272219.035 [DAT](INFO): DAT read: Rx Time:18:43:39.8407
2025-06-18T18:43:39.037Z,1750272219.037 [DAT](INFO): Rx dataTimestamp_ set to:1750272219.036021
2025-06-18T18:43:39.039Z,1750272219.039 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.841267
2025-06-18T18:43:39.285Z,1750272219.285 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:39.286Z,1750272219.286 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-06-18T18:43:39.287Z,1750272219.287 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.089924
2025-06-18T18:43:39.539Z,1750272219.539 [DAT](INFO): DAT read: Rx Time:18:43:40.3406
2025-06-18T18:43:39.540Z,1750272219.540 [DAT](INFO): Rx dataTimestamp_ set to:1750272219.539296
2025-06-18T18:43:39.542Z,1750272219.542 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.344246
2025-06-18T18:43:39.789Z,1750272219.789 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-18T18:43:39.790Z,1750272219.790 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-06-18T18:43:39.791Z,1750272219.791 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.593903
2025-06-18T18:43:40.043Z,1750272220.043 [DAT](INFO): DAT read: Rx Time:18:43:40.8407
2025-06-18T18:43:40.043Z,1750272220.043 [DAT](INFO): Rx dataTimestamp_ set to:1750272220.042824
2025-06-18T18:43:40.044Z,1750272220.044 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:40.045Z,1750272220.045 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-06-18T18:43:40.046Z,1750272220.046 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.848949
2025-06-18T18:43:40.293Z,1750272220.293 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.095802
2025-06-18T18:43:40.434Z,1750272220.434 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-06-18T18:43:40.434Z,1750272220.434 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-06-18T18:43:40.434Z,1750272220.434 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-06-18T18:43:40.434Z,1750272220.434 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-06-18T18:43:40.545Z,1750272220.545 [DAT](INFO): DAT read: Rx Time:18:43:41.3406
2025-06-18T18:43:40.545Z,1750272220.545 [DAT](INFO): Rx dataTimestamp_ set to:1750272220.545113
2025-06-18T18:43:40.547Z,1750272220.547 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-18T18:43:40.547Z,1750272220.547 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-06-18T18:43:40.548Z,1750272220.548 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.351242
2025-06-18T18:43:40.797Z,1750272220.797 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.600094
2025-06-18T18:43:40.873Z,1750272220.873 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count
2025-06-18T18:43:40.873Z,1750272220.873 [lineCaptureHoming:LineCapture:M] Stopped
2025-06-18T18:43:40.881Z,1750272220.881 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-06-18T18:43:40.881Z,1750272220.881 [lineCaptureHoming:LineCapture] Stopped
2025-06-18T18:43:40.881Z,1750272220.881 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-06-18T18:43:40.881Z,1750272220.881 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-06-18T18:43:40.881Z,1750272220.881 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-18T18:43:40.881Z,1750272220.881 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-18T18:43:40.881Z,1750272220.881 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-18T18:43:40.881Z,1750272220.881 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-18T18:43:40.881Z,1750272220.881 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-18T18:43:40.882Z,1750272220.882 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-18T18:43:40.882Z,1750272220.882 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-18T18:43:40.882Z,1750272220.882 [lineCaptureHoming:LineCapture:G] Stopped
2025-06-18T18:43:40.882Z,1750272220.882 [lineCaptureHoming:LineCapture:H] Stopped
2025-06-18T18:43:40.882Z,1750272220.882 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-06-18T18:43:40.882Z,1750272220.882 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-06-18T18:43:40.882Z,1750272220.882 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-06-18T18:43:40.882Z,1750272220.882 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-06-18T18:43:40.882Z,1750272220.882 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-06-18T18:43:40.882Z,1750272220.882 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-06-18T18:43:40.882Z,1750272220.882 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-18T18:43:40.883Z,1750272220.883 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-06-18T18:43:40.883Z,1750272220.883 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-18T18:43:41.049Z,1750272221.049 [DAT](INFO): DAT read: Rx Time:18:43:41.8407
2025-06-18T18:43:41.049Z,1750272221.049 [DAT](INFO): Rx dataTimestamp_ set to:1750272221.049205
2025-06-18T18:43:41.051Z,1750272221.051 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:41.051Z,1750272221.051 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-06-18T18:43:41.052Z,1750272221.052 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.855331
2025-06-18T18:43:41.271Z,1750272221.271 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-06-18T18:43:41.271Z,1750272221.271 [lineCaptureHoming:Lap:B] Stopped
2025-06-18T18:43:41.276Z,1750272221.276 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-06-18T18:43:41.277Z,1750272221.277 [lineCaptureHoming:Lap:C] Running Loop=1
2025-06-18T18:43:41.277Z,1750272221.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:41.301Z,1750272221.301 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.103882
2025-06-18T18:43:41.553Z,1750272221.553 [DAT](INFO): DAT read: Rx Time:18:43:42.3406
2025-06-18T18:43:41.554Z,1750272221.554 [DAT](INFO): Rx dataTimestamp_ set to:1750272221.553440
2025-06-18T18:43:41.555Z,1750272221.555 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-18T18:43:41.556Z,1750272221.556 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-06-18T18:43:41.557Z,1750272221.557 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.359592
2025-06-18T18:43:41.637Z,1750272221.637 [lineCaptureHoming:Lap:C] Stopped
2025-06-18T18:43:41.637Z,1750272221.637 [lineCaptureHoming:Lap:D] Running Loop=1
2025-06-18T18:43:41.805Z,1750272221.805 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.607819
2025-06-18T18:43:42.057Z,1750272222.057 [DAT](INFO): DAT read: Rx Time:18:43:42.8407
2025-06-18T18:43:42.057Z,1750272222.057 [DAT](INFO): Rx dataTimestamp_ set to:1750272222.057203
2025-06-18T18:43:42.059Z,1750272222.059 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:42.059Z,1750272222.059 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-06-18T18:43:42.060Z,1750272222.060 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.863319
2025-06-18T18:43:42.105Z,1750272222.105 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count
2025-06-18T18:43:42.105Z,1750272222.105 [lineCaptureHoming:Lap:D] Stopped
2025-06-18T18:43:42.105Z,1750272222.105 [lineCaptureHoming:Lap:E] Running Loop=1
2025-06-18T18:43:42.105Z,1750272222.105 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-06-18T18:43:42.309Z,1750272222.309 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.111942
2025-06-18T18:43:42.442Z,1750272222.442 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-06-18T18:43:42.442Z,1750272222.442 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-06-18T18:43:42.442Z,1750272222.442 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-06-18T18:43:42.442Z,1750272222.442 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-06-18T18:43:42.443Z,1750272222.443 [lineCaptureHoming:restartDHCP:A] Stopped
2025-06-18T18:43:42.443Z,1750272222.443 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-06-18T18:43:42.561Z,1750272222.561 [DAT](INFO): DAT read: Rx Time:18:43:43.3406
2025-06-18T18:43:42.562Z,1750272222.562 [DAT](INFO): Rx dataTimestamp_ set to:1750272222.561223
2025-06-18T18:43:42.563Z,1750272222.563 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-18T18:43:42.563Z,1750272222.563 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-06-18T18:43:42.564Z,1750272222.564 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.367340
2025-06-18T18:43:42.825Z,1750272222.825 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.627625
2025-06-18T18:43:42.857Z,1750272222.857 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-18T18:43:42.858Z,1750272222.858 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-06-18T18:43:42.858Z,1750272222.858 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-06-18T18:43:42.858Z,1750272222.858 [lineCaptureHoming:restartDHCP] Stopped
2025-06-18T18:43:42.858Z,1750272222.858 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-06-18T18:43:42.950Z,1750272222.950 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-18T18:43:43.080Z,1750272223.080 [DAT](INFO): DAT read: Rx Time:18:43:43.8407
2025-06-18T18:43:43.081Z,1750272223.081 [DAT](INFO): Rx dataTimestamp_ set to:1750272223.080130
2025-06-18T18:43:43.082Z,1750272223.082 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:43.083Z,1750272223.083 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-06-18T18:43:43.086Z,1750272223.086 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.888588
2025-06-18T18:43:43.329Z,1750272223.329 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.132095
2025-06-18T18:43:43.359Z,1750272223.359 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-06-18T18:43:43.360Z,1750272223.360 [lineCaptureHoming:Lap:E] Stopped
2025-06-18T18:43:43.360Z,1750272223.360 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-06-18T18:43:43.360Z,1750272223.360 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-06-18T18:43:43.360Z,1750272223.360 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-06-18T18:43:43.361Z,1750272223.361 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-06-18T18:43:43.361Z,1750272223.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:43:43.573Z,1750272223.573 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-06-18UTC184343_sh
2025-06-18T18:43:43.581Z,1750272223.581 [DAT](INFO): DAT read: Rx Time:18:43:44.3407
2025-06-18T18:43:43.582Z,1750272223.582 [DAT](INFO): Rx dataTimestamp_ set to:1750272223.581418
2025-06-18T18:43:43.583Z,1750272223.583 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:43.585Z,1750272223.585 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-06-18T18:43:43.590Z,1750272223.590 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.392220
2025-06-18T18:43:43.715Z,1750272223.715 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min
2025-06-18T18:43:43.715Z,1750272223.715 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-06-18T18:43:43.715Z,1750272223.715 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-06-18T18:43:43.833Z,1750272223.833 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.636135
2025-06-18T18:43:44.085Z,1750272224.085 [DAT](INFO): DAT read: Rx Time:18:43:44.8408
2025-06-18T18:43:44.086Z,1750272224.086 [DAT](INFO): Rx dataTimestamp_ set to:1750272224.085260
2025-06-18T18:43:44.087Z,1750272224.087 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:44.088Z,1750272224.088 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-06-18T18:43:44.089Z,1750272224.089 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.892056
2025-06-18T18:43:44.132Z,1750272224.132 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-06-18T18:43:44.133Z,1750272224.133 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-06-18T18:43:44.337Z,1750272224.337 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.139748
2025-06-18T18:43:44.479Z,1750272224.479 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-06-18T18:43:44.479Z,1750272224.479 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-06-18T18:43:44.479Z,1750272224.479 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-06-18T18:43:44.479Z,1750272224.479 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-06-18T18:43:44.589Z,1750272224.589 [DAT](INFO): DAT read: Rx Time:18:43:45.3407
2025-06-18T18:43:44.589Z,1750272224.589 [DAT](INFO): Rx dataTimestamp_ set to:1750272224.589112
2025-06-18T18:43:44.591Z,1750272224.591 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:44.591Z,1750272224.591 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-06-18T18:43:44.593Z,1750272224.593 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.396004
2025-06-18T18:43:44.841Z,1750272224.841 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.643917
2025-06-18T18:43:45.044Z,1750272225.044 [DockingStepper](INFO): Resume
2025-06-18T18:43:45.093Z,1750272225.093 [DAT](INFO): DAT read: Rx Time:18:43:45.8408
2025-06-18T18:43:45.094Z,1750272225.094 [DAT](INFO): Rx dataTimestamp_ set to:1750272225.093240
2025-06-18T18:43:45.095Z,1750272225.095 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:45.095Z,1750272225.095 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-06-18T18:43:45.097Z,1750272225.097 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.899479
2025-06-18T18:43:45.097Z,1750272225.097 [DAT](INFO): Requesting device enable set for address 50.
2025-06-18T18:43:45.356Z,1750272225.356 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.158318
2025-06-18T18:43:45.357Z,1750272225.357 [DAT](INFO): Requesting device enable set for address 50.
2025-06-18T18:43:45.507Z,1750272225.507 [DockingStepper](INFO): Resuming
2025-06-18T18:43:45.609Z,1750272225.609 [DAT](INFO): DAT read: Rx Time:18:43:46.3407
2025-06-18T18:43:45.610Z,1750272225.610 [DAT](INFO): Rx dataTimestamp_ set to:1750272225.609192
2025-06-18T18:43:45.611Z,1750272225.611 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:45.611Z,1750272225.611 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-06-18T18:43:45.614Z,1750272225.614 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.417339
2025-06-18T18:43:45.615Z,1750272225.615 [DAT](INFO): Requesting device enable set for address 50.
2025-06-18T18:43:45.729Z,1750272225.729 [DockingStepper](INFO): Start
2025-06-18T18:43:45.730Z,1750272225.730 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-18T18:43:45.853Z,1750272225.853 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-18T18:43:45.861Z,1750272225.861 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.664276
2025-06-18T18:43:46.113Z,1750272226.113 [DAT](INFO): DAT read: Rx Time:18:43:46.8407
2025-06-18T18:43:46.114Z,1750272226.114 [DAT](INFO): Rx dataTimestamp_ set to:1750272226.113600
2025-06-18T18:43:46.115Z,1750272226.115 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:46.116Z,1750272226.116 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-06-18T18:43:46.117Z,1750272226.117 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.919754
2025-06-18T18:43:46.123Z,1750272226.123 [DockingStepper](INFO): Starting
2025-06-18T18:43:46.365Z,1750272226.365 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.167881
2025-06-18T18:43:46.538Z,1750272226.538 [DockingStepper](INFO): Starting
2025-06-18T18:43:46.617Z,1750272226.617 [DAT](INFO): DAT read: Rx Time:18:43:47.3406
2025-06-18T18:43:46.617Z,1750272226.617 [DAT](INFO): Rx dataTimestamp_ set to:1750272226.617174
2025-06-18T18:43:46.619Z,1750272226.619 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-18T18:43:46.619Z,1750272226.619 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-06-18T18:43:46.620Z,1750272226.620 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.423294
2025-06-18T18:43:46.870Z,1750272226.870 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.672531
2025-06-18T18:43:46.936Z,1750272226.936 [DockingStepper](INFO): Starting
2025-06-18T18:43:46.984Z,1750272226.984 [DockingStepper](INFO): Init string: /1z16354aE13561N3m50
2025-06-18T18:43:47.121Z,1750272227.121 [DAT](INFO): DAT read: Rx Time:18:43:47.8407
2025-06-18T18:43:47.122Z,1750272227.122 [DAT](INFO): Rx dataTimestamp_ set to:1750272227.121229
2025-06-18T18:43:47.123Z,1750272227.123 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:47.123Z,1750272227.123 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-06-18T18:43:47.124Z,1750272227.124 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.927422
2025-06-18T18:43:47.341Z,1750272227.341 [DockingStepper](INFO): Starting
2025-06-18T18:43:47.373Z,1750272227.373 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.176262
2025-06-18T18:43:47.625Z,1750272227.625 [DAT](INFO): DAT read: Rx Time:18:43:48.3406
2025-06-18T18:43:47.626Z,1750272227.626 [DAT](INFO): Rx dataTimestamp_ set to:1750272227.625178
2025-06-18T18:43:47.627Z,1750272227.627 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-18T18:43:47.627Z,1750272227.627 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-06-18T18:43:47.628Z,1750272227.628 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.431385
2025-06-18T18:43:47.711Z,1750272227.711 [DockingStepper](INFO): Starting
2025-06-18T18:43:47.878Z,1750272227.878 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.680241
2025-06-18T18:43:48.129Z,1750272228.129 [DAT](INFO): DAT read: Rx Time:18:43:48.8407
2025-06-18T18:43:48.130Z,1750272228.130 [DAT](INFO): Rx dataTimestamp_ set to:1750272228.129259
2025-06-18T18:43:48.131Z,1750272228.131 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:48.131Z,1750272228.131 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-06-18T18:43:48.132Z,1750272228.132 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.935371
2025-06-18T18:43:48.149Z,1750272228.149 [DockingStepper](INFO): Starting
2025-06-18T18:43:48.381Z,1750272228.381 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.184093
2025-06-18T18:43:48.532Z,1750272228.532 [DockingStepper](INFO): Starting
2025-06-18T18:43:48.561Z,1750272228.561 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-18T18:43:48.633Z,1750272228.633 [DAT](INFO): DAT read: Rx Time:18:43:49.3406
2025-06-18T18:43:48.633Z,1750272228.633 [DAT](INFO): Rx dataTimestamp_ set to:1750272228.633168
2025-06-18T18:43:48.635Z,1750272228.635 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-18T18:43:48.635Z,1750272228.635 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-06-18T18:43:48.636Z,1750272228.636 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.439281
2025-06-18T18:43:48.885Z,1750272228.885 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.688087
2025-06-18T18:43:48.928Z,1750272228.928 [DockingStepper](INFO): Starting
2025-06-18T18:43:49.137Z,1750272229.137 [DAT](INFO): DAT read: Rx Time:18:43:49.8407
2025-06-18T18:43:49.137Z,1750272229.137 [DAT](INFO): Rx dataTimestamp_ set to:1750272229.137169
2025-06-18T18:43:49.139Z,1750272229.139 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:49.139Z,1750272229.139 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-06-18T18:43:49.140Z,1750272229.140 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.943462
2025-06-18T18:43:49.379Z,1750272229.379 [DockingStepper](INFO): Changing to mode: 1
2025-06-18T18:43:49.379Z,1750272229.379 [DockingStepper](INFO): Standby mode.
2025-06-18T18:43:49.390Z,1750272229.390 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.192429
2025-06-18T18:43:49.641Z,1750272229.641 [DAT](INFO): DAT read: Rx Time:18:43:50.3407
2025-06-18T18:43:49.641Z,1750272229.641 [DAT](INFO): Rx dataTimestamp_ set to:1750272229.641148
2025-06-18T18:43:49.643Z,1750272229.643 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:49.643Z,1750272229.643 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-06-18T18:43:49.644Z,1750272229.644 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.447346
2025-06-18T18:43:49.893Z,1750272229.893 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.695923
2025-06-18T18:43:50.146Z,1750272230.146 [DAT](INFO): DAT read: Rx Time:18:43:50.8408
2025-06-18T18:43:50.146Z,1750272230.146 [DAT](INFO): Rx dataTimestamp_ set to:1750272230.145920
2025-06-18T18:43:50.147Z,1750272230.147 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:50.148Z,1750272230.148 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-06-18T18:43:50.149Z,1750272230.149 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.952095
2025-06-18T18:43:50.397Z,1750272230.397 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.199768
2025-06-18T18:43:50.650Z,1750272230.650 [DAT](INFO): DAT read: Rx Time:18:43:51.3407
2025-06-18T18:43:50.650Z,1750272230.650 [DAT](INFO): Rx dataTimestamp_ set to:1750272230.649932
2025-06-18T18:43:50.652Z,1750272230.652 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:50.653Z,1750272230.653 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-06-18T18:43:50.654Z,1750272230.654 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.457298
2025-06-18T18:43:50.901Z,1750272230.901 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.703770
2025-06-18T18:43:51.153Z,1750272231.153 [DAT](INFO): DAT read: Rx Time:18:43:51.8408
2025-06-18T18:43:51.153Z,1750272231.153 [DAT](INFO): Rx dataTimestamp_ set to:1750272231.153179
2025-06-18T18:43:51.155Z,1750272231.155 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:51.155Z,1750272231.155 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-06-18T18:43:51.156Z,1750272231.156 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.959351
2025-06-18T18:43:51.405Z,1750272231.405 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.208431
2025-06-18T18:43:51.657Z,1750272231.657 [DAT](INFO): DAT read: Rx Time:18:43:52.3408
2025-06-18T18:43:51.658Z,1750272231.658 [DAT](INFO): Rx dataTimestamp_ set to:1750272231.657219
2025-06-18T18:43:51.659Z,1750272231.659 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:51.659Z,1750272231.659 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-06-18T18:43:51.660Z,1750272231.660 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.463360
2025-06-18T18:43:51.909Z,1750272231.909 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.711903
2025-06-18T18:43:52.161Z,1750272232.161 [DAT](INFO): DAT read: Rx Time:18:43:52.8408
2025-06-18T18:43:52.162Z,1750272232.162 [DAT](INFO): Rx dataTimestamp_ set to:1750272232.161494
2025-06-18T18:43:52.163Z,1750272232.163 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:52.164Z,1750272232.164 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-06-18T18:43:52.165Z,1750272232.165 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.967590
2025-06-18T18:43:52.368Z,1750272232.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-18T18:43:52.413Z,1750272232.413 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.215965
2025-06-18T18:43:52.668Z,1750272232.668 [DAT](INFO): DAT read: Rx Time:18:43:53.3407
2025-06-18T18:43:52.668Z,1750272232.668 [DAT](INFO): Rx dataTimestamp_ set to:1750272232.668041
2025-06-18T18:43:52.670Z,1750272232.670 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:52.670Z,1750272232.670 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-06-18T18:43:52.671Z,1750272232.671 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.474033
2025-06-18T18:43:52.921Z,1750272232.921 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.723679
2025-06-18T18:43:53.175Z,1750272233.175 [DAT](INFO): DAT read: Rx Time:18:43:53.8408
2025-06-18T18:43:53.176Z,1750272233.176 [DAT](INFO): Rx dataTimestamp_ set to:1750272233.175400
2025-06-18T18:43:53.177Z,1750272233.177 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:53.178Z,1750272233.178 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-06-18T18:43:53.179Z,1750272233.179 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.981518
2025-06-18T18:43:53.372Z,1750272233.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-18T18:43:53.425Z,1750272233.425 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.228191
2025-06-18T18:43:53.677Z,1750272233.677 [DAT](INFO): DAT read: Rx Time:18:43:54.3407
2025-06-18T18:43:53.677Z,1750272233.677 [DAT](INFO): Rx dataTimestamp_ set to:1750272233.677103
2025-06-18T18:43:53.679Z,1750272233.679 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:53.679Z,1750272233.679 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-06-18T18:43:53.680Z,1750272233.680 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.483215
2025-06-18T18:43:53.929Z,1750272233.929 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.731834
2025-06-18T18:43:54.181Z,1750272234.181 [DAT](INFO): DAT read: Rx Time:18:43:54.8408
2025-06-18T18:43:54.182Z,1750272234.182 [DAT](INFO): Rx dataTimestamp_ set to:1750272234.181252
2025-06-18T18:43:54.183Z,1750272234.183 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:54.183Z,1750272234.183 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-06-18T18:43:54.184Z,1750272234.184 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.987438
2025-06-18T18:43:54.433Z,1750272234.433 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.236038
2025-06-18T18:43:54.685Z,1750272234.685 [DAT](INFO): DAT read: Rx Time:18:43:55.3407
2025-06-18T18:43:54.685Z,1750272234.685 [DAT](INFO): Rx dataTimestamp_ set to:1750272234.685205
2025-06-18T18:43:54.687Z,1750272234.687 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:54.687Z,1750272234.687 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-06-18T18:43:54.688Z,1750272234.688 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.491344
2025-06-18T18:43:54.939Z,1750272234.939 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.741928
2025-06-18T18:43:55.196Z,1750272235.196 [DAT](INFO): DAT read: Rx Time:18:43:55.8408
2025-06-18T18:43:55.197Z,1750272235.197 [DAT](INFO): Rx dataTimestamp_ set to:1750272235.196275
2025-06-18T18:43:55.201Z,1750272235.201 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:55.204Z,1750272235.204 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-06-18T18:43:55.205Z,1750272235.205 [DAT](INFO): ****** received valid address query ******
2025-06-18T18:43:55.205Z,1750272235.205 [DAT](INFO): ****** received valid ping request ******
2025-06-18T18:43:55.205Z,1750272235.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:55.445Z,1750272235.445 [DAT](INFO): Reached modem response timeout
2025-06-18T18:43:55.445Z,1750272235.445 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:55.445Z,1750272235.445 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:55.697Z,1750272235.697 [DAT](INFO): DAT read: Rx Time:18:43:56.3408
2025-06-18T18:43:55.697Z,1750272235.697 [DAT](INFO): Rx dataTimestamp_ set to:1750272235.697091
2025-06-18T18:43:55.699Z,1750272235.699 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:55.699Z,1750272235.699 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:43:55.700Z,1750272235.700 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:55.700Z,1750272235.700 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:55.949Z,1750272235.949 [DAT](INFO): Reached modem response timeout
2025-06-18T18:43:55.949Z,1750272235.949 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:55.950Z,1750272235.950 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:56.204Z,1750272236.204 [DAT](INFO): DAT read: Rx Time:18:43:56.8408
2025-06-18T18:43:56.204Z,1750272236.204 [DAT](INFO): Rx dataTimestamp_ set to:1750272236.204189
2025-06-18T18:43:56.206Z,1750272236.206 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:56.206Z,1750272236.206 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:43:56.207Z,1750272236.207 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:56.207Z,1750272236.207 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:56.452Z,1750272236.452 [DAT](INFO): Reached modem response timeout
2025-06-18T18:43:56.453Z,1750272236.453 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:56.453Z,1750272236.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:56.705Z,1750272236.705 [DAT](INFO): DAT read: Rx Time:18:43:57.3407
2025-06-18T18:43:56.705Z,1750272236.705 [DAT](INFO): Rx dataTimestamp_ set to:1750272236.705171
2025-06-18T18:43:56.707Z,1750272236.707 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:56.707Z,1750272236.707 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:43:56.709Z,1750272236.709 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:56.709Z,1750272236.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:56.959Z,1750272236.959 [DAT](INFO): Reached modem response timeout
2025-06-18T18:43:56.959Z,1750272236.959 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:56.959Z,1750272236.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:57.216Z,1750272237.216 [DAT](INFO): DAT read: Rx Time:18:43:57.8408
2025-06-18T18:43:57.217Z,1750272237.217 [DAT](INFO): Rx dataTimestamp_ set to:1750272237.216329
2025-06-18T18:43:57.221Z,1750272237.221 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:57.223Z,1750272237.223 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:43:57.226Z,1750272237.226 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:57.227Z,1750272237.227 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:57.465Z,1750272237.465 [DAT](INFO): Reached modem response timeout
2025-06-18T18:43:57.465Z,1750272237.465 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:57.466Z,1750272237.466 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:57.717Z,1750272237.717 [DAT](INFO): DAT read: Rx Time:18:43:58.3407
2025-06-18T18:43:57.717Z,1750272237.717 [DAT](INFO): Rx dataTimestamp_ set to:1750272237.717198
2025-06-18T18:43:57.719Z,1750272237.719 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:57.719Z,1750272237.719 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:43:57.720Z,1750272237.720 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:57.720Z,1750272237.720 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:57.968Z,1750272237.968 [DAT](INFO): Reached modem response timeout
2025-06-18T18:43:57.969Z,1750272237.969 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:57.969Z,1750272237.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:58.225Z,1750272238.225 [DAT](INFO): DAT read: Rx Time:18:43:58.8408
2025-06-18T18:43:58.227Z,1750272238.227 [DAT](INFO): Rx dataTimestamp_ set to:1750272238.226013
2025-06-18T18:43:58.239Z,1750272238.239 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:58.239Z,1750272238.239 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:43:58.244Z,1750272238.244 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:58.244Z,1750272238.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:58.472Z,1750272238.472 [DAT](INFO): Reached modem response timeout
2025-06-18T18:43:58.473Z,1750272238.473 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:58.473Z,1750272238.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:58.725Z,1750272238.725 [DAT](INFO): DAT read: Rx Time:18:43:59.3407
2025-06-18T18:43:58.725Z,1750272238.725 [DAT](INFO): Rx dataTimestamp_ set to:1750272238.725147
2025-06-18T18:43:58.727Z,1750272238.727 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-18T18:43:58.727Z,1750272238.727 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:43:58.728Z,1750272238.728 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:58.728Z,1750272238.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:58.977Z,1750272238.977 [DAT](INFO): Reached modem response timeout
2025-06-18T18:43:58.978Z,1750272238.978 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:58.979Z,1750272238.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:59.232Z,1750272239.232 [DAT](INFO): DAT read: Rx Time:18:43:59.8408
2025-06-18T18:43:59.234Z,1750272239.234 [DAT](INFO): Rx dataTimestamp_ set to:1750272239.232792
2025-06-18T18:43:59.238Z,1750272239.238 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-18T18:43:59.240Z,1750272239.240 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:43:59.243Z,1750272239.243 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:59.244Z,1750272239.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:59.481Z,1750272239.481 [DAT](INFO): Reached modem response timeout
2025-06-18T18:43:59.481Z,1750272239.481 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:43:59.481Z,1750272239.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:43:59.733Z,1750272239.733 [DAT](INFO): DAT read: user:1434>
2025-06-18T18:43:59.734Z,1750272239.734 [DAT](INFO): DAT read: Command 'tr50' not found
2025-06-18T18:43:59.734Z,1750272239.734 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found
2025-06-18T18:43:59.734Z,1750272239.734 [DAT](INFO): DAT read: Error
2025-06-18T18:43:59.735Z,1750272239.735 [DAT](INFO): unknown deviceResponse_: Error
2025-06-18T18:43:59.735Z,1750272239.735 [DAT](INFO): DAT read: user:1435>
2025-06-18T18:43:59.736Z,1750272239.736 [DAT](INFO): DAT read: Tx time:18:44:00.7478
2025-06-18T18:43:59.736Z,1750272239.736 [DAT](INFO): Ping request sent.
2025-06-18T18:43:59.736Z,1750272239.736 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:43:59.736Z,1750272239.736 [DAT](INFO): publishing transmit ping time
2025-06-18T18:43:59.737Z,1750272239.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000812
2025-06-18T18:43:59.985Z,1750272239.985 [DAT](INFO): DAT read: TxSync time:18:44:00.7470
2025-06-18T18:43:59.986Z,1750272239.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249363
2025-06-18T18:44:00.240Z,1750272240.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502662
2025-06-18T18:44:00.489Z,1750272240.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752414
2025-06-18T18:44:00.741Z,1750272240.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004496
2025-06-18T18:44:00.999Z,1750272240.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262488
2025-06-18T18:44:01.248Z,1750272241.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510764
2025-06-18T18:44:01.497Z,1750272241.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760515
2025-06-18T18:44:01.749Z,1750272241.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012444
2025-06-18T18:44:02.001Z,1750272242.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264652
2025-06-18T18:44:02.256Z,1750272242.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518999
2025-06-18T18:44:02.505Z,1750272242.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768387
2025-06-18T18:44:02.757Z,1750272242.757 [DAT](INFO): DAT read: Rx Time:18:44:03.1542
2025-06-18T18:44:02.757Z,1750272242.757 [DAT](INFO): Rx dataTimestamp_ set to:1750272242.757169
2025-06-18T18:44:02.758Z,1750272242.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021634
2025-06-18T18:44:03.009Z,1750272243.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272470
2025-06-18T18:44:03.266Z,1750272243.266 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-06-18T18:44:03.276Z,1750272243.276 [DAT](INFO): DAT read: user:1436>
2025-06-18T18:44:03.279Z,1750272243.279 [DAT](INFO): DAT read: Tx time:18:44:04.2478
2025-06-18T18:44:03.279Z,1750272243.279 [DAT](INFO): Ping request sent.
2025-06-18T18:44:03.282Z,1750272243.282 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:44:03.285Z,1750272243.285 [DAT](INFO): DAT read: TxSync time:18:44:04.2471
2025-06-18T18:44:03.287Z,1750272243.287 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:44:03.287Z,1750272243.287 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:03.290Z,1750272243.290 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:06.033Z,1750272246.033 [DAT](INFO): DAT read: Rx Time:18:44:06.6539
2025-06-18T18:44:06.033Z,1750272246.033 [DAT](INFO): Rx dataTimestamp_ set to:1750272246.033099
2025-06-18T18:44:06.542Z,1750272246.542 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m (Round-trip 1.8 ms) speed 0.0 m/s
2025-06-18T18:44:06.543Z,1750272246.543 [DAT](INFO): DAT read: user:1437>
2025-06-18T18:44:06.543Z,1750272246.543 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-06-18T18:44:06.790Z,1750272246.790 [DAT](INFO): DAT read: Tx time:18:44:07.7479
2025-06-18T18:44:06.790Z,1750272246.790 [DAT](INFO): Ping request sent.
2025-06-18T18:44:06.791Z,1750272246.791 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:44:06.792Z,1750272246.792 [DAT](INFO): DAT read: TxSync time:18:44:07.7471
2025-06-18T18:44:06.792Z,1750272246.792 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:09.565Z,1750272249.565 [DAT](INFO): DAT read: Rx Time:18:44:10.1542
2025-06-18T18:44:09.566Z,1750272249.566 [DAT](INFO): Rx dataTimestamp_ set to:1750272249.565347
2025-06-18T18:44:10.073Z,1750272250.073 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m (Round-trip 2.2 ms) speed 0.0 m/s
2025-06-18T18:44:10.074Z,1750272250.074 [DAT](INFO): DAT read: user:1438>
2025-06-18T18:44:10.074Z,1750272250.074 [DAT](INFO): DAT read: Tx time:18:44:11.2479
2025-06-18T18:44:10.075Z,1750272250.075 [DAT](INFO): Ping request sent.
2025-06-18T18:44:10.075Z,1750272250.075 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:44:10.075Z,1750272250.075 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-06-18T18:44:10.075Z,1750272250.075 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:10.079Z,1750272250.079 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:10.321Z,1750272250.321 [DAT](INFO): DAT read: TxSync time:18:44:11.2471
2025-06-18T18:44:10.711Z,1750272250.711 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 83.46, 80.06, 84.13
2025-06-18T18:44:13.093Z,1750272253.093 [DAT](INFO): DAT read: Rx Time:18:44:13.6543
2025-06-18T18:44:13.093Z,1750272253.093 [DAT](INFO): Rx dataTimestamp_ set to:1750272253.093039
2025-06-18T18:44:13.598Z,1750272253.598 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s
2025-06-18T18:44:13.599Z,1750272253.599 [DAT](INFO): DAT read: user:1439>
2025-06-18T18:44:13.599Z,1750272253.599 [DAT](INFO): DAT read: Tx time:18:44:14.7479
2025-06-18T18:44:13.600Z,1750272253.600 [DAT](INFO): Ping request sent.
2025-06-18T18:44:13.600Z,1750272253.600 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:44:13.600Z,1750272253.600 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-06-18T18:44:13.600Z,1750272253.600 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:13.601Z,1750272253.601 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:13.849Z,1750272253.849 [DAT](INFO): DAT read: TxSync time:18:44:14.7471
2025-06-18T18:44:16.625Z,1750272256.625 [DAT](INFO): DAT read: Rx Time:18:44:17.1542
2025-06-18T18:44:16.625Z,1750272256.625 [DAT](INFO): Rx dataTimestamp_ set to:1750272256.625094
2025-06-18T18:44:17.130Z,1750272257.130 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m (Round-trip 2.2 ms) speed 0.0 m/s
2025-06-18T18:44:17.131Z,1750272257.131 [DAT](INFO): DAT read: user:1440>
2025-06-18T18:44:17.131Z,1750272257.131 [DAT](INFO): DAT read: Tx time:18:44:18.2479
2025-06-18T18:44:17.132Z,1750272257.132 [DAT](INFO): Ping request sent.
2025-06-18T18:44:17.132Z,1750272257.132 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:44:17.132Z,1750272257.132 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-06-18T18:44:17.132Z,1750272257.132 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:17.135Z,1750272257.135 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:17.381Z,1750272257.381 [DAT](INFO): DAT read: TxSync time:18:44:18.2472
2025-06-18T18:44:20.153Z,1750272260.153 [DAT](INFO): DAT read: Rx Time:18:44:20.6537
2025-06-18T18:44:20.153Z,1750272260.153 [DAT](INFO): Rx dataTimestamp_ set to:1750272260.153182
2025-06-18T18:44:20.663Z,1750272260.663 [DAT](INFO): DAT read: 18:44:20.6537 LVL= 13680, 18881, 14578, 24115, AGC= 43, IDX= 428, 0.06, 1.769, 0.691, 0.336, 1.384, PHS= 0.473,-0.646,-1.051, RAW= 75.1, 17.6, CAL= 76.4, 25.6, ROT= 73.6, -25.6
2025-06-18T18:44:20.664Z,1750272260.664 [DAT](INFO): got valid direction response:
18:44:20.6537 LVL= 13680, 18881, 14578, 24115, AGC= 43, IDX= 428, 0.06, 1.769, 0.691, 0.336, 1.384, PHS= 0.473,-0.646,-1.051, RAW= 75.1, 17.6, CAL= 76.4, 25.6, ROT= 73.6, -25.6
2025-06-18T18:44:20.665Z,1750272260.665 [DAT](INFO): DAT read: Bearing 73.6, -25.6 (Local)
2025-06-18T18:44:20.665Z,1750272260.665 [DAT](INFO): Local bearing/azimuth received:
Bearing 73.6, -25.6 (Local)
2025-06-18T18:44:20.667Z,1750272260.667 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-06-18T18:44:20.668Z,1750272260.668 [DAT](INFO): DAT read: user:1441>
2025-06-18T18:44:20.668Z,1750272260.668 [DAT](INFO): DAT read: Tx time:18:44:21.7480
2025-06-18T18:44:20.669Z,1750272260.669 [DAT](INFO): Ping request sent.
2025-06-18T18:44:20.669Z,1750272260.669 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:44:20.669Z,1750272260.669 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-18T18:44:20.670Z,1750272260.670 [DAT](INFO): direction in FSK: [0.254625,0.865141,0.432086]
2025-06-18T18:44:20.670Z,1750272260.670 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:20.671Z,1750272260.671 [DAT](INFO): publishing direction and range info
2025-06-18T18:44:20.674Z,1750272260.674 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:20.674Z,1750272260.674 [DAT](INFO): publishing direction and range info
2025-06-18T18:44:20.909Z,1750272260.909 [DAT](INFO): DAT read: TxSync time:18:44:21.7472
2025-06-18T18:44:23.682Z,1750272263.682 [DAT](INFO): DAT read: Rx Time:18:44:24.1537
2025-06-18T18:44:23.683Z,1750272263.683 [DAT](INFO): Rx dataTimestamp_ set to:1750272263.682342
2025-06-18T18:44:24.193Z,1750272264.193 [DAT](INFO): DAT read: 18:44:24.1537 LVL= 15136, 19521, 14946, 23715, AGC= 42, IDX= 428,-0.19,-0.846,-1.795,-2.050,-1.151, PHS= 0.393,-0.597,-0.902, RAW= 77.0, 18.4, CAL= 78.6, 26.5, ROT= 71.4, -26.5
2025-06-18T18:44:24.194Z,1750272264.194 [DAT](INFO): got valid direction response:
18:44:24.1537 LVL= 15136, 19521, 14946, 23715, AGC= 42, IDX= 428,-0.19,-0.846,-1.795,-2.050,-1.151, PHS= 0.393,-0.597,-0.902, RAW= 77.0, 18.4, CAL= 78.6, 26.5, ROT= 71.4, -26.5
2025-06-18T18:44:24.195Z,1750272264.195 [DAT](INFO): DAT read: Bearing 71.4, -26.5 (Local)
2025-06-18T18:44:24.195Z,1750272264.195 [DAT](INFO): Local bearing/azimuth received:
Bearing 71.4, -26.5 (Local)
2025-06-18T18:44:24.201Z,1750272264.201 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-06-18T18:44:24.202Z,1750272264.202 [DAT](INFO): DAT read: user:1442>
2025-06-18T18:44:24.203Z,1750272264.203 [DAT](INFO): DAT read: Tx time:18:44:25.2480
2025-06-18T18:44:24.203Z,1750272264.203 [DAT](INFO): Ping request sent.
2025-06-18T18:44:24.203Z,1750272264.203 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:44:24.203Z,1750272264.203 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-18T18:44:24.205Z,1750272264.205 [DAT](INFO): direction in FSK: [0.285448,0.848191,0.446198]
2025-06-18T18:44:24.205Z,1750272264.205 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:24.205Z,1750272264.205 [DAT](INFO): publishing direction and range info
2025-06-18T18:44:24.210Z,1750272264.210 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:24.210Z,1750272264.210 [DAT](INFO): publishing direction and range info
2025-06-18T18:44:24.437Z,1750272264.437 [DAT](INFO): DAT read: TxSync time:18:44:25.2472
2025-06-18T18:44:27.209Z,1750272267.209 [DAT](INFO): DAT read: Rx Time:18:44:27.6541
2025-06-18T18:44:27.209Z,1750272267.209 [DAT](INFO): Rx dataTimestamp_ set to:1750272267.209211
2025-06-18T18:44:27.714Z,1750272267.714 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m (Round-trip 1.9 ms) speed 0.0 m/s
2025-06-18T18:44:27.715Z,1750272267.715 [DAT](INFO): DAT read: user:1443>
2025-06-18T18:44:27.715Z,1750272267.715 [DAT](INFO): DAT read: Tx time:18:44:28.7480
2025-06-18T18:44:27.716Z,1750272267.716 [DAT](INFO): Ping request sent.
2025-06-18T18:44:27.716Z,1750272267.716 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:44:27.716Z,1750272267.716 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-06-18T18:44:27.716Z,1750272267.716 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:27.717Z,1750272267.717 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:27.965Z,1750272267.965 [DAT](INFO): DAT read: TxSync time:18:44:28.7472
2025-06-18T18:44:30.745Z,1750272270.745 [DAT](INFO): DAT read: Rx Time:18:44:31.1538
2025-06-18T18:44:30.745Z,1750272270.745 [DAT](INFO): Rx dataTimestamp_ set to:1750272270.745214
2025-06-18T18:44:31.250Z,1750272271.250 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-06-18T18:44:31.250Z,1750272271.250 [DAT](INFO): DAT read: user:1444>
2025-06-18T18:44:31.251Z,1750272271.251 [DAT](INFO): DAT read: Tx time:18:44:32.2481
2025-06-18T18:44:31.251Z,1750272271.251 [DAT](INFO): Ping request sent.
2025-06-18T18:44:31.252Z,1750272271.252 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:44:31.252Z,1750272271.252 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-06-18T18:44:31.252Z,1750272271.252 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:31.253Z,1750272271.253 [DAT](INFO): publishing transmit ping time
2025-06-18T18:44:31.501Z,1750272271.501 [DAT](INFO): DAT read: TxSync time:18:44:32.2473
2025-06-18T18:44:34.025Z,1750272274.025 [DAT](INFO): DAT read: Rx Time:18:44:34.6538
2025-06-18T18:44:34.025Z,1750272274.025 [DAT](INFO): Rx dataTimestamp_ set to:1750272274.025177
2025-06-18T18:44:34.794Z,1750272274.794 [DAT](INFO): DAT read: 18:44:34.6538 LVL= 16320, 18337, 14498, 24051, AGC= 44, IDX= 428,-0.36,-2.779, 2.492, 2.149, 3.120, PHS= 0.472,-0.581,-0.974, RAW= 74.8, 16.5, CAL= 76.2, 24.5, ROT= 73.8, -24.5
2025-06-18T18:44:34.795Z,1750272274.795 [DAT](INFO): got valid direction response:
18:44:34.6538 LVL= 16320, 18337, 14498, 24051, AGC= 44, IDX= 428,-0.36,-2.779, 2.492, 2.149, 3.120, PHS= 0.472,-0.581,-0.974, RAW= 74.8, 16.5, CAL= 76.2, 24.5, ROT= 73.8, -24.5
2025-06-18T18:44:34.796Z,1750272274.796 [DAT](INFO): DAT read: Bearing 73.8, -24.5 (Local)
2025-06-18T18:44:34.797Z,1750272274.797 [DAT](INFO): Local bearing/azimuth received:
Bearing 73.8, -24.5 (Local)
2025-06-18T18:44:34.798Z,1750272274.798 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-06-18T18:44:34.799Z,1750272274.799 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-18T18:44:34.800Z,1750272274.800 [DAT](INFO): direction in FSK: [0.253871,0.873830,0.414693]
2025-06-18T18:44:34.800Z,1750272274.800 [DAT](INFO): publishing direction and range info
2025-06-18T18:45:20.609Z,1750272320.609 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, + +0.00, 20.00,1795.42
2025-06-18T18:45:43.650Z,1750272343.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:45:43.881Z,1750272343.881 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:45:43.881Z,1750272343.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:45:44.134Z,1750272344.134 [DAT](INFO): DAT read: user:1445>
2025-06-18T18:45:44.135Z,1750272344.135 [DAT](INFO): DAT read: Tx time:18:45:45.1489
2025-06-18T18:45:44.135Z,1750272344.135 [DAT](INFO): Ping request sent.
2025-06-18T18:45:44.136Z,1750272344.136 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:45:44.136Z,1750272344.136 [DAT](INFO): publishing transmit ping time
2025-06-18T18:45:44.137Z,1750272344.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001142
2025-06-18T18:45:44.385Z,1750272344.385 [DAT](INFO): DAT read: TxSync time:18:45:45.1481
2025-06-18T18:45:44.386Z,1750272344.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250122
2025-06-18T18:45:44.637Z,1750272344.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501440
2025-06-18T18:45:44.890Z,1750272344.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754100
2025-06-18T18:45:45.141Z,1750272345.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005116
2025-06-18T18:45:45.393Z,1750272345.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257139
2025-06-18T18:45:45.645Z,1750272345.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509283
2025-06-18T18:45:45.897Z,1750272345.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761176
2025-06-18T18:45:46.149Z,1750272346.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013560
2025-06-18T18:45:46.401Z,1750272346.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265241
2025-06-18T18:45:46.653Z,1750272346.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517180
2025-06-18T18:45:46.905Z,1750272346.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769557
2025-06-18T18:45:47.158Z,1750272347.158 [DAT](INFO): DAT read: Rx Time:18:45:47.5546
2025-06-18T18:45:47.159Z,1750272347.159 [DAT](INFO): Rx dataTimestamp_ set to:1750272347.158373
2025-06-18T18:45:47.159Z,1750272347.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023627
2025-06-18T18:45:47.409Z,1750272347.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273198
2025-06-18T18:45:47.662Z,1750272347.662 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-06-18T18:45:47.662Z,1750272347.662 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:46:43.542Z,1750272403.542 [CTD_Seabird](ERROR): Failed to parse device response: .66
2025-06-18T18:47:43.676Z,1750272463.676 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-18T18:47:43.681Z,1750272463.681 [DAT](DEBUG): Acoustic response timeout
2025-06-18T18:47:43.681Z,1750272463.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-18T18:47:43.933Z,1750272463.933 [DAT](INFO): DAT read: user:1446>
2025-06-18T18:47:43.934Z,1750272463.934 [DAT](INFO): DAT read: Tx time:18:47:44.9004
2025-06-18T18:47:43.934Z,1750272463.934 [DAT](INFO): Ping request sent.
2025-06-18T18:47:43.934Z,1750272463.934 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:47:43.935Z,1750272463.935 [DAT](INFO): DAT read: TxSync time:18:47:44.8997
2025-06-18T18:47:43.935Z,1750272463.935 [DAT](INFO): publishing transmit ping time
2025-06-18T18:47:43.936Z,1750272463.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001580
2025-06-18T18:47:44.185Z,1750272464.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250661
2025-06-18T18:47:44.437Z,1750272464.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502751
2025-06-18T18:47:44.689Z,1750272464.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754711
2025-06-18T18:47:44.941Z,1750272464.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006856
2025-06-18T18:47:45.193Z,1750272465.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258690
2025-06-18T18:47:45.445Z,1750272465.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510743
2025-06-18T18:47:45.673Z,1750272465.673 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 84.14, 81.43,
2025-06-18T18:47:45.700Z,1750272465.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765926
2025-06-18T18:47:45.949Z,1750272465.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015102
2025-06-18T18:47:46.201Z,1750272466.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266730
2025-06-18T18:47:46.453Z,1750272466.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518769
2025-06-18T18:47:46.706Z,1750272466.706 [DAT](INFO): DAT read: Rx Time:18:47:47.3061
2025-06-18T18:47:46.707Z,1750272466.707 [DAT](INFO): Rx dataTimestamp_ set to:1750272466.706248
2025-06-18T18:47:46.708Z,1750272466.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773524
2025-06-18T18:47:46.957Z,1750272466.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023164
2025-06-18T18:47:47.210Z,1750272467.210 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-06-18T18:47:47.210Z,1750272467.210 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-18T18:47:50.914Z,1750272470.914 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 82
Device respsone is::TS,25061810491223,35.0, +9.9, 0.0,1489.86, 82.11
2025-06-18T18:48:44.705Z,1750272524.705 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Timed out from 2025-06-18T18:43:44.5Z
2025-06-18T18:48:44.705Z,1750272524.705 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-06-18T18:48:44.705Z,1750272524.705 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-06-18T18:48:44.705Z,1750272524.705 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-06-18T18:48:44.706Z,1750272524.706 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-06-18T18:48:45.067Z,1750272525.067 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-06-18T18:48:45.067Z,1750272525.067 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-06-18T18:48:45.067Z,1750272525.067 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-06-18T18:48:45.067Z,1750272525.067 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-06-18T18:48:45.068Z,1750272525.068 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-06-18T18:48:45.068Z,1750272525.068 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-06-18T18:48:45.077Z,1750272525.077 [DockingStepper](INFO): Pause
2025-06-18T18:48:45.541Z,1750272525.541 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-06-18T18:48:45.542Z,1750272525.542 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-06-18T18:48:45.542Z,1750272525.542 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-06-18T18:48:45.542Z,1750272525.542 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-06-18T18:48:45.542Z,1750272525.542 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-06-18T18:48:45.542Z,1750272525.542 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-06-18T18:48:45.542Z,1750272525.542 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-06-18T18:48:45.542Z,1750272525.542 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-06-18T18:48:45.542Z,1750272525.542 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-06-18T18:48:45.543Z,1750272525.543 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-06-18T18:48:45.872Z,1750272525.872 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-06-18T18:48:45.873Z,1750272525.873 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-06-18T18:48:45.873Z,1750272525.873 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-06-18T18:48:45.873Z,1750272525.873 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-06-18T18:48:45.873Z,1750272525.873 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-06-18T18:48:45.873Z,1750272525.873 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-06-18T18:48:45.873Z,1750272525.873 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-06-18T18:48:45.873Z,1750272525.873 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-06-18T18:48:45.873Z,1750272525.873 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-06-18T18:48:45.874Z,1750272525.874 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-18T18:48:45.874Z,1750272525.874 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-06-18T18:48:45.874Z,1750272525.874 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-06-18T18:48:45.874Z,1750272525.874 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-06-18T18:48:45.874Z,1750272525.874 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-06-18T18:48:45.874Z,1750272525.874 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-06-18T18:48:45.874Z,1750272525.874 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-06-18T18:48:45.875Z,1750272525.875 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-06-18T18:48:46.269Z,1750272526.269 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-06-18T18:48:46.269Z,1750272526.269 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-06-18T18:48:46.269Z,1750272526.269 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-06-18T18:48:46.269Z,1750272526.269 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-06-18T18:48:46.269Z,1750272526.269 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-18T18:48:46.269Z,1750272526.269 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-06-18T18:48:46.269Z,1750272526.269 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-06-18T18:48:46.270Z,1750272526.270 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-06-18T18:48:46.270Z,1750272526.270 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-06-18T18:48:46.270Z,1750272526.270 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-06-18T18:48:46.270Z,1750272526.270 [lineCaptureHoming:Lap:Docked] Stopped
2025-06-18T18:48:46.270Z,1750272526.270 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-06-18T18:48:46.270Z,1750272526.270 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-06-18T18:48:46.270Z,1750272526.270 [lineCaptureHoming:Lap] Stopped
2025-06-18T18:48:46.271Z,1750272526.271 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-06-18T18:48:46.275Z,1750272526.275 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-06-18T18:48:46.275Z,1750272526.275 [MissionManager](INFO): lineCaptureHoming is completed.
2025-06-18T18:48:46.275Z,1750272526.275 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-06-18T18:48:46.275Z,1750272526.275 [lineCaptureHoming] Stopped
2025-06-18T18:48:46.276Z,1750272526.276 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-06-18T18:48:46.276Z,1750272526.276 [lineCaptureHoming:Science] Stopped
2025-06-18T18:48:46.276Z,1750272526.276 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-06-18T18:48:46.276Z,1750272526.276 [lineCaptureHoming:Science:B] Stopped
2025-06-18T18:48:46.276Z,1750272526.276 [lineCaptureHoming:Science:C] Stopped
2025-06-18T18:48:46.276Z,1750272526.276 [lineCaptureHoming:Science:E] Stopped
2025-06-18T18:48:46.276Z,1750272526.276 [lineCaptureHoming:Science:F] Stopped
2025-06-18T18:48:46.276Z,1750272526.276 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-06-18T18:48:46.276Z,1750272526.276 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-06-18T18:48:46.276Z,1750272526.276 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-06-18T18:48:46.277Z,1750272526.277 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-06-18T18:48:46.277Z,1750272526.277 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-06-18T18:48:46.277Z,1750272526.277 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-18T18:48:46.277Z,1750272526.277 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-18T18:48:46.277Z,1750272526.277 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-18T18:48:46.277Z,1750272526.277 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-18T18:48:46.277Z,1750272526.277 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-18T18:48:46.277Z,1750272526.277 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-18T18:48:46.277Z,1750272526.277 [lineCaptureHoming:TrackAC.] Stopped
2025-06-18T18:48:46.278Z,1750272526.278 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-18T18:48:46.292Z,1750272526.292 [WetLabsBB2FL](INFO): Powering down
2025-06-18T18:48:46.371Z,1750272526.371 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-06-18T18:48:46.628Z,1750272526.628 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-06-18T18:48:46.628Z,1750272526.628 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-06-18T18:48:46.636Z,1750272526.636 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-06-18T18:48:46.753Z,1750272526.753 [DAT](INFO): DAT read: user:1447>
2025-06-18T18:48:46.754Z,1750272526.754 [DAT](INFO): DAT read: Tx time:18:48:47.7501
2025-06-18T18:48:46.754Z,1750272526.754 [DAT](INFO): Ping request sent.
2025-06-18T18:48:46.754Z,1750272526.754 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:48:46.754Z,1750272526.754 [DAT](INFO): publishing transmit ping time
2025-06-18T18:48:49.021Z,1750272529.021 [DAT](INFO): DAT read: Rx Time:18:48:49.6338
2025-06-18T18:48:49.022Z,1750272529.022 [DAT](INFO): Rx dataTimestamp_ set to:1750272529.021391
2025-06-18T18:48:49.527Z,1750272529.527 [DAT](INFO): DAT read: OK
2025-06-18T18:48:49.528Z,1750272529.528 [DAT](INFO): unknown deviceResponse_: OK
2025-06-18T18:48:49.529Z,1750272529.529 [DAT](INFO): DAT read: user:1448>
2025-06-18T18:48:49.777Z,1750272529.777 [DAT](INFO): DAT read: Tx time:18:48:50.7502
2025-06-18T18:48:49.777Z,1750272529.777 [DAT](INFO): Ping request sent.
2025-06-18T18:48:49.777Z,1750272529.777 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:48:49.778Z,1750272529.778 [DAT](INFO): publishing transmit ping time
2025-06-18T18:48:51.257Z,1750272531.257 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
8
2
1
5
2
2
5
5
Restarting logs
restart logs
! ifconfig
Mission ending, breaking off. Range:
.
2025-06-18T18:48:51.267Z,1750272531.267 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-06-18T18:48:51.279Z,1750272531.279 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-06-18T18:48:51.282Z,1750272531.282 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-06-18T18:48:51.285Z,1750272531.285 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-06-18T18:48:51.287Z,1750272531.287 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-06-18T18:48:51.309Z,1750272531.309 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-06-18T18:48:51.321Z,1750272531.321 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m
2025-06-18T18:48:51.323Z,1750272531.323 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-06-18T18:48:51.330Z,1750272531.330 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-06-18T18:48:51.331Z,1750272531.331 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-06-18T18:48:51.338Z,1750272531.338 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-06-18T18:48:51.345Z,1750272531.345 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-06-18T18:48:51.349Z,1750272531.349 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-06-18T18:48:51.350Z,1750272531.350 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-18T18:48:51.350Z,1750272531.350 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-18T18:48:51.351Z,1750272531.351 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-18T18:48:51.509Z,1750272531.509 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-06-18T18:48:51.515Z,1750272531.515 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-18T18:48:51.523Z,1750272531.523 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-18T18:48:51.531Z,1750272531.531 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-18T18:48:51.539Z,1750272531.539 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-18T18:48:51.546Z,1750272531.546 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-18T18:48:51.585Z,1750272531.585 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-18T18:48:51.592Z,1750272531.592 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-18T18:48:51.624Z,1750272531.624 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-18T18:48:51.624Z,1750272531.624 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-18T18:48:51.626Z,1750272531.626 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-18T18:48:51.711Z,1750272531.711 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-06-18T18:48:51.726Z,1750272531.726 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-06-18T18:48:51.733Z,1750272531.733 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-18T18:48:51.740Z,1750272531.740 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-18T18:48:51.740Z,1750272531.740 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-18T18:48:51.741Z,1750272531.741 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-18T18:48:51.883Z,1750272531.883 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-06-18T18:48:51.887Z,1750272531.887 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-06-18T18:48:51.889Z,1750272531.889 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-06-18T18:48:51.891Z,1750272531.891 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-06-18T18:48:51.893Z,1750272531.893 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-06-18T18:48:51.895Z,1750272531.895 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-06-18T18:48:51.902Z,1750272531.902 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-18T18:48:51.906Z,1750272531.906 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-06-18T18:48:51.908Z,1750272531.908 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-18T18:48:51.908Z,1750272531.908 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-18T18:48:51.913Z,1750272531.913 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-18T18:48:52.045Z,1750272532.045 [DAT](INFO): DAT read: Rx Time:18:48:52.6339
2025-06-18T18:48:52.045Z,1750272532.045 [DAT](INFO): Rx dataTimestamp_ set to:1750272532.045124
2025-06-18T18:48:52.551Z,1750272532.551 [DAT](INFO): DAT read: OK
2025-06-18T18:48:52.552Z,1750272532.552 [DAT](INFO): unknown deviceResponse_: OK
2025-06-18T18:48:52.553Z,1750272532.553 [DAT](INFO): DAT read: user:1449>
2025-06-18T18:48:52.801Z,1750272532.801 [DAT](INFO): DAT read: Tx time:18:48:53.7502
2025-06-18T18:48:52.801Z,1750272532.801 [DAT](INFO): Ping request sent.
2025-06-18T18:48:52.801Z,1750272532.801 [DAT](INFO): transmitted an acoustic signal
2025-06-18T18:48:52.802Z,1750272532.802 [DAT](INFO): publishing transmit ping time
2025-06-18T18:48:55.069Z,1750272535.069 [DAT](INFO): DAT read: Rx Time:18:48:55.6339
2025-06-18T18:48:55.070Z,1750272535.070 [DAT](INFO): Rx dataTimestamp_ set to:1750272535.069355
2025-06-18T18:48:55.574Z,1750272535.574 [DAT](INFO): DAT read: OK
2025-06-18T18:48:55.575Z,1750272535.575 [DAT](INFO): unknown deviceResponse_: OK
2025-06-18T18:48:55.967Z,1750272535.967 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
NaN
3
100
80
20
5
NaN
NaN
2.0
NaN
NaN
0
NaN
NaN
5
0
0
0
0
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
PeakDetectVsDepth
EdgeDetectVsDepth
GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth =
,
,
,
,
,
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
_.planktivore_LM_AvgRois
EdgeDetectVsDepth
_.planktivore_LM_AvgRois
GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_HM_AvgRois
EdgeDetectVsDepth
_.planktivore_HM_AvgRois
GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_diatoms
EdgeDetectVsDepth
_.planktivore_diatoms
GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_dinoflagellates
EdgeDetectVsDepth
_.planktivore_dinoflagellates
GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth =
,
,
,
,
,
Triggered. PeakChl values on
consecutive yo-yo profiles fall in [
] (NaN bound is ignored).
2025-06-18T18:48:55.994Z,1750272535.994 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-06-18T18:48:55.996Z,1750272535.996 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-06-18T18:48:55.998Z,1750272535.998 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-06-18T18:48:55.000Z,1750272536.000 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-06-18T18:48:56.002Z,1750272536.002 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-06-18T18:48:56.004Z,1750272536.004 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-06-18T18:48:56.006Z,1750272536.006 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-06-18T18:48:56.008Z,1750272536.008 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-06-18T18:48:56.010Z,1750272536.010 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-18T18:48:56.013Z,1750272536.013 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-18T18:48:56.015Z,1750272536.015 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-06-18T18:48:56.033Z,1750272536.033 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-06-18T18:48:56.035Z,1750272536.035 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-06-18T18:48:56.042Z,1750272536.042 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-06-18T18:48:56.043Z,1750272536.043 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-18T18:48:56.061Z,1750272536.061 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-18T18:48:56.063Z,1750272536.063 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-18T18:48:56.117Z,1750272536.117 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-18T18:48:56.119Z,1750272536.119 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-18T18:48:56.133Z,1750272536.133 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-18T18:48:56.135Z,1750272536.135 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-18T18:48:56.146Z,1750272536.146 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-18T18:48:56.152Z,1750272536.152 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-18T18:48:56.155Z,1750272536.155 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-06-18T18:48:56.162Z,1750272536.162 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-06-18T18:48:56.170Z,1750272536.170 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-06-18T18:48:56.187Z,1750272536.187 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-06-18T18:48:56.195Z,1750272536.195 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-18T18:48:56.198Z,1750272536.198 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-18T18:48:56.205Z,1750272536.205 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool
2025-06-18T18:48:56.207Z,1750272536.207 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-06-18T18:48:56.213Z,1750272536.213 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-06-18T18:48:56.215Z,1750272536.215 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-06-18T18:48:56.222Z,1750272536.222 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-06-18T18:48:56.228Z,1750272536.228 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-18T18:48:56.231Z,1750272536.231 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-06-18T18:48:56.237Z,1750272536.237 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-06-18T18:48:56.239Z,1750272536.239 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-18T18:48:56.245Z,1750272536.245 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-06-18T18:48:56.252Z,1750272536.252 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-06-18T18:48:56.254Z,1750272536.254 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-06-18T18:48:56.260Z,1750272536.260 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-06-18T18:48:56.269Z,1750272536.269 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-18T18:48:56.271Z,1750272536.271 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-18T18:48:56.273Z,1750272536.273 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-18T18:48:56.275Z,1750272536.275 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-18T18:48:56.285Z,1750272536.285 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-06-18T18:48:56.296Z,1750272536.296 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-06-18T18:48:56.298Z,1750272536.298 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-06-18T18:48:56.310Z,1750272536.310 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-06-18T18:48:56.324Z,1750272536.324 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-06-18T18:48:56.327Z,1750272536.327 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-06-18T18:48:56.334Z,1750272536.334 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-06-18T18:48:56.345Z,1750272536.345 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-06-18T18:48:56.352Z,1750272536.352 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-06-18T18:48:56.354Z,1750272536.354 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-06-18T18:48:56.361Z,1750272536.361 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-06-18T18:48:56.363Z,1750272536.363 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-06-18T18:48:56.374Z,1750272536.374 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-06-18T18:48:56.380Z,1750272536.380 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-06-18T18:48:56.383Z,1750272536.383 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-06-18T18:48:56.390Z,1750272536.390 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-06-18T18:48:56.397Z,1750272536.397 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-06-18T18:48:56.399Z,1750272536.399 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-06-18T18:48:56.406Z,1750272536.406 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-06-18T18:48:56.424Z,1750272536.424 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-06-18T18:48:56.426Z,1750272536.426 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-06-18T18:48:56.444Z,1750272536.444 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-06-18T18:48:56.447Z,1750272536.447 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-06-18T18:48:56.453Z,1750272536.453 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-06-18T18:48:56.464Z,1750272536.464 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-06-18T18:48:56.466Z,1750272536.466 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-06-18T18:48:56.471Z,1750272536.471 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-06-18T18:48:56.528Z,1750272536.528 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-06-18T18:48:56.530Z,1750272536.530 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-06-18T18:48:56.549Z,1750272536.549 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-18T18:48:56.551Z,1750272536.551 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-18T18:48:56.562Z,1750272536.562 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-18T18:48:56.575Z,1750272536.575 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-18T18:48:56.634Z,1750272536.634 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-18T18:48:56.643Z,1750272536.643 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-18T18:48:56.650Z,1750272536.650 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-18T18:48:56.660Z,1750272536.660 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-18T18:48:56.663Z,1750272536.663 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-18T18:48:56.669Z,1750272536.669 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-18T18:48:56.676Z,1750272536.676 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-18T18:48:56.678Z,1750272536.678 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-18T18:48:56.689Z,1750272536.689 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-18T18:48:56.691Z,1750272536.691 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-18T18:48:56.702Z,1750272536.702 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-18T18:48:56.706Z,1750272536.706 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-18T18:48:56.721Z,1750272536.721 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-18T18:48:56.723Z,1750272536.723 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-18T18:48:56.734Z,1750272536.734 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-18T18:48:56.740Z,1750272536.740 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-18T18:48:56.742Z,1750272536.742 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-18T18:48:56.760Z,1750272536.760 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-18T18:48:56.763Z,1750272536.763 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-18T18:48:56.777Z,1750272536.777 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-18T18:48:56.779Z,1750272536.779 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-18T18:48:56.785Z,1750272536.785 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-18T18:48:56.796Z,1750272536.796 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-18T18:48:56.798Z,1750272536.798 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-18T18:48:56.803Z,1750272536.803 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-18T18:48:56.810Z,1750272536.810 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-18T18:48:56.817Z,1750272536.817 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-18T18:48:56.819Z,1750272536.819 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-18T18:48:56.826Z,1750272536.826 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-18T18:48:56.833Z,1750272536.833 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-18T18:48:56.848Z,1750272536.848 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-18T18:48:56.850Z,1750272536.850 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-18T18:48:56.868Z,1750272536.868 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-18T18:48:56.870Z,1750272536.870 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-18T18:48:56.877Z,1750272536.877 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-18T18:48:56.879Z,1750272536.879 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-18T18:48:56.922Z,1750272536.922 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-06-18T18:48:56.933Z,1750272536.933 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-06-18T18:48:56.935Z,1750272536.935 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-06-18T18:48:56.946Z,1750272536.946 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-06-18T18:48:56.960Z,1750272536.960 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-06-18T18:48:56.962Z,1750272536.962 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-06-18T18:48:56.984Z,1750272536.984 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-06-18T18:48:56.986Z,1750272536.986 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-06-18T18:48:56.997Z,1750272536.997 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-06-18T18:48:56.999Z,1750272536.999 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-06-18T18:48:57.007Z,1750272537.007 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-06-18T18:48:57.025Z,1750272537.025 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-06-18T18:48:57.027Z,1750272537.027 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-06-18T18:48:57.034Z,1750272537.034 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-06-18T18:48:57.048Z,1750272537.048 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-06-18T18:48:57.051Z,1750272537.051 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-06-18T18:48:57.053Z,1750272537.053 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-06-18T18:48:57.098Z,1750272537.098 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-18T18:48:57.131Z,1750272537.131 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-18T18:48:57.193Z,1750272537.193 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-18T18:48:57.218Z,1750272537.218 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-18T18:48:57.252Z,1750272537.252 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-18T18:48:57.267Z,1750272537.267 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-18T18:48:57.333Z,1750272537.333 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-18T18:48:57.382Z,1750272537.382 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-18T18:48:57.406Z,1750272537.406 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-18T18:48:57.431Z,1750272537.431 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-18T18:48:57.461Z,1750272537.461 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-18T18:48:57.530Z,1750272537.530 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-18T18:48:57.546Z,1750272537.546 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-18T18:48:57.607Z,1750272537.607 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-18T18:48:57.684Z,1750272537.684 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-18T18:48:57.782Z,1750272537.782 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-18T18:48:57.849Z,1750272537.849 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-18T18:48:57.890Z,1750272537.890 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-18T18:48:57.948Z,1750272537.948 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-06-18T18:48:57.951Z,1750272537.951 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-06-18T18:48:57.957Z,1750272537.957 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-06-18T18:48:57.959Z,1750272537.959 [OnDock:N.Docked](DEBUG): Construct.
2025-06-18T18:48:57.959Z,1750272537.959 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-06-18T18:48:57.988Z,1750272537.988 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-06-18T18:48:57.989Z,1750272537.989 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-18T18:48:58.054Z,1750272538.054 [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
}
}
}
2025-06-18T18:48:58.055Z,1750272538.055 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-06-18T18:48:58.144Z,1750272538.144 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-18T18:48:58.144Z,1750272538.144 [DefaultWithUndock] Running Loop=1
2025-06-18T18:48:58.144Z,1750272538.144 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-18T18:48:58.144Z,1750272538.144 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-18T18:48:58.144Z,1750272538.144 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-18T18:49:03.219Z,1750272543.219 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 12 hour
2025-06-18T18:49:03.219Z,1750272543.219 [CommandExec](IMPORTANT): got command run
2025-06-18T18:49:03.224Z,1750272543.224 [CommandExec](IMPORTANT): Running
2025-06-18T18:49:03.389Z,1750272543.389 [DefaultWithUndock] Stopped
2025-06-18T18:49:03.389Z,1750272543.389 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-18T18:49:03.389Z,1750272543.389 [DefaultWithUndock:A.Wait] Stopped
2025-06-18T18:49:03.389Z,1750272543.389 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-18T18:49:03.389Z,1750272543.389 [MissionManager](IMPORTANT): Started mission OnDock
2025-06-18T18:49:03.389Z,1750272543.389 [OnDock] Running Loop=1
2025-06-18T18:49:03.389Z,1750272543.389 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-06-18T18:49:03.390Z,1750272543.390 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-18T18:49:03.390Z,1750272543.390 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-06-18T18:49:03.390Z,1750272543.390 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-18T18:49:03.390Z,1750272543.390 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-18T18:49:03.390Z,1750272543.390 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-18T18:49:03.390Z,1750272543.390 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-18T18:49:03.390Z,1750272543.390 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-18T18:49:03.390Z,1750272543.390 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-18T18:49:03.390Z,1750272543.390 [OnDock:BackseatDriver] Running Loop=1
2025-06-18T18:49:03.390Z,1750272543.390 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-06-18T18:49:03.391Z,1750272543.391 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-18T18:49:03.391Z,1750272543.391 [OnDock:PowerOnly] Running Loop=1
2025-06-18T18:49:03.391Z,1750272543.391 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-06-18T18:49:03.391Z,1750272543.391 [OnDock:PowerOnly:A] Running Loop=1
2025-06-18T18:49:03.391Z,1750272543.391 [OnDock:PowerOnly:B] Running Loop=1
2025-06-18T18:49:03.391Z,1750272543.391 [OnDock:PowerOnly:C] Running Loop=1
2025-06-18T18:49:03.391Z,1750272543.391 [OnDock:PowerOnly:D] Running Loop=1
2025-06-18T18:49:03.391Z,1750272543.391 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-06-18T18:49:03.391Z,1750272543.391 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-18T18:49:03.391Z,1750272543.391 [OnDock:dataRead] Running Loop=1
2025-06-18T18:49:03.391Z,1750272543.391 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-06-18T18:49:03.392Z,1750272543.392 [OnDock:dataRead:A] Running Loop=1
2025-06-18T18:49:03.392Z,1750272543.392 [OnDock:science] Running Loop=1
2025-06-18T18:49:03.392Z,1750272543.392 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-06-18T18:49:03.392Z,1750272543.392 [OnDock:science:Science] Running Loop=1
2025-06-18T18:49:03.392Z,1750272543.392 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-06-18T18:49:03.392Z,1750272543.392 [OnDock:science:Science:A] Running Loop=1
2025-06-18T18:49:03.392Z,1750272543.392 [OnDock:science:Science:B] Running Loop=1
2025-06-18T18:49:03.392Z,1750272543.392 [OnDock:science:Science:C] Running Loop=1
2025-06-18T18:49:03.393Z,1750272543.393 [OnDock:science:Science:D] Running Loop=1
2025-06-18T18:49:03.393Z,1750272543.393 [OnDock:science:Science:E] Running Loop=1
2025-06-18T18:49:03.393Z,1750272543.393 [OnDock:science:Science:F] Running Loop=1
2025-06-18T18:49:03.393Z,1750272543.393 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-06-18T18:49:03.393Z,1750272543.393 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-06-18T18:49:03.393Z,1750272543.393 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-06-18T18:49:03.393Z,1750272543.393 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-06-18T18:49:03.393Z,1750272543.393 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-06-18T18:49:03.393Z,1750272543.393 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-06-18T18:49:03.393Z,1750272543.393 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-06-18T18:49:03.393Z,1750272543.393 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-06-18T18:49:03.393Z,1750272543.393 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-06-18T18:49:03.394Z,1750272543.394 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-18T18:49:03.394Z,1750272543.394 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-18T18:49:03.394Z,1750272543.394 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-06-18T18:49:03.394Z,1750272543.394 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-06-18T18:49:03.394Z,1750272543.394 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-06-18T18:49:03.394Z,1750272543.394 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-06-18T18:49:03.395Z,1750272543.395 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-06-18T18:49:03.395Z,1750272543.395 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-06-18T18:49:03.395Z,1750272543.395 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-06-18T18:49:03.395Z,1750272543.395 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-06-18T18:49:03.395Z,1750272543.395 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-18T18:49:03.395Z,1750272543.395 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-18T18:49:03.395Z,1750272543.395 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-06-18T18:49:03.396Z,1750272543.396 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-06-18T18:49:03.396Z,1750272543.396 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-18T18:49:03.396Z,1750272543.396 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-06-18T18:49:03.396Z,1750272543.396 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-06-18T18:49:03.396Z,1750272543.396 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-18T18:49:03.396Z,1750272543.396 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-06-18T18:49:03.396Z,1750272543.396 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-06-18T18:49:03.397Z,1750272543.397 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-18T18:49:03.397Z,1750272543.397 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-18T18:49:03.397Z,1750272543.397 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-18T18:49:03.397Z,1750272543.397 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-18T18:49:03.397Z,1750272543.397 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-18T18:49:03.397Z,1750272543.397 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-18T18:49:03.397Z,1750272543.397 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-18T18:49:03.398Z,1750272543.398 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-18T18:49:03.398Z,1750272543.398 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-18T18:49:03.398Z,1750272543.398 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-18T18:49:03.398Z,1750272543.398 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-18T18:49:03.398Z,1750272543.398 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-18T18:49:03.398Z,1750272543.398 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-18T18:49:03.398Z,1750272543.398 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-18T18:49:03.398Z,1750272543.398 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-18T18:49:03.398Z,1750272543.398 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-18T18:49:03.398Z,1750272543.398 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-18T18:49:03.399Z,1750272543.399 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-18T18:49:03.399Z,1750272543.399 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-18T18:49:03.399Z,1750272543.399 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-18T18:49:03.399Z,1750272543.399 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-18T18:49:03.399Z,1750272543.399 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-18T18:49:03.399Z,1750272543.399 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-18T18:49:03.400Z,1750272543.400 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-18T18:49:03.400Z,1750272543.400 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-18T18:49:03.400Z,1750272543.400 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-18T18:49:03.400Z,1750272543.400 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-06-18T18:49:03.400Z,1750272543.400 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-06-18T18:49:03.400Z,1750272543.400 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-18T18:49:03.400Z,1750272543.400 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-18T18:49:03.401Z,1750272543.401 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-06-18T18:49:03.401Z,1750272543.401 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-06-18T18:49:03.401Z,1750272543.401 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-06-18T18:49:03.401Z,1750272543.401 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-18T18:49:03.401Z,1750272543.401 [OnDock:J.] Running Loop=1
2025-06-18T18:49:03.401Z,1750272543.401 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-06-18T18:49:03.401Z,1750272543.401 [OnDock:PeriodicCheck] Running Loop=1
2025-06-18T18:49:03.401Z,1750272543.401 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-06-18T18:49:03.402Z,1750272543.402 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-06-18T18:49:03.402Z,1750272543.402 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-06-18T18:49:03.402Z,1750272543.402 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-06-18T18:49:03.402Z,1750272543.402 [OnDock:B] Running Loop=1
2025-06-18T18:49:03.402Z,1750272543.402 [OnDock:PeriodicCheck] Running Loop=1
2025-06-18T18:49:03.403Z,1750272543.403 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-06-18T18:49:03.403Z,1750272543.403 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-06-18T18:49:03.403Z,1750272543.403 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-06-18T18:49:03.403Z,1750272543.403 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-06-18T18:49:03.403Z,1750272543.403 [OnDock:J.] Running Loop=1
2025-06-18T18:49:03.404Z,1750272543.404 [OnDock:J.](ERROR): Failed to read sound speed
2025-06-18T18:49:03.404Z,1750272543.404 [OnDock:science] Stopped
2025-06-18T18:49:03.404Z,1750272543.404 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-06-18T18:49:03.404Z,1750272543.404 [OnDock:science:Science] Stopped
2025-06-18T18:49:03.404Z,1750272543.404 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-06-18T18:49:03.404Z,1750272543.404 [OnDock:science:Science:A] Stopped
2025-06-18T18:49:03.404Z,1750272543.404 [OnDock:science:Science:B] Stopped
2025-06-18T18:49:03.404Z,1750272543.404 [OnDock:science:Science:C] Stopped
2025-06-18T18:49:03.404Z,1750272543.404 [OnDock:science:Science:D] Stopped
2025-06-18T18:49:03.404Z,1750272543.404 [OnDock:science:Science:E] Stopped
2025-06-18T18:49:03.404Z,1750272543.404 [OnDock:science:Science:F] Stopped
2025-06-18T18:49:03.405Z,1750272543.405 [OnDock:science:Science:Read_Oil] Stopped
2025-06-18T18:49:03.405Z,1750272543.405 [OnDock:science:Science:OceanCurrent] Stopped
2025-06-18T18:49:03.405Z,1750272543.405 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-06-18T18:49:03.405Z,1750272543.405 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-06-18T18:49:03.405Z,1750272543.405 [OnDock:science:Science:PeakDetectChl] Stopped
2025-06-18T18:49:03.405Z,1750272543.405 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-06-18T18:49:03.405Z,1750272543.405 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-06-18T18:49:03.405Z,1750272543.405 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-06-18T18:49:03.405Z,1750272543.405 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-06-18T18:49:03.405Z,1750272543.405 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-06-18T18:49:03.405Z,1750272543.405 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-06-18T18:49:03.405Z,1750272543.405 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-06-18T18:49:03.405Z,1750272543.405 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-18T18:49:03.406Z,1750272543.406 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-18T18:49:03.406Z,1750272543.406 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-06-18T18:49:03.406Z,1750272543.406 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-06-18T18:49:03.406Z,1750272543.406 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-06-18T18:49:03.406Z,1750272543.406 [OnDock:science:Science:PeakDetectOil] Stopped
2025-06-18T18:49:03.406Z,1750272543.406 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-06-18T18:49:03.406Z,1750272543.406 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-06-18T18:49:03.406Z,1750272543.406 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-06-18T18:49:03.406Z,1750272543.406 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-06-18T18:49:03.406Z,1750272543.406 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-18T18:49:03.406Z,1750272543.406 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-18T18:49:03.406Z,1750272543.406 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-06-18T18:49:03.406Z,1750272543.406 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-06-18T18:49:03.407Z,1750272543.407 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-06-18T18:49:03.407Z,1750272543.407 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-06-18T18:49:03.407Z,1750272543.407 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-06-18T18:49:03.407Z,1750272543.407 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-06-18T18:49:03.407Z,1750272543.407 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-06-18T18:49:03.407Z,1750272543.407 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-06-18T18:49:03.407Z,1750272543.407 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-18T18:49:03.407Z,1750272543.407 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-18T18:49:03.407Z,1750272543.407 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-18T18:49:03.407Z,1750272543.407 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-18T18:49:03.407Z,1750272543.407 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-18T18:49:03.407Z,1750272543.407 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-18T18:49:03.407Z,1750272543.407 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-18T18:49:03.408Z,1750272543.408 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-18T18:49:03.408Z,1750272543.408 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-18T18:49:03.408Z,1750272543.408 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-18T18:49:03.408Z,1750272543.408 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-18T18:49:03.408Z,1750272543.408 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-18T18:49:03.408Z,1750272543.408 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-18T18:49:03.408Z,1750272543.408 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-18T18:49:03.408Z,1750272543.408 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-18T18:49:03.408Z,1750272543.408 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-18T18:49:03.408Z,1750272543.408 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-18T18:49:03.408Z,1750272543.408 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-18T18:49:03.409Z,1750272543.409 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-18T18:49:03.409Z,1750272543.409 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-18T18:49:03.409Z,1750272543.409 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-18T18:49:03.409Z,1750272543.409 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-18T18:49:03.409Z,1750272543.409 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-18T18:49:03.409Z,1750272543.409 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-18T18:49:03.409Z,1750272543.409 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-18T18:49:03.409Z,1750272543.409 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-18T18:49:03.409Z,1750272543.409 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-06-18T18:49:03.409Z,1750272543.409 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-06-18T18:49:03.409Z,1750272543.409 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-18T18:49:03.409Z,1750272543.409 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-18T18:49:03.409Z,1750272543.409 [OnDock:dataRead] Running Loop=1
2025-06-18T18:49:03.410Z,1750272543.410 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-18T18:49:03.410Z,1750272543.410 [OnDock:PowerOnly] Running Loop=1
2025-06-18T18:49:03.411Z,1750272543.411 [OnDock:PowerOnly:D] Stopped
2025-06-18T18:49:03.411Z,1750272543.411 [OnDock:PowerOnly:C] Stopped
2025-06-18T18:49:03.411Z,1750272543.411 [OnDock:PowerOnly:B] Stopped
2025-06-18T18:49:03.411Z,1750272543.411 [OnDock:PowerOnly:A] Stopped
2025-06-18T18:49:03.411Z,1750272543.411 [OnDock:BackseatDriver] Running Loop=1
2025-06-18T18:49:03.411Z,1750272543.411 [OnDock:B] Stopped
2025-06-18T18:49:03.411Z,1750272543.411 [OnDock:C] Running Loop=1
2025-06-18T18:49:03.411Z,1750272543.411 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-18T18:49:03.411Z,1750272543.411 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-18T18:49:03.412Z,1750272543.412 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-18T18:49:03.412Z,1750272543.412 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-18T18:49:03.433Z,1750272543.433 [CommandExec](IMPORTANT): got command ! ifconfig
2025-06-18T18:49:03.639Z,1750272543.639 [CommandExec](IMPORTANT): eth0 Link encap:Ethernet HWaddr 50:2D:F4:07:45:4B
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:12389 errors:0 dropped:0 overruns:0 frame:0
TX packets:33273 errors:0 dropped:0 overruns:0 carrier:0
collisions:172 txqueuelen:1000
RX bytes:5325848 (5.0 Mb) TX bytes:6646473 (6.3 Mb)
Interrupt:29
lo Link encap:Local Loopback
inet addr:127.0.0.1 Mask:255.0.0.0
UP LOOPBACK RUNNING MULTICAST MTU:16436 Metric:1
RX packets:8258 errors:0 dropped:0 overruns:0 frame:0
TX packets:8258 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:0
RX bytes:743504 (726.0 Kb) TX bytes:743504 (726.0 Kb)
2025-06-18T18:49:04.157Z,1750272544.157 [OnDock:C] Stopped
2025-06-18T18:49:04.157Z,1750272544.157 [OnDock:D] Running Loop=1
2025-06-18T18:49:04.489Z,1750272544.489 [OnDock:D] Stopped
2025-06-18T18:49:04.489Z,1750272544.489 [OnDock:E] Running Loop=1
2025-06-18T18:49:04.909Z,1750272544.909 [OnDock:E] Stopped
2025-06-18T18:49:04.909Z,1750272544.909 [OnDock:K] Running Loop=1
2025-06-18T18:49:05.464Z,1750272545.464 [OnDock:K](IMPORTANT): Restarting logs